General-Purpose AC Servo
J2-Jr Series
General-Purpose Interface
MR-J2-03A5
Servo Amplifier
Instruction Manual
B
(Always read these instructions before using the equipment.)
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Indicates that incorrect handling may cause hazardous conditions,, 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.
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:
: 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 Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.
A - 1
1. To prevent electric shock, note the following:
WARNING
yBefore 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.
yConnect the servo amplifier and servo motor to ground.
yAny person who is involved in wiring and inspection should be fully competent to do the work.
yDo not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.
yOperate the switches with dry hand to prevent an electric shock.
yThe cables should not be damaged, stressed loaded,, or pinched. Otherwise, you may get an electric shock.
2.To prevent fire, note the following:
CAUTION
yDo not install the servo amplifier, servo motor and regenerative brake resistor on or near combustibles. Otherwise a fire may cause.
yWhen the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large current may cause a fire.
3.To prevent injury, note the follow
CAUTION
yOnly the voltage specified in the Instruction Manual should be applied to each terminal,, Otherwise,, a burst,, damage,, etc. may occur.
yConnect the terminals correctly to prevent a burst,, damage,, etc.
yEnsure that polarity (+, − ) is correct. Otherwise, a burst, damage, etc. may occur.
yDuring power-on or for some time after power-off, do not touch the servo motor. Their temperatures may be high and you may get burnt.
A - 2
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
yTransport the products correctly according to their weights.
yStacking in excess of the specified number of products is not allowed.
yDo not carry the motor by the cables, shaft or encoder.
yDo not hold the front cover to transport the controller. The controller may drop.
yInstall the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
yDo not climb or stand on servo equipment. Do not put heavy objects on equipment.
yThe controller and servo motor must be installed in the specified direction.
yLeave specified clearances between the servo amplifier and control enclosure walls or other equipment.
yDo not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing.
yProvide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.
yDo not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
yUse the servo amplifier and servo motor under the following environmental conditions:
Environment |
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Conditions |
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Servo Amplifier |
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Servo Motor |
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Ambient |
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[° C] |
0 to +55 (non-freezing) |
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0 to +40 (non-freezing) |
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temperature |
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[° F] |
32 to 131 (non-freezing) |
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32 to 104 (non-freezing) |
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Ambient humidity |
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90%RH or less (non-condensing) |
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80%RH or less (non-condensing) |
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Storage |
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[° C] |
− 20 to +65 (non-freezing) |
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− 15 to +70 (non-freezing) |
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temperature |
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[° F] |
− 4 to 149 (non-freezing) |
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5 to 158 (non-freezing) |
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Storage humidity |
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90%RH or less (non-condensing) |
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Ambience |
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Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt |
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Altitude |
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Max. 1000m (3280 ft) above sea level |
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Vibration |
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[m/s2] |
5.9 {0.6G} or less |
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HC-AQ Series |
X x Y : 19.6 {2G} |
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[ft/s2] |
19.4 or less |
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HC-AQ Series |
X x Y : 64 |
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A - 3
CAUTION
ySecurely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.
yThe servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
yFor safety of personnel, always cover rotating and moving parts.
yNever hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.
yDo not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
yWhen the equipment has been stored for an extended period of time, consult Mitsubishi.
(2) Wiring
CAUTION
yWire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
yDo not install a power capacitor, surge absorber or radio noise filter between the servo motor and servo amplifier.
yConnect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
yDo not connect AC power directly to the servo motor. Otherwise, a fault may occur.
yThe surge absorbing diode installed on the DC output signal relay must be wired in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo
Amplifier
COM (24VDC)
Control output
signal RA
(3) Test run adjustment
CAUTION
yBefore operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.
yThe parameter settings must not be changed excessively. Operation will be instable.
A - 4
(4) Usage
CAUTION
yProvide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.
yAny person who is involved in disassembly and repair should be fully competent to do the work.
yBefore resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
yDo not modify the equipment.
yUse a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.
yUse the servo amplifier with the specified servo motor.
yThe electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.
yFor such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
(5) Corrective actions
CAUTION
yWhen it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.
yWhen any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.
yWhen power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
(6) Maintenance, inspection and parts replacement
CAUTION
y 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.
A - 5
(7) Disposal
CAUTION
y Dispose of the product as general industrial waste.
(8) General instruction
yTo illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.
A - 6
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 Directive (effective 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 marking). CE marking applies to machines and equipment into which servo amplifiers have been installed.
The servo amplifiers do not function independently but are designed for use with machines and equipment. Therefore, the CE marking does not apply to the servo amplifiers but applies to the machines and equipment into which the servo amplifiers are installed.
This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE marking on machines and equipment into which the servo amplifiers will be installed. To ensure ease of compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other procedures. Please contact your sales representative.
2. PRECAUTIONS FOR COMPLIANCE
The standard models of the servo amplifier and servo motor comply with the EN Standard. In addition to the instructions provided in this Instruction Manual, also follow the instructions below. If the model is not specifically described to comply with the EN Standard in this Instruction Manual, it has the same specifications as those of the standard models:
(1) Structure
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Control box |
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Reinforced |
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Servo |
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insulation type |
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motor |
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24VDC |
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Circuit |
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Servo |
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power |
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amplifier |
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SM |
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protector |
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supply |
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(2)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).
(3)Power supply
Use a 24VDC power supply which has been insulation-reinforced in I/O.
(4)Grounding
To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box.
A - 7
(5)Auxiliary equipment and options
(a)The circuit protector used should be the EN or IEC Standard-compliant product of the model described in Section 12.2.2.
(b)The sizes of the cables described in Section 12.2.2 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204.
y Ambient temperature: 40 (104) [° C (° F)] y Sheath: PVC (polyvinyl chloride)
y Installed on wall surface or open table tray
(6)Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications.
For the other EMC Directive guidelines on the servo amplifier, refer to the "EMC INSTALLATION GUIDELINES".
A - 8
The standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standardcompliant models are the same as those of the standard models.
When using 24VDC power supply, options and auxiliary equipment, use those which conform to the UL/C- UL Standard.
A - 9
1. FUNCTIONS AND CONFIGURATION |
1- 1 to 1- 5 |
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1.1Introduction 1- 1
1.2Function List 1- 2
1.3Model Code Definition 1- 3
1.4Combination with Servo Motor 1- 3
1.5Parts Identification 1- 4
1.6Servo System with Auxiliary Equipment 1- 5
2. INSTALLATION |
2- 1 to 2- 4 |
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2.1Environmental conditions 2- 1
2.2Installation direction and clearances 2- 2
2.3Keep out foreign materials 2- 3
2.4Cable stress 2- 3
2.5Using the DIN rail for installation 2- 4
3. SIGNALS AND WIRING |
3- 1 to 3- 46 |
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3.1Standard connection example 3- 2
3.1.1Position control mode AD75P (A1SD75P ) 3- 2
3.1.2Speed control mode 3- 4
3.1.3Torque control mode 3- 5
3.2Internal Connection Diagram of Servo Amplifier 3- 6
3.3I/O Signals 3- 7
3.3.1Connectors and signal arrangements 3- 7
3.3.2Signal explanations 3- 10
3.4Detailed Description of the Signals 3- 19
3.4.1Position control mode 3- 19
3.4.2Speed control mode 3- 24
3.4.3Torque control mode 3- 26
3.4.4Position/speed control change mode 3- 29
3.4.5Speed/torque control change mode 3- 31
3.4.6Torque/position control change mode 3- 33
3.5Alarm Occurrence Timing Chart 3- 34
3.6Interfaces 3- 35
3.6.1Common line 3- 35
3.6.2Detailed description of the interfaces 3- 36
3.7Input Power Supply Circuit 3- 40
3.7.1Connection example 3- 40
3.7.2Explanation of signals 3- 41
3.7.3Power-on sequence 3- 41
3.8Servo Motor with Electromagnetic Brake 3- 43
3.9Grounding 3- 45
3.10Instructions for the 3M Connector 3- 46
1
4. OPERATION |
4- 1 to 4- 6 |
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4.1When Switching Power On for the First Time 4- 1
4.2Startup 4- 2
4.2.1Selection of control mode 4- 2
4.2.2Position control mode 4- 2
4.2.3Speed control mode 4- 4
4.2.4Torque control mode 4- 5
4.3Multidrop Communication 4- 6
5. PARAMETERS |
5- 1 to 5- 21 |
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5.1Parameter List 5- 1
5.1.1Parameter write inhibit 5- 1
5.1.2Lists 5- 2
5.2Detailed Description 5- 18
5.2.1Electronic gear 5- 18
5.2.2Changing the status display screen 5- 20
5.2.3Using forward/reverse rotation stroke end to change the stopping pattern 5- 21
5.2.4Alarm history clear 5- 21
6. DISPLAY AND OPERATION |
6- 1 to 6- 15 |
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6.1Display Flowchart 6- 1
6.2Status Display 6- 2
6.3Diagnostic mode 6- 4
6.4Alarm mode 6- 5
6.5Parameter mode 6- 6
6.6External I/O signal display 6- 8
6.7Output signal forced output (DO forced output) 6- 11
6.8Test operation mode 6- 12
6.8.1Mode change 6- 12
6.8.2Jog operation 6- 13
6.8.3Positioning operation 6- 14
6.8.4Motor-less operation 6- 15
7. ADJUSTMENT |
7- 1 to 7- 10 |
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7.1What Is Gain Adjustment? 7- 1
7.1.1Difference between servo amplifier and other drives 7- 1
7.1.2Basics of the servo system 7- 2
7.2Gain Adjustment 7- 3
7.2.1Parameters required for gain adjustment 7- 3
7.2.2Block diagram 7- 3
7.2.3What is auto tuning? 7- 4
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7.3Gain Adjustment by Auto Tuning 7- 5
7.3.1Adjustment method 7- 5
7.3.2Valid conditions 7- 5
7.4Manual Gain Adjustment 7- 6
7.4.1When machine rigidity is low 7- 6
7.4.2When the machine vibrates due to machine resonance frequency 7- 7
7.4.3Load inertia moment is 20 or more times 7- 8
7.4.4When shortening the settling time 7- 9
7.4.5When the same gain is used for two or more axes 7- 10
7.5Slight Vibration Suppression Control 7- 10
8. INSPECTION |
8- 1 |
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9. TROUBLESHOOTING |
9- 1 to 9- 11 |
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9.1Trouble at Start-Up 9- 1
9.1.1Position control mode 9- 1
9.1.2Speed control mode 9- 4
9.1.3Torque control mode 9- 5
9.2When Alarm or Warning Has Occurred 9- 6
9.2.1Alarms and Warning list 9- 6
9.2.2Remedies for alarms 9- 7
9.2.3Remedies for Warnings 9- 11
10. SPECIFICATIONS |
10- 1 to 10- 4 |
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10.1Servo Amplifier Standard Specifications 10- 1
10.2Outline Dimension Drawings 10- 2
10.2.1Servo amplifiers 10- 2
10.2.2Connectors 10- 3
11. CHARACTERISTICS |
11- 1 to 11- 3 |
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11.1Overload Protection Characteristics 11- 1
11.2Dynamic Brake Characteristics 11- 2
11.3Encoder Cable Flexing Life 11- 3
12. OPTIONS AND AUXILIARY EQUIPMENT |
12- 1 to 1214 |
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12.1Options 12- 1
12.1.1Cables and connectors 12- 1
12.1.2Junction terminal block (MR-TB20) 12- 6
12.1.3Servo configurations software 12- 8
12.2Auxiliary Equipment 1210
12.2.1Recommended wires 1210
12.2.2Circuit protector 1210
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12.2.3Relays 1211
12.2.4Noise reduction techniques 1211
13. COMMUNICATION FUNCTIONS |
13- 1 to 1326 |
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13.1Configuration 13- 1
13.1.1RS-422 configuration 13- 1
13.1.2RS-232C configuration 13- 2
13.2Communication Specifications 13- 3
13.2.1Communication overview 13- 3
13.2.2Parameter setting 13- 4
13.3Protocol 13- 5
13.4Character Codes 13- 6
13.5Error Codes 13- 7
13.6Checksum 13- 7
13.7Time-Out Operation 13- 8
13.8Retry Operation 13- 8
13.9Initialization 13- 9
13.10Communication Procedure Example 13- 9
13.11Command and Data No. List 1310
13.11.1Read commands 1310
13.11.2Write commands 1311
13.12Detailed Explanations of Commands 1313
13.12.1Data processing 1313
13.12.2Status display 1315
13.12.3Parameter 1316
13.12.4External I/O pin statuses (DIO diagnosis) 1318
13.12.5Disable/enable of external I/O signals (DIO) 1319
13.12.6External input signal ON/OFF (Test operation) 1320
13.12.7Test operation mode 1321
13.12.8Output signal pin ON/OFF (DO forced output) 1323
13.12.9Alarm history 1324
13.12.10Current alarm 1325
13.12.11Other commands 1326
4
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in 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.CALCULATION METHODS FOR DESIGNING
5
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J2-03A5 for the first time. Always purchase them and use the MR-J2-03A5 safely.
Manual Name |
Manual No. |
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MELSERVO-J2-Jr Series Installation Guide |
IB(NA)67426 |
MELSERVO Servo Motor Instruction Manual |
SH(NA)3181 (Ver-C or later) |
EMC Installation Guidelines |
IB(NA)67310 |
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6
1.FUNCTIONS AND CONFIGURATION
The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, small capacity servo system compatible with the MELSERVO-J2 series 24VDC power supply. It can be used in a wide range of fields from semiconductor equipment to small robots, etc.
The input signals of the servo amplifier control system are compatible with those of the MR-J2- A.
As the standard models comply with the EN Standard x UL/C-UL Standard, they can be used satisfactorily in various countries.
The MR-J2-03A5 servo amplifier can be easily installed to a control box with a DIN rail.
The power supply/electromagnetic brake and encoder of the servo motor can be wired easily with a single cable.
Using a personal computer where the Servo Configuration software has been installed, you can make parameter setting, status display, etc.
Also, you can use the RS-422 communication function to set up to 32 axes of servo amplifiers.
The compatible servo motors have achieved the smallest 28mm-bore flange size in this class and are further equipped with encoders of 8192 pulses/rev (incremental) resolution.
1 - 1
1. FUNCTIONS AND CONFIGURATION
The following table lists the functions of the MR-J2-03A5. For details of the functions, refer to the corresponding chapters and sections.
Function |
Description |
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Refer To |
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Control Mode |
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Section 3.1.1 |
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Position control mode |
MR-J2-03A5 is used as position control servo. |
P |
Section 3.4.1 |
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Section 4.2.2 |
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Section 3.1.2 |
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Speed control mode |
MR-J2-03A5 is used as speed control servo. |
S |
Section 3.4.2 |
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Section 4.2.3 |
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Section 3.1.3 |
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Torque control mode |
MR-J2-03A5 is used as torque control servo. |
T |
Section 3.4.3 |
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Section 4.2.4 |
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Position/speed control |
Using external input signal, control can be switched |
P/S |
Section 3.4.4 |
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change mode |
between position control and speed control. |
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Speed/torque control change |
Using external input signal, control can be switched |
S/T |
Section 3.4.5 |
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mode |
between speed control and torque control. |
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Torque/position control |
Using external input signal, control can be switched |
T/P |
Section 3.4.6 |
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change mode |
between torque control and position control. |
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Slight vibration suppression |
Suppresses vibration of ± 1 pulse produced at a servo motor |
P |
Section 7.5 |
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control |
stop. |
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Electronic gear |
Input pulses can be multiplied by 1/50 to 50. |
P |
Parameters No. 3, 4 |
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Real-time auto tuning |
Automatically adjusts the gain to optimum value if load |
P, S |
Section 7.3 |
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applied to the servo motor shaft varies. |
Parameter No. 2 |
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Smoothing |
Speed can be increased smoothly in response to input pulse. |
P |
Parameter No. 7 |
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S-pattern acceleration/ |
Speed can be increased and decreased smoothly. |
S |
Parameter No. 13 |
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deceleration time constant |
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Alarm history clear |
Alarm history is cleared. |
P, S, T |
Parameter No. 16 |
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Restart after instantaneous |
If the input power supply voltage had reduced to cause an |
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alarm but has returned to normal, the servo motor can be |
S |
Parameter No. 20 |
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power failure |
restarted by merely switching on the start signal. |
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Command pulse selection |
Command pulse train form can be selected from among |
P |
Parameter No. 21 |
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four different types. |
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Input signal selection |
Forward rotation start, reverse rotation start, servo on and |
P, S, T |
Parameters No. 43 to |
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other input signals can be assigned to any pins. |
48 |
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Torque limit |
Servo motor-generated torque can be limited to any value. |
P, S |
Section 3.4.1 (2) |
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Parameter No. 28 |
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Speed limit |
Servo motor speed can be limited to any value. |
T |
Section 3.4.3 (3) |
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Parameter No. 8 to 10 |
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Status display |
Servo status is shown on the 4-digit, 7-segment LED |
P, S, T |
Section 6.2 |
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display |
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External I/O display |
ON/OFF statuses of external I/O signals are shown on the |
P, S, T |
Section 6.6 |
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display. |
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Output signal can be forced on/off independently of the |
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Output signal forced output |
servo status. |
P, S, T |
Section 6.7 |
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Use this function for output signal wiring check, etc. |
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Voltage is automatically offset to stop the servo motor if it |
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Automatic VC offset |
does not come to a stop at the analog speed command (VC) |
S, T |
Section 6.3 |
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or analog speed limit (VLA) of 0V. |
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Test operation mode |
Servo motor can be run from the operation section of the |
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Section 6.8 |
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servo amplifier without the start signal entered. |
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1 - 2
1. FUNCTIONS AND CONFIGURATION
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Control Mode |
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Servo configuration |
Using a personal computer, parameter setting, test |
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Section 12.1.3 |
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operation, status display, etc. can be performed. |
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Alarm code output |
If an alarm has occurred, the corresponding alarm number |
P, S, T |
Section 9.2.1 |
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is output in 3-bit code. |
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Note:P: Position control mode, S: Speed control mode, T: Torque control mode |
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P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
(1) Rating plate
MITSUBISHI |
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AC SERVO |
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Model |
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MODEL |
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AC SERVO |
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MR-J2-03A5 |
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Capacity |
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POWER |
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30W |
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POWERINPUT |
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DC24V |
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Applicable power supply |
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OUTPUT : |
2.3A |
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Rated output current |
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SERIAL : |
TC300A034G55 |
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Serial number |
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PASSED |
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MITSUBISHI ELECTRIC CORPORATION |
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MADE IN JAPAN |
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(2) Model
MR-J2 - 03 A 5
Series name
Rating plate
24VDC power supply specification General-purpose interface
Rated output 30[W]
The HC-AQ series servo motors can be used. The same combinations apply to the servo motors provided with electromagnetic brakes and reduction gears.
Servo Amplifier |
Servo motor |
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HC-AQ0135D |
MR-J2-03A5 |
HC-AQ0235D |
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HC-AQ0335D |
1 - 3
1. FUNCTIONS AND CONFIGURATION
Name/Application |
Refer To |
Display
The four-digit, seven-segment LED shows the servo Chapter6 status and alarm number.
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Operation section |
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Used to perform status display, diagnostic, alarm and |
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parameter operations. |
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MODE UP DOWN |
SET |
Chapter6 |
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data. |
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Used to change the |
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display or data in each |
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mode. |
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Used to change the |
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mode. |
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I/O signal connector (CN1A) |
Section3.3 |
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Used to connect digital I/O signals. |
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I/O signal connector (CN1B) |
Section3.3 |
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Used to connect digital I/O signals. |
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Name plate |
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Section1.3 |
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Servo motor connector (CNP2) |
Section3.3 |
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Section10.2.1 |
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Connector for connection of the servo motor. |
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Section12.1.1 |
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Power input connector (CNP1) |
Section3.3 |
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Used to connect the input power supply/control circuit |
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Section10.2.1 |
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power supply/RS-422. |
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Communication connector (CNP3) |
Section3.3 |
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Used for connection with a personal computer |
Section10.2.1 |
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(RS-232C). |
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Section12.1.3 |
Earth (E) terminal ( )
To conform to the EN Standard, fit the supplied earth Section3.9 terminal for grounding.
1 - 4
1. FUNCTIONS AND CONFIGURATION
y To prevent an electric shock, fit the supplied earth terminal (E) to the servo WARNING amplifier (refer to (2), Section 3.9) and always connect it to the earth (E) of the
control box.
Power supply |
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Servo amplifier |
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24VDC |
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MITSUBISHI |
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+ |
− |
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Circuit |
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OPEN |
MELSERVO |
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protector |
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CN1A |
CN1B |
Positioning unit/ |
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speed controller |
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To CN1A |
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Junction |
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terminal |
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CNP1 |
CNP2 |
block |
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Main circuit power supply |
To CNP1 |
To CN1B |
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Relay |
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Control power supply |
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To CNP3 |
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To CNP2 |
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CNP3 |
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Servo |
Personal |
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Earth (E) terminal |
Motor cable |
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Configuration |
computer |
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software |
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Encoder
Power leads cable
Servo motor
1 - 5
2.INSTALLATION
y Stacking in excess of the limited number of products is not allowed.
y Install the equipment to incombustible. Installing them directly or close to combustibles will led to a fire.
y Install the equipment in a load-bearing place in accordance with this Instruction Manual.
y Do not get on or put heavy load on the equipment to prevent injury.
y Use the equipment within the specified environmental condition range.
y Provide an adequate protection to prevent screws, metallic detritus and other CAUTION conductive matter or oil and other combustible matter from entering the servo
amplifier.
yDo not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.
yDo not subject the servo amplifier to drop impact or shock loads as they are precision equipment.
yDo not install or operate a faulty servo amplifier.
yWhen the product has been stored for an extended period of time, consult Mitsubishi.
Environment |
Conditions |
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Ambient temperature |
0 to +55 [° C] (non-freezing) |
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32 to +131 [° F] (non-freezing) |
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Ambient humidity |
90%RH or less (non-condensing) |
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storage temperature |
− 20 to +65 [° C] (non-freezing) |
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− 4 to +149 [° F] (non-freezing) |
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storage humidity |
90%RH or less (non-condensing) |
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Ambient |
Indoors (no direct sunlight) |
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Free from corrosive gas, flammable gas, oil mist, dust and dirt |
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Altitude |
Max. 1000m (3280 ft) above sea level |
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Vibration |
5.9 [m/s2] {0.6G} or less |
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19.4 [ft/s2] or less |
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2 - 1
2. INSTALLATION
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y The equipment must be installed in the specified direction. Otherwise, a fault may |
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CAUTION |
occur. |
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y Leave specified clearances between the servo amplifier and control box inside walls |
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or other equipment. |
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(1) Installation of one servo amplifier |
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Control box |
Control box |
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40mm |
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(1.6 in.) |
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or more |
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Servo amplifier |
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MITSUBISHI |
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10mm |
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(0.4 in.) |
OPEN |
MELSERVO |
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CN1A |
CN1B |
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or more |
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CNP1 |
CNP2 |
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CNP3 |
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40mm |
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(1.6 in.) |
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or more |
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Wiring clearance |
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70mm |
Top |
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10mm |
(2.8 in.) |
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(0.4 in.) |
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or more |
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Bottom |
(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
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100mm |
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1mm |
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(4.0 in.) |
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(0.04 in.) |
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or more |
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or more |
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MITSUBISHI |
MITSUBISHI |
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10mm |
CN1A |
CN1B |
CN1A |
CN1B |
10mm |
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OPEN |
MELSERVO |
OPEN |
MELSERVO |
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(0.4 in.) |
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or more |
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or more |
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CNP1 |
CNP2 |
CNP1 |
CNP2 |
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CNP3 |
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CNP3 |
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40mm (1.6 in.) or more
(3)Others
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2 - 2
2. INSTALLATION
(1)When installing the unit in a control box, prevent drill chips and wire fragments 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 installing the control box in a place where there are toxic gas, dirt and dust, provide positive pressure in the control box by forcing in clean air to prevent such materials from entering the control box.
(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 motor cable range. Fix the motor cable and power lead 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 - 3
2. INSTALLATION
(1)Fitting into the DIN rail
Put the upper catch on the DIN rail and push the unit until it clicks.
Wall |
Wall |
Upper |
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catch |
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DIN rail |
DIN rail |
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(2)Removal from DIN rail
1)Pull down the hook.
2)Pull it toward you.
3)Lift and remove the unit.
1) |
Wall |
2) |
Wall |
3) |
Wall |
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Upper |
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catch |
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DIN rail |
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DIN rail |
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2 - 4
3.SIGNALS AND WIRING
yAny person who is involved in wiring should be fully competent to do the work.
yBefore 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 |
y Ground the servo amplifier and the servo motor securely. |
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y Do not attempt to wire the servo amplifier and servo motor until they have been |
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installed. Otherwise, you may get an electric shock. |
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y The cables should not be damaged, stressed excessively, loaded heavily, or |
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pinched. Otherwise, you may get an electric shock. |
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y Wire the equipment correctly and securely. Otherwise, the servo motor may |
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misoperate, resulting in injury. |
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y Connect cables to correct terminals to prevent a burst, fault, etc. |
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y Ensure that polarity (+, − ) is correct. Otherwise, a burst, damage, etc. may occur. |
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y The surge absorbing diode installed to the DC relay designed for control output |
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should be fitted in the specified direction. Otherwise, the signal is not output due to |
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a fault, disabling the forced stop and other protective circuits. |
CAUTION
Servo amplifier
COM (24VDC)
Control output |
RA |
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signal |
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yUse a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the servo amplifier.
yDo not install a power capacitor, surge suppressor or radio noise filter with the power line of the servo motor.
yDo not modify the equipment.
POINT
CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a failure. Connect them correctly.
3 - 1
3. SIGNALS AND WIRING
POINT
yFor the connection of the power supply system, refer to Section 3.7.1.
3.1.1Position control mode AD75P (A1SD75P )
24VDC power supply |
Circuit |
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Servo amplifier |
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protector |
RA |
CNP1 |
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+ |
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P24M |
1 |
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− |
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P24G |
2 |
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P24L |
3 |
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CN1B |
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3 VDD
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Signal Name |
Pin No. |
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AD75P/A1SD75P |
PULSE F+ |
3 |
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CLEAR COM |
23 |
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PULSE F− |
21 |
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PULSE R+ |
4 |
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PULSE R− |
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unit |
CLEAR |
5 |
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READY |
7 |
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Positioning |
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COM |
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INPS |
8 |
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PG0(+5V) |
24 |
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PG0 COM |
25 |
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(Note 8) 10m (32ft) max.
(Note 3) Forced stop Servo on Reset
Proportion control Torque limit (Note 5) Forward rotation stroke end
Reverse rotation stroke end
Upper limit setting
(Note 8) Analog torque limit |
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± 10V/max. current |
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2m (6.5ft) max. |
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(Note 9) |
Personal |
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computer |
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Servo Configuration |
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software |
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(Note 4,7) |
13 |
COM |
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CN1A |
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PP |
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3 |
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18 |
ALM |
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PG |
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13 |
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NP |
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2 |
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19 |
ZSP |
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NG |
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12 |
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6 |
TLC |
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CR |
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8 |
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SG |
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10 |
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RD |
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19 |
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COM |
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9 |
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INP |
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18 |
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LZ |
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5 |
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LZR |
15 |
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SD |
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Plate |
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(Note 4,7) |
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CN1B |
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EMG |
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15 |
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SON |
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5 |
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RES |
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14 |
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PC |
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8 |
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TL |
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9 |
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LSP |
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16 |
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LSN |
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17 |
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SG |
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10 |
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SG |
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20 |
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P15R |
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11 |
(Note 4,7) |
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TLA |
12 |
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CN1A |
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LG |
1 |
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6 |
LA |
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SD |
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Plate |
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16 |
LAR |
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7 |
LB |
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17 |
LBR |
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1 |
LG |
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14 |
OP |
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CNP3 |
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4 |
P15R |
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Plate |
SD |
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(Note 2) |
(Note 6) |
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Trouble |
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RA1 |
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Zero speed |
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RA2 |
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Limiting torque |
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RA3 |
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Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
+ |
CNP2 |
|
Servo motor
30m (98ft) max.
(Note1)
3 - 2
3. SIGNALS AND WIRING
Note: 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (Refer to section 3.9.)
2.Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop and other protective circuits.
3.The forced stop switch must be installed.
4.CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault.
5.When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
6.Trouble (ALM) is connected with COM in normal alarm-free condition.
7.The pins with the same signal name are connected in the servo amplifier.
8.For the command pulse train input of the differential line driver system. 2m max. for the open collector system.
9.Use MRZJW3-SETUP61E or later.
3 - 3
3. SIGNALS AND WIRING
24VDC power supply |
Circuit |
|
Servo amplifier |
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protector |
RA |
CNP1 |
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+ |
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P24M |
1 |
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− |
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P24G |
2 |
(Note 4) |
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P24L |
3 |
CN1B |
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3 |
VDD |
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(Note 4,7) |
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CN1A |
13 |
COM |
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(Note 6) |
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Trouble |
|
Speed Selection 1 |
|
SP1 |
8 |
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18 |
ALM |
RA1 |
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SG |
10 |
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Zero speed |
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SG |
20 |
19 |
ZSP |
RA2 |
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Limiting torque |
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10m (32ft) max. |
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6 |
TLC |
RA3 |
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(Note 4,7) |
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CN1B |
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(Note 3) |
Forced stop |
|
EMG |
15 |
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Servo on |
|
SON |
5 |
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Reset |
|
RES |
14 |
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Speed selection 2 |
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SP2 |
7 |
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Forward |
rotation start |
|
ST1 |
8 |
(Note 4,7) |
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Reverse rotation start |
|
ST2 |
9 |
CN1A |
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(Note 5) Forward rotation stroke end |
|
LSP |
16 |
18 |
SA |
RA5 |
Speed reached |
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Reverse rotation stroke end |
|
LSN |
17 |
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SG |
10 |
19 |
RD |
RA4 |
Ready |
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||
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Upper limit setting |
|
SG |
20 |
5 |
LZ |
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Encoder Z-phase pulse |
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P15R |
11 |
15 |
LZR |
|
(differential line driver) |
|
Analog speed command |
|
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||||||
|
VC |
2 |
6 |
LA |
|
Encoder A-phase pulse |
||
± 10V/Rated speed |
|
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||||||
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LG |
1 |
16 |
LAR |
|
(differential line driver) |
||
|
Upper limit setting |
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|||||
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7 |
LB |
|
Encoder B-phase pulse |
|
(Note 8) Analog torque limit |
|
TLA |
12 |
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||||
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17 |
LBR |
|
(differential line driver) |
||||
+10V/max. current |
|
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||||
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1 |
LG |
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||
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SD |
Plate |
|
Control common |
||
|
|
2m (6.5ft) max. |
|
14 |
OP |
|
Encoder Z-phase pulse |
|
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|
4 |
P15R |
|
(open collector) |
||
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|||
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Personal |
|
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Plate |
SD |
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(Note 9) |
computer |
|
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CNP3 |
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Servo configuration |
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software |
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+ |
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CNP2 |
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Servo |
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motor |
|
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30m (98ft) max. |
|
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|
|
|
(Note1) |
|
|
Note: 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (Refer to section 3.9.)
2.Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop and other protective circuits.
3.The forced stop switch must be installed.
4.CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault.
5.When starting operation, always connect the forward/reverse rotation stroke end signal (LSN/LSP) with SG. (Normally closed contacts)
6.Trouble (ALM) is connected with COM in normal alarm-free condition.
7.The pins with the same signal name are connected in the servo amplifier.
8.TLA can be used by setting any of parameters No. 43 to 48 to make TL available.
9.Use MRZJW3-SETUP61E or later.
3 - 4
3. SIGNALS AND WIRING
24VDC power supply |
Circuit |
|
|
|
|
|
Servo amplifier |
||||||
|
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||||||
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protector |
RA |
CNP1 |
|
|||||||
+ |
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P24M |
1 |
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− |
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P24G |
2 |
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(Note 4) |
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P24L |
3 |
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CN1B |
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3 |
VDD |
|
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|
(Note 4,6) |
13 |
COM |
|
(Note 5) |
|
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CN1A |
|
(Note 2) |
|||
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Trouble |
||
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||
|
Speed Selection 1 |
SP1 |
8 |
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18 |
ALM |
RA1 |
|
|||
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|||
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SG |
10 |
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Zero speed |
|
|
SG |
20 |
|
19 |
ZSP |
RA2 |
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Limiting torque |
||
|
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10m(32ft) max. |
|
|
6 |
TLC |
RA3 |
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|
(Note 4,6) |
|
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CN1B |
|
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|
|
(Note 3) Forced stop |
EMG |
15 |
|
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|
Servo on |
SON |
5 |
|
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|
|
Reset |
RES |
14 |
|
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Speed selection2 |
SP2 |
7 |
|
|
|
|
|
Forward |
rotation selection |
RS1 |
9 |
|
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|
|
|
Reverse rotation selection |
RS2 |
8 |
(Note 4,6) |
|
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|
||
|
|
SG |
10 |
|
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||
|
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CN1A |
|
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||
|
|
SG |
20 |
|
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|
Upper limit setting |
|
|
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|
||
|
P15R |
11 |
|
19 |
RD |
RA4 |
Ready |
|
|
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|
||||||
Analog torque command |
|
|
|
|
|
|||
TC |
12 |
|
5 |
LZ |
|
Encoder Z-phase pulse |
||
|
± 8V/max. current |
|
|
|||||
|
LG |
1 |
|
15 |
LZR |
|
(differential line driver) |
|
|
Upper limit setting |
|
|
|||||
|
|
|
|
6 |
LA |
|
Encoder A-phase pulse |
|
|
Analog speed limit |
VLA |
2 |
|
|
|||
|
|
16 |
LAR |
|
(differential line driver) |
|||
|
0 to + 10V/max. speed |
|
|
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|
|||
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|
7 |
LB |
|
Encoder B-phase pulse |
|
|
|
SD |
Plate |
|
|
|||
|
|
|
|
|
|
(differential line driver) |
||
|
|
2m (6.5ft) max. |
|
|
17 |
LBR |
|
|
|
|
|
|
1 |
LG |
|
Control common |
|
|
|
|
|
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|
|||
|
|
|
|
|
14 |
OP |
|
Encoder Z-phase pulse |
(Note 7) |
Personal |
|
|
|
4 |
P15R |
|
(open collector) |
computer |
|
|
|
|
|
|||
|
CNP3 |
|
Plate |
SD |
|
|
||
Servo configuration |
|
|
|
|
||||
software |
|
|
|
|
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|
+ |
|
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|
CNP2 |
|
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|
Servo |
|
|
|
|
|
|
|
|
motor |
|
|
|
|
|
|
30m (98ft) max. |
|
|
|
|
|
|
|
|
(Note1) |
|
|
Note: 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box. (Refer to section 3.9.)
2.Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop and other protective circuits.
3.The forced stop switch must be installed.
4.CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault.
5.Trouble (ALM) is connected with COM in normal alarm-free condition.
6.The pins with the same signal name are connected in the servo amplifier.
7.Use MRZJW3-SETUP61E or later.
3 - 5