Mitsubishi Electronics MR-J2-03A5 User Manual

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General-Purpose AC Servo

J2-Jr Series

General-Purpose Interface Compatible

MODEL

MR-J2-03A5

SERVO AMPLIFIER INSTRUCTION MANUAL

z Safety Instructions z

(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

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.

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.

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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 15 minutes. Then, confirm the voltage is

safe with voltage tester. Otherwise, you may get an electric shock.

Connect the servo amplifier and servo motor to ground.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. 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. Otherwise, you may get an electric

shock.

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.

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.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)

with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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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 masses.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.

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 servo amplifier 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.

When you keep or use it, please fulfill the following environmental conditions.

Environment

During

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

(Note) Vibration

Note. Except the servo motor with reduction gear.

operation

In storage

In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)

In storage

[ ]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 HC-AQ Series X x Y : 19.6

] 19.4 or less HC-AQ Series X x Y : 64

[ft/s

Servo Amplifier Servo Motor

90%RH or less (non-condensing)

Conditions

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during

operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo

motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder

may become faulty.

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.

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(2) Wiring

CAUTION

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

Do not install a power capacitor, surge absorber or radio noise filter between 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 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

COM

(24VDC)

Control

output

signal

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform

unexpected operation.

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

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off

immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is

made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by

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 servo motor shaft and should not be

used for ordinary braking.

For 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 servo motor shaft. To ensure safety, install a stopper on the machine side.

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(5) Corrective actions

CAUTION

When 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.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but

also by an emergency stop.

Circuit must be opened during emergency stop.

Servoamplifier

CNP2

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

restarting operation.

When 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).

EMG

Servomotor

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is

recommended to replace the electrolytic capacitor every 10 years when used in general environment.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without

covers and safety guards. 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.

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About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY



These products have been manufactured as a general-purpose part for general industries, and have not

been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine,

passenger movement vehicles or under water relays, contact Mitsubishi.

These products have been manufactured under strict quality control. However, when installing the product

where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

EEP-ROM life



The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Home position setting in the absolute position detection system

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

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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 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.

(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).

(2) Low voltage directive

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 organization, 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

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

Control box

Reinforced insulation type

24VDC power supply

Circuit protector

Servo amplifier

Servo motor

(2) Environment

Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. 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.

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(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 EN60204-1.

Ambient temperature: 40 (104) [°C (°F)]

Sheath: PVC (polyvinyl chloride)

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 (IB(NA)67310).

CONFORMANCE WITH UL/C-UL STANDARD

The standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standardcompliant models are the same as those of the standard models. When using 24VDC power supply, options and auxiliary equipment, use those which conform to the UL/CUL Standard. For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.

<<About the manuals>>

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 MRJ2-03A5 safely.

Relevant manuals

Manual name Manual No.

MELSERVO-J2-Jr. Series To Use the AC Servo Safely IB(NA)67426 MELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310

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1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 6

1.1 Introduction ･･･････････････････････････････････････････････････････････････････････････ 1- 1

1.2 Servo Amplifier Standard Specifications ･･････････････････････････････････････････････････ 1- 2

1.3 Function List ･･････････････････････････････････････････････････････････････････････････ 1- 3

1.4 Model Code Definition ･･････････････････････････････････････････････････････････････････ 1- 4

1.5 Combination with Servo Motor ･･････････････････････････････････････････････････････････ 1- 4

1.6 Parts Identification ･････････････････････････････････････････････････････････････････････ 1- 5

1.7 Servo System with Auxiliary Equipment･･････････････････････････････････････････････････ 1- 6

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- 3

2.5 Using the DIN rail for installation ･･･････････････････････････････････････････････････････ 2- 4

3. SIGNALS AND WIRING 3- 1 to 3- 48

3.1 Standard connection example････････････････････････････････････････････････････････････ 3- 2

3.1.1 Position control mode AD75P (A1SD75P) ･･････････････････････････････････････････ 3- 2

3.1.2 Speed control mode ･････････････････････････････････････････････････････････････････ 3- 4

3.1.3 Torque control mode ････････････････････････････････････････････････････････････････ 3- 5

3.2 Internal Connection Diagram of Servo Amplifier ･･････････････････････････････････････････ 3- 6

3.3 I/O Signals ･･･････････････････････････････････････････････････････････････････････････ 3- 7

3.3.1 Connectors and signal arrangements･･････････････････････････････････････････････････ 3- 7

3.3.2 Signal explanations ･････････････････････････････････････････････････････････････････3-10

3.4 Detailed Description of the Signals ･･･････････････････････････････････････････････････････3-19

3.4.1 Position control mode････････････････････････････････････････････････････････････････3-19

3.4.2 Speed control mode ･････････････････････････････････････････････････････････････････ 3-24

3.4.3 Torque control mode ････････････････････････････････････････････････････････････････ 3-26

3.4.4 Position/speed control change mode ･･･････････････････････････････････････････････････3-29

3.4.5 Speed/torque control change mode ････････････････････････････････････････････････････3-31

3.4.6 Torque/position control change mode･･････････････････････････････････････････････････ 3-33

3.5 Alarm Occurrence Timing Chart ･････････････････････････････････････････････････････････3-34

3.6 Interfaces ･････････････････････････････････････････････････････････････････････････････ 3-35

3.6.1 Common line ･･･････････････････････････････････････････････････････････････････････ 3-35

3.6.2 Detailed description of the interfaces･･････････････････････････････････････････････････3-36

3.7 Input Power Supply Circuit ･････････････････････････････････････････････････････････････3-40

3.7.1 Connection example ･････････････････････････････････････････････････････････････････3-40

3.7.2 Explanation of signals ･･･････････････････････････････････････････････････････････････3-41

3.7.3 Power-on sequence ･･････････････････････････････････････････････････････････････････3-41

3.8 Servo Motor with Electromagnetic Brake ･････････････････････････････････････････････････3-43

3.9 Grounding ･････････････････････････････････････････････････････････････････････････････3-46

3.10 Instructions for the 3M Connector ･･････････････････････････････････････････････････････ 3-47

4. OPERATION 4- 1 to 4- 6

4.1 When Switching Power On for the First Time ･････････････････････････････････････････････ 4- 1

4.2 Startup････････････････････････････････････････････････････････････････････････････････ 4- 2

4.2.1 Selection of control mode ････････････････････････････････････････････････････････････ 4- 2

4.2.2 Position control mode････････････････････････････････････････････････････････････････ 4- 2

4.2.3 Speed control mode ･････････････････････････････････････････････････････････････････ 4- 4

4.2.4 Torque control mode ････････････････････････････････････････････････････････････････ 4- 5

4.3 Multidrop Communication ･･････････････････････････････････････････････････････････････ 4- 6

5. PARAMETERS 5- 1 to 5- 22

5.1 Parameter List ･････････････････････････････････････････････････････････････････････････ 5- 1

5.1.1 Parameter write inhibit･･････････････････････････････････････････････････････････････ 5- 1

5.1.2 Lists ･･･････････････････････････････････････････････････････････････････････････････ 5- 2

5.2 Detailed Description ･･･････････････････････････････････････････････････････････････････ 5- 18

5.2.1 Electronic gear ････････････････････････････････････････････････････････････････････ 5- 18

5.2.2 Changing the status display screen ･･････････････････････････････････････････････････ 5- 20

5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern ･･･････････････ 5- 21

5.2.4 Alarm history clear･････････････････････････････････････････････････････････････････ 5- 21

6. DISPLAY AND OPERATION 6- 1 to 6- 16

6.1 Display Flowchart ･･････････････････････････････････････････････････････････････････････ 6- 1

6.2 Status Display ･････････････････････････････････････････････････････････････････････････ 6- 2

6.3 Diagnostic mode････････････････････････････････････････････････････････････････････････ 6- 4

6.4 Alarm mode ･･･････････････････････････････････････････････････････････････････････････ 6- 5

6.5 Parameter mode ･･･････････････････････････････････････････････････････････････････････ 6- 6

6.6 External I/O signal display ･･････････････････････････････････････････････････････････････ 6- 8

6.7 Output signal forced output (DO forced output)･･･････････････････････････････････････････ 6- 11

6.8 Test operation mode ･･･････････････････････････････････････････････････････････････････ 6- 12

6.8.1 Mode change ･･････････････････････････････････････････････････････････････････････ 6- 12

6.8.2 Jog operation ･･････････････････････････････････････････････････････････････････････ 6- 13

6.8.3 Positioning operation･･･････････････････････････････････････････････････････････････ 6- 14

6.8.4 Motor-less operation ･･･････････････････････････････････････････････････････････････ 6- 15

7. ADJUSTMENT 7- 1 to 7- 10

7.1 What Is Gain Adjustment? ･･････････････････････････････････････････････････････････････ 7- 1

7.1.1 Difference between servo amplifier and other drives ････････････････････････････････････ 7- 1

7.1.2 Basics of the servo system ･･･････････････････････････････････････････････････････････ 7- 2

7.2 Gain Adjustment ･･･････････････････････････････････････････････････････････････････････ 7- 3

7.2.1 Parameters required for gain adjustment･･････････････････････････････････････････････ 7- 3

7.2.2 Block diagram ･･････････････････････････････････････････････････････････････････････ 7- 3

7.2.3 What is auto tuning? ････････････････････････････････････････････････････････････････ 7- 4

7.3 Gain Adjustment by Auto Tuning ････････････････････････････････････････････････････････ 7- 5

7.3.1 Adjustment method ･････････････････････････････････････････････････････････････････ 7- 5

7.3.2 Valid conditions･････････････････････････････････････････････････････････････････････ 7- 5

7.4 Manual Gain Adjustment ･･･････････････････････････････････････････････････････････････ 7- 6

7.4.1 When machine rigidity is low･････････････････････････････････････････････････････････ 7- 6

7.4.2 When the machine vibrates due to machine resonance frequency ････････････････････････ 7- 7

7.4.3 Load inertia moment is 20 or more times ･･････････････････････････････････････････････ 7- 8

7.4.4 When shortening the settling time ････････････････････････････････････････････････････ 7- 9

7.4.5 When the same gain is used for two or more axes･･････････････････････････････････････ 7- 10

7.5 Slight Vibration Suppression Control････････････････････････････････････････････････････ 7- 10

8. INSPECTION 8- 1 to 8- 2

9. TROUBLESHOOTING 9- 1 to 9- 12

9.1 Trouble at Start-Up ････････････････････････････････････････････････････････････････････ 9- 1

9.1.1 Position control mode････････････････････････････････････････････････････････････････ 9- 1

9.1.2 Speed control mode ･････････････････････････････････････････････････････････････････ 9- 4

9.1.3 Torque control mode ････････････････････････････････････････････････････････････････ 9- 5

9.2 When Alarm or Warning Has Occurred･･･････････････････････････････････････････････････ 9- 6

9.2.1 Alarms and Warning list･････････････････････････････････････････････････････････････ 9- 6

9.2.2 Remedies for alarms ････････････････････････････････････････････････････････････････ 9- 7

9.2.3 Remedies for Warnings ･････････････････････････････････････････････････････････････ 9- 11

10. OUTLINE DIMENSION DRAWINGS 10- 1 to 10- 4

10.1 Servo amplifiers･･････････････････････････････････････････････････････････････････････ 10- 1

10.2 Connectors ･･････････････････････････････････････････････････････････････････････････ 10- 2

11. CHARACTERISTICS 11- 1 to 11- 4

11.1 Overload Protection Characteristics ････････････････････････････････････････････････････ 11- 1

11.2 Dynamic Brake Characteristics ････････････････････････････････････････････････････････ 11- 2

11.3 Encoder Cable Flexing Life ････････････････････････････････････････････････････････････ 11- 3

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12- 18

12.1 Options ･････････････････････････････････････････････････････････････････････････････ 12- 1

12.1.1 Cables and connectors ･････････････････････････････････････････････････････････････ 12- 1

12.1.2 Junction terminal block (MR-TB20) ･････････････････････････････････････････････････ 12- 7

12.1.3 Servo configurations software ･･････････････････････････････････････････････････････ 12- 9

12.2 Auxiliary Equipment ････････････････････････････････････････････････････････････････ 12- 11

12.2.1 Recommended wires ･････････････････････････････････････････････････････････････ 12- 11

12.2.2 Circuit protector ･････････････････････････････････････････････････････････････････ 12- 12

12.2.3 Relays ･･････････････････････････････････････････････････････････････････････････ 12- 13

12.2.4 Noise reduction techniques ･･･････････････････････････････････････････････････････ 12- 13

12.2.5 Snubber unit ････････････････････････････････････････････････････････････････････ 12- 17

13. COMMUNICATION FUNCTIONS 13- 1 to 13- 26

13.1 Configuration ････････････････････････････････････････････････････････････････････････ 13- 1

13.1.1 RS-422 configuration ･･････････････････････････････････････････････････････････････ 13- 1

13.1.2 RS-232C configuration ････････････････････････････････････････････････････････････ 13- 2

13.2 Communication Specifications ･････････････････････････････････････････････････････････ 13- 3

13.2.1 Communication overview ･･････････････････････････････････････････････････････････ 13- 3

13.2.2 Parameter setting･････････････････････････････････････････････････････････････････ 13- 4

13.3 Protocol ･････････････････････････････････････････････････････････････････････････････ 13- 5

13.4 Character Codes ･････････････････････････････････････････････････････････････････････ 13- 6

13.5 Error Codes ･････････････････････････････････････････････････････････････････････････ 13- 7

13.6 Checksum ･･･････････････････････････････････････････････････････････････････････････ 13- 7

13.7 Time-Out Operation ･･････････････････････････････････････････････････････････････････ 13- 8

13.8 Retry Operation･･････････････････････････････････････････････････････････････････････ 13- 8

13.9 Initialization･････････････････････････････････････････････････････････････････････････ 13- 9

13.10 Communication Procedure Example ･･････････････････････････････････････････････････ 13- 9

13.11 Command and Data No. List ････････････････････････････････････････････････････････ 13- 10

13.11.1 Read commands ････････････････････････････････････････････････････････････････ 13- 10

13.11.2 Write commands････････････････････････････････････････････････････････････････ 13- 11

13.12 Detailed Explanations of Commands ･････････････････････････････････････････････････ 13- 13

13.12.1 Data processing ････････････････････････････････････････････････････････････････ 13- 13

13.12.2 Status display ･･････････････････････････････････････････････････････････････････ 13- 15

13.12.3 Parameter ･････････････････････････････････････････････････････････････････････ 13- 16

13.12.4 External I/O pin statuses (DIO diagnosis) ･････････････････････････････････････････ 13- 18

13.12.5 Disable/enable of external I/O signals (DIO) ･･･････････････････････････････････････ 13- 19

13.12.6 External input signal ON/OFF (Test operation) ････････････････････････････････････ 13- 20

13.12.7 Test operation mode ････････････････････････････････････････････････････････････ 13- 21

13.12.8 Output signal pin ON/OFF (DO forced output) ･････････････････････････････････････ 13- 23

13.12.9 Alarm history ･･････････････････････････････････････････････････････････････････ 13- 24

13.12.10 Current alarm･････････････････････････････････････････････････････････････････ 13- 25

13.12.11 Other commands ･･････････････････････････････････････････････････････････････ 13- 26

Optional Servo Motor Instruction Manual CONTENTS

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

MEMO

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, small capacity servo system compatible with the MELSERVO-J2 series 24VDC power supply. It can be used in a wide range of fields from semiconductor equipment to s ma ll robots , etc. The input signals of t he s ervo ampl if ier cont rol s ys tem a re compat i bl e wit h th ose of t he M R-J 2- 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

1.2 Servo Amplifier Standard Specifications

Servo Amplifier

Item

Voltage 21.6 to 30VDC (instantaneous permissible vo ltage 34V)

Circuit power

supply

Control circuit power supply (Note) Control system Sine-wave PWM control, current control system

Dynamic brake Built-in

Protective functions

Speed frequency response 250Hz or more

Max. input pulse frequency 500kpps (for differential rece iver), 200kpps (for open collec tor) Command pulse multiplying factor Electronic gear A/B, A, B: 1 to 32767, 1/50 < A/B < 50 In-position range setting Error excessive

Position control mode

Torque limit Parameter setting system Speed control range Analog speed command 1: 1000, inter n al speed command 1: 5000

Analog speed command input

Speed fluctuation ratio

Speed control mode

Torque limit Parameter setting system

Torque control

mode

Structure Open (IP00)

Ambient temperature

Ambient humidity 90%RH or less (non-condensing)

storage temperature

storage humidity 90%RH or less (non-condensing)

Environment

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

Vibration

Mass

Power supply capacity

Analog torque command input

HC-AQ0135D Continuous 0.8A, m ax. 2.4A HC-AQ0235D Continuous 1.6A, m ax. 4.8A HC-AQ0335D Continuous 2.4A, m ax. 7.2A

24VDC±10%, 200mA (400mA when using the servo motor equipped with electromagnetic brake)

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

−0.03% or less (load fluctuation 0 to 100%) ±0.02% or less (power fluctuation ±10%)

DC0 to ±8V (input impedance 10 to 12kΩ)

32 to +131 [°F] (non-freezing)

−20 to +65 [°C] (non-freezing)

−4 to +149 [°F] (non-freezing)

Free from corrosive gas, flammable gas, o il m ist, dust and dirt

[kg] 0.2

[lb] 0.44

MR-J2-03A5

0 to ±10000 pulse

±80 kpulse

DC0 to ±10V

±3% or less

0 to +55 [°C] (non-freezing)

Indoors (no direct sunlight)

5.9 [m/s2] or less

19.4 [ft/s

] or less

Note. To comply with the Low Voltage Directive, use a reinforced insulation type stabilizing power supply.

1 - 2

1. FUNCTIONS AND CONFIGURATION

1.3 Function List

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

Position control mode MR-J2-03A5 is used as position control servo. P

Speed control mode MR-J2-03A5 is used as speed control servo . S

Torque control mode MR-J2-03A5 is used as torque control servo. T

Position/speed control change mode Speed/torque control change mode Torque/position control change mode Slight vibration suppression control Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters No. 3, 4

Real-time auto tuning Smoothing Speed can be increa sed smoothl y in respon se to in put pu lse. P Pa ramet er No. 7

S-pattern acceleration/ deceleration time constant Alarm history clear Alarm history is cleared. P, S, T Parameter No. 16

Restart after instantaneous power failure

Command pulse selection

Input signal selection

Torque limit Servo motor-generated torque can be limited to any value. P, S

Speed limit Servo motor speed can be limited to any value. T

Status display

External I/O display

Output signal forced output

Automatic VC offset

Test operation mode

Using external input signal, control can be switched between position control and speed control. Using external input signal, control can be switched between speed control and torque control. Using external input signal, control can be switched between torque control and position control. Suppresses vibration of ±1 pulse produced at a servo motor stop.

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Speed can be increased and decreased smoothly. S Parameter No. 13

If the input power supply voltage had reduc ed to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal. Command pulse train form can be selected from among four different types. Forward rotation start, reverse rotation start, servo on and other input signals can be assigned to any pins.

Servo status is shown on the 4-digit, 7-segment LED display ON/OFF statuses of external I/O signals are shown on the display. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command (VC) or analog speed limit (VLA) of 0V. Servo motor can be run from the operation section of the servo amplifier without the start signal entered.

(Note)

Control Mode

P/S Section 3.4.4

S/T Section 3.4.5

T/P Section 3.4.6

P Section 7.5

P, S

S Paramete r No. 20

P Parameter No. 21

P, S, T

P, S, T Section 6.2

P, S, T Section 6.6

P, S, T Section 6.7

S, T Section 6.3

P, S, T Section 6.8

Refer To

Section 3.1.1 Section 3.4.1 Section 4.2.2 Section 3.1.2 Section 3.4.2 Section 4.2.3 Section 3.1.3 Section 3.4.3 Section 4.2.4

Section 7.3 Parameter No. 2

Parameters No. 43 to 48 Section 3.4.1 (2) Parameter No. 28 Section 3.4.3 (3) Parameter No. 8 to 10

1 - 3

1. FUNCTIONS AND CONFIGURATION

Function Description

Servo configuration software

Alarm code output

Note. P: Position control mode, S: Speed control mod e, T: Torque control mod e

P/S: Position/speed control change mod e, S/T: Sp eed/torq ue control cha nge mode, T/P: Torq ue/posit ion control chan ge mode

Using a personal computer, parameter setting, test operation, status display, etc. can be performed. If an alarm has occurred, the c orre sponding alarm number is output in 3-bit code.

(Note)

Control Mode

P, S, T Section 12. 1. 3

P, S, T Section 9.2.1

1.4 Model Code Definition

(1) Rating plate

MITSUBISHI

MITSUBISHIMITSUBISHI

MODEL

POWER

MR‑J2‑03A5

POWER: INPUT:

OUTPUT: SERIAL:

MITSUBISHIELECTRICCORPORATION

MADEINJAPAN

30W DC24V



2.3A A5**********

TC3**AAAAG52

ACSERVO

PASSED

Model Capacity

Applicable power supply

Rated output current Serial number

Refer To

(2) Model

MR-J2 - 03 A 5

Series name

Rating plate

24VDC power supply specification General-purpose interface

Rated output 30[W]

1.5 Combination with Servo Motor

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

HC-AQ0135D HC-AQ0235DMR-J2-03A5 HC-AQ0335D

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.6 Parts Identification

Name/Application

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

Operation section Used to perform status display, diagnostic, alarm and parameter operations.

DOWN

MODE

I/O signal connector (CN1A) Used to connect digital I/O signals.

I/O signal connector (CN1B) Used to connect digital I/O signals.

Name plate

Servo motor connector (CNP2) Connector for connection of the servo motor.

Power input connector (CNP1) Used to connect the input power supply/control circuit power supply/RS-422.

SET

Used to set parameter data.

Used to change the display or data in each mode.

Used to change the mode.

Refer To

Chapter6

Section3.3

Section1.3

Section3.3 Section10.2.1 Section12.1.1

Section3.3 Section10.2.1

Communication connector (CNP3) Used for connection with a personal computer (RS-232C).

Earth (E) terminal ( ) To conform to the EN Standard, fit the supplied earth terminal for grounding.

Section3.3 Section10.2.1 Section12.1.3

Section3.9

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.7 Servo System with Auxiliary Equipment

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

24VDC

Servo Configuration software

−

Circuit protector

Main ci rcuit po wer suppl y

Relay

Control power supply

Personal computer

To CNP1

To CNP3

Servo amplifier

MITSUBISHI

OPEN

CN1A CN1B

CNP1 CNP2

CNP3

MELSERVO

Earth (E) terminal

To CNP2

To CN1A

To CN1B

Motor cable

Power leads

Positioning unit/ speed controller

Junction terminal block

Encoder cable



Servo motor

1 - 6

2. INSTALLATION

CAUTION

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

conductive matter or oil and other combustible matter from entering the servo amplifier.

y Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may

occur.

y Do not subject the servo amplifier to drop impact or shock loads as they are

precision equipment.

y Do not install or operate a faulty servo amplifier. y When the product has been stored for an extended period of time, consult

Mitsubishi.

2.1 Environmental conditions Environment Conditions

Ambient temperature Ambient humidity 90%RH or less (non-condensing) storage temperature storage humidity 90%RH or less (non-condensin g) Ambient Altitude Max. 1000m (3280 ft) above sea level Vibration

0 to +55 [°C] (non-freezing) 32 to +131 [°F] (non-freezing)

−20 to +65 [°C] (non-freezing)

−4 to +149 [°F] (non-freezing)

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

5.9 [m/s2] or less

19.4 [ft/s

] or less

2 - 1

2. INSTALLATION

2.2 Installation direction and clearances

y The equipment must be installed in the specified direction. O therwise, a fault may

CAUTION

(1) Installation of one servo amplifier

10mm (0.4 in.) or more

occur.

y Leave specified clearances between the servo amplif ier and c ontr ol box ins ide walls

or other equipment.

Control box Control box

40mm (1.6 in.) or more

Servo am plifier

MITSUBISHI

MELSERVO

OPEN

CN1A CN1B

CNP1 CNP2

10mm (0.4 in.) or more

Wiring clearance

70mm (2.8 in.)

Top

CNP3

40mm (1.6 in.)

Bottom

or more

(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

10mm (0.4 in.) or more

100mm (4.0 in.) or more

MITSUBISHI

OPEN

CN1A CN1B

CNP1 CNP2

MELSERVO

1mm (0.04 in.) or more

MITSUBISHI

OPEN

MELSERVO

CN1A CN1B

CNP1 CNP2

10mm (0.4 in.) or more

CNP3

40mm (1.6 in.) or more

CNP3

(3) Others

Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2 - 2

2. INSTALLATION

2.3 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire f ragments from entering the

servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifie r thro ug h ope nin gs in th e co ntro l

box or a fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air

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

2.4 Cable stress

(1) The way of clamping the cable must be f ully examined so that flexin g stress and cable's own we ight

stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)

supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables wit hin the fl exin g li fe of the ca b les .

(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 th e servo motor w ill move, the fle xing radius should be made as

large as possible. Refer t o sect ion 1 1. 4 for t he flexi ng li fe.

2 - 3

2. INSTALLATION

2.5 Using the DIN rail for installation

(1) Fitting into the DIN rail

Put the upper catch on the DIN rail and push the unit until it clicks.

(2) Removal from DIN rail

1) Pull down the hook.

2) Pull it toward you.

3) Lift and remove the unit.

Wall

DIN rail

Wall

Upper catch

DIN rail

2) 3)

Wall

Upper catch

DIN rail

Wall

DIN rail

Wall

DIN rail

Hook

2 - 4

3. SIGNALS AND WIRING

y Any person who is involved in wiring should be fully competent to do the work. y Before starting wiring, make sure that the voltage is safe in the tester more than 15

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

WARNING

CAUTION

y Ground the servo amplifier and the servo motor securely. y Do not attempt to wire the servo amplifier and servo motor until they have been

installed. Otherwise, you may get an electric shock.

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

pinched. Otherwise, you may get an electric shock.

y W ire the equipment correctly and securely. Otherwise, the servo motor may

misoperate, resulting in injury.

y Connect cables to correct terminals to prevent a burst, fault, etc.

y Ensure that polarity (+, −) is correct. Otherwise, a burst, damage, etc. may occur.

y 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

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

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

y Do not install a power capacitor, surge suppressor or radio noise filter with the power

line of the servo motor.

y Do 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

3.1 Standard connection example

POINT

y For the connection of the power supply system, refer to Section 3.7.1. y Do not apply the test lead bars or like of a tester directly to the pins of the

connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact.

3.1.1 Position control mode AD75P (A1SD75P)

(Note 3)

(Note 5)

Forward rotation stroke end

Reverse rotation stroke end

(Note 8) Analog torque limit

(Note 9)

Servo Configuration

software

24VDC power supply

−

Signal Name

PULSE F

PULSE F− PULSE R+

PULSE R−

CLEAR

CLEAR COM

READY

COM

INPS

Positioning unit AD75P/A1SD75P

PG0(+5V)

PG0 COM

Proportion control

10V/max. current

Pin No.

Forced stop

Servo on

Reset

Torque limit

Upper limit setting

Personal

computer

(Note 8)

Circuit protector

10m (32ft) max.

2m (6.5ft) max.

Servo amplifier

CNP1

P24M

P24G

P24L

(Note 4,7) CN1A

COM 9

INP

LZR

Plate

(Note 4,7) CN1B

EMG

SON

RES

LSP

LSN

P15R

TLA

Plate

CNP3

(Note 4)

CN1B

(Note 4,7)

CN1A

Plate

CNP2

3VDD

13 COM

ALM

19 ZSP

6TLC

LAR

LBR

P15R

30m (98ft) max.

(Note1)

(Note 2)

RA1

RA2

RA3

(Note 6) Trouble

Zero speed

Limiting torque

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Control common Encoder Z-phase pulse (open collector)

Servo motor

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 Cfaulty 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-SETUP81E or later.

3 - 3

3. SIGNALS AND WIRING

3.1.2 Speed control mode

(Note 3)

Forward rotation start

Reverse rotation start

(Note 5)

Forward rotation stroke end

Reverse rotation stroke end

Analog speed command

(Note 8) Analog torque limit

(Note 9)

Servo configuration

software

24VDC power supply

−

Speed Selection 1

Forced stop

Servo on

Reset

Speed selection 2

Upper limit setting

10V/Rated speed

Upper limit setting

+10V/max. current

Personal

computer

Circuit protector

10m (32ft) max.

2m (6.5ft) max.

P24M

P24G

P24L

SP1

EMG

SON

RES

ST1

ST2

LSP

LSN

P15R

Servo amplifier

CNP1

(Note 4)

(Note 4,7)

CN1A

(Note 4,7)

CN1B

7SP2

(Note 4,7)

12TLA

Plate

CNP3

CN1B

3 VDD

19 ZSP

6TLC

CN1A

18 SA

Plate

CNP2

COM

ALM

LZR

LAR

LBR

P15R

30m (98ft) max.

(Note1)

RA1

RA2

RA3

RA5

RA4

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Control common Encoder Z-phase pulse (open collector)

(Note 6) Trouble

Zero speed

Limiting torque

Speed reached

Ready

Servo

motor

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-SETUP81E or later.

3 - 4

3. SIGNALS AND WIRING

3.1.3 Torque control mode

(Note 3)

Forward rotation selection

Reverse rotation selection

Analog torque command

(Note 7)

Servo configuration

software

24VDC power supply

−

Speed Selection 1

Forced stop

Servo on

Reset

Speed selection2

Upper limit setting

±8V/max. current

Upper limit setting

Analog speed limit

0 to +10V/max. speed

Personal

computer

Circuit protector

10m(32ft) max.

2m (6.5ft) max.

P24M

P24G

P24L

SP1

EMG

SON

RES

RS1

RS2

P15R

Servo amplifier

CNP1

(Note 4)

(Note 4,6) CN1A

(Note 4,6) CN1B

7SP2

(Note 4,6)

2VLA

Plate

CNP3

CN1B

3 VDD

COM

ALM

19 ZSP

6TLC

CN1A

19 RD RA4

LZR

LAR

LBR

P15R

Plate

(Note 2)

RA1

RA2

RA3

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Control common Encoder Z-phase pulse (open collector)

(Note 5)

Trouble

Zero speed

Limiting torque

Ready

CNP2

30m (98ft) max.

(Note1)

Servo

motor

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-SETUP81E or later.

3 - 5

3. SIGNALS AND WIRING

3.2 Internal Connection Diagram of Servo Amplifier

The following is the internal connection diagram where the signal assignment has been made in the initial status in each control mode.

Servo amplifier

CNP1

P24M

P24G

P24L

(Note)

VDD VDD VDD 3

COM

(Note)

COM COM COM 9

CR SP1 SP1

SG SG SG810,20

(Note)

PST

SON SON SON

PC ST1 RS2

TL ST2 RS1

RES

EMG

LSP

LSN

(Note)

PST

OPC

(Note)

PST

TLA TC 12

P15R

(Note)

PST

COM COM 13

T CN1A

SP2 SP257

RES RES

EMG EMG

LSP

LSN

SG SG

CN1A

SD SD

VC VLA 2

TLA

P15R

CN1A

CN1B

10,20

Case

CN1B

Case

4P15R P15R P15R

Approx.4.7k

Approx.100

Approx.100Ω

Ω

+15VDC

Approx.1.2k

Ω

CNP2

B23

B19

(Note)

CN1A

CN1B

CN1A

PST

INP SA18

RD RD RD19

(Note)

PST

TLC TLC VLC6

ALM ALM ALM18

ZSP ZSP ZSP19

DO1 DO1

DO14

(Note)

PST

LAR

LBR

1514LZROPLZROPLZR

LG LG

LAR

LBR

Note. P: Position control mode, S: Speed control mode, T: Torque control mode

3 - 6

3. SIGNALS AND WIRING

3.3 I/O Signals

3.3.1 Connectors and signal arrangements

POINT

The pin configurations of the connectors are as viewed from the cable

connector wiring section.

Refer to the next page for CN1A and CN1B signal assignment.

(1) Signal arrangement

CN1A CN1B

CNP1

RDP P24M

RDN P24G

SDP P24L

SDN TRE

CNP3

TXD

RXD

MITSUBISHI

MELSERVO

CNP1

CNP2

CNP3

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

MR MRR

P5 LG

B2 B1

CNP2

104

3 - 7

3. SIGNALS AND WIRING

(2) CN1A and CN1B signal assignment

The signal assignment of connector changes with the control mode as indicated below;

(Note2)

Connector Pin No.

(Note1)

I/O

P P/S S S/T T T/P

1 LGLGLGLGLGLG 2 I NP NP/  3 I PP PP/  4 P15R P15R/P15R P15R P15R P15R P15R 5 0 LZ LZ LZ LZ LZ LZ 6 0 LA LA LA LA LA LA 7 0 LB LB LB LB LB LB 8I CRCR/SP1 9 COM COM COM COM COM COM

CN1A

10 SG SG SG SG SG 11 OPC OPC/ /OPC 12 I NG NG/ /NG 13 I PG PG/ /PG 140 OPOPOPOPOPOP 15 0 LZR LZR LZR LZR LZR LZR 16 0 LAR LAR LAR LAR LAR LAR 17 0 LBR LBR LBR LBR LBR LBR 18 0 INP INP/SA SA SA/ /INP No.49 190 RDRDRDRDRDRDNo.49 20 SG SG SG SG SG SG

1 LGLGLGLGLGLG 2I /VC VC VC/VLA VLA VLA/ 3 VDD VDD VDD VDD VDD VDD

(Note3,4)

4 0 DO1 DO1 DO1 DO1 DO1 DO1

(Note3)

5 I SON SON SON SON SON SON No.43 to 48

(Note3)

6 0 TLC TLC TLC TLC/VLC VLC VLC/TLC No.49

(Note3)

7 I LOP SP2 LOP SP2 LOP No.43 to 48

(Note3)

8 I PC PC/ST1

(Note3)

9 I TL TL/ST2

10 SG SG SG SG SG SG

CN1B

11 P15R P15R P15R P15R P15R P15R

12 I TLA

(Note6)

TLA/TLA 13 COM COM COM COM COM COM 14 I RES RES RES RES RES RES No.43 to 48 15 I EMG EMG EMG EMG EMG EMG 16 I LSP LSP LSP LSP/ 17 I LSN LSN LSN LSN/ 18 0 ALM ALM ALM ALM ALM ALM No.49 19 0 ZSP ZSP ZSP ZSP ZSP ZSP No.1,49 20 SG SG SG SG SG SG

Note 1. I: Input signal, O: Output signal, -: Others (e. g. power)

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

3. The signal of CN1A-18 is always output. However, this pin may not be used when assigning alarm codes to CN1A-18.

I/O Signals in Control Modes

(Note3)

SP1 SP1/SP1

(Note4)

ST1 ST1/RS2

(Note5)

ST2 ST2/RS1

TLA

(

Note6)

TLA/TC

(Note3)

(Note4)

(Note5)

/NP

/PP

SP1 SP 1/CR No.43 to 48

RS2 RS2/PC No.43 to 48 RS1 RS1/TL No.43 to 48

TC TC/TLA

/LSP /LSN

parameter

3 - 8

3. SIGNALS AND WIRING

(3) Symbols and signal names

Symbol Signal Name Symbol Signal Name

SON Servo on TLC Limiting torque LSP Forward rotation stroke end VLC Limiting speed LSN Reverse rotation stroke end RD Ready CR Clear ZSP Zero speed SP1 Speed selection 1 INP In position SP2 Speed selection 2 SA Speed reached PC Proportion control ALM Trouble ST1 Forward rotation start WNG Warning ST2 Reverse rotation start OP Encoder Z-phase pulse (open collector) TL Torque limit selection MBR Electromagnetic brake interlock RES Reset LZ EMG Forced stop LZR LOP Control change LA VC Analog speed command LAR VLA Analog speed limit LB TLA Analog torque limit LBR TC Analog torque command VDD I/F internal power supply RS1 Forward rotation selection COM Digital I/F power supply input RS2 Reverse rotation selection OPC Open collector power input PP SG Digital I/F common NP P15R DC15V power supply PG LG Control common NG

Forward/reverse rotation pulse train

SD Shield

Encoder Z-phase pulse (differential line driver)

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

3 - 9

3. SIGNALS AND WIRING

3.3.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.6.2. In the Control Mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode { : Denotes that the signal may be used in the initial setting status.

∆

: Denotes that the signal may be used by setting the corresponding parameter among parameters 43 to

49. The pin No.s in the connector pin No. column are those in the initial status.

(1) Input signals

Connec-

Signal Symbol

Servo-on SON CN1B5Ready signal input terminal.

Reset RES CN1B14Alarm reset signal input terminal.

Forward rotation stroke end

Reverse rotation stroke end

LSP CN1B

LSN CN1B

tor Pin

No.

Functions/Applications

Connect SON-SG to switch on the base circuit and make the servo amplifier ready to operate (servo on). Disconnect SON-SG to shut off the base circuit and coast the servo motor (servo off) . Set1 in parameter No. 41 to switch this signal on (keep terminals connected) automatically in the servo amplifier.

Disconnect RES-SG for more than 50ms to reset the alarm. Some alarms cannot be deactivated by the reset signal. Refer to Section 9.2. Turning RES on in an alarm-free status shuts off the base circuit.

Forward/reverse rotation stroke end signal input terminals. To start operation, short LSP-SG and/or LSN-SG. Open them to bring the motor to a sudden stop and make it servo-locked. Set1 in parameter No. 22 to make a slow stop.

(Note) Input signals Operation

LSP LSN

11{{ 01 { 10{ 00

Note. 0: OFF (LSP/LSN-SG open)

1: ON (LSP/LSN-SG shorted) Set parameter No. 41 as indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier:

Parameter No.41 Automatic ON

1 LSP 1 LSN

CCW

directionCWdirection

I/O

Division

DI-1

Control

Mode

PST

{{{

{{

3 - 10

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Torque limit TL CN1B9Torque limit selection input device.

Forward rotation start

Reverse rotation start

Forward rotation selection

Reverse rotation selection

ST1 CN1B

ST2 CN1B

RS1 CN1B

RS2 CN1B

tor Pin

No.

Functions/Applications

Short TL-SG to make the analog torque limit valid. For details, refer to (2), section 3.4.1. Used to start the servo motor in any of the following directions:

(Note) Input signals

ST2 ST1

0 0 Stop (servo lock) 0 1 CCW 10 CW 1 1 Stop (servo lock)

Note. 0: OFF (ST1/ST2-SG open)

1: ON (ST1/ST2-SG shorted) If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter No. 12 setting and servo-locked. Used to select any of the following servo motor torque generation directions:

(Note) Input signals

RS2 RS1

Note. 0: OFF (RS1/RS2-SG open)

1: ON (RS1/RS2-SG shorted)

Servo Motor Starting Direction

Torque Generation

Direction

Torque is not

generated

Forward rotation in driving mode / reverse rotation in regenerative mode

Reverse rotation in driving mode / forward rotation in regenerative mode

Torqueis not

generated

Rotation Direction

Stop

CCW

Stop

I/O

Division

DI-1

Control

Mode

PST

{ ∆

{

3 - 11

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Speed selection 1 SP1 CN1A

Speed selection 2 SP2 CN1B

tor Pin

No.

Functions/Applications

Used to select the command speed for operation.

(Note) Input signals

SP2 SP1

0 0 Analog speed command (VC)

Note. 0: OFF (SP1/SP2-SG open)

1: ON (SP1/SP2-SG shorted) <Torque control mode>

Used to select the limit speed for operation.

(Note) Input signals

SP2 SP1

0 0 Analog speed limit (VLA) 0 1 Internal speed limit 1 (parameter No. 8) 1 0 Internal speed limit 2 (parameter No. 9) 1 1 Internal speed limit 3 (parameter No. 10)

Note. 0: OFF (SP1/SP2-SG open)

1: ON (SP1/SP2-SG shorted) <Position/speed, speed/torque, torque/position control change mode>

Internal speed command 1 (parameter No. 8)

Internal speed command 2 (parameter No. 9)

Internal speed command 3 (parameter No. 10)

Speed Command

Speed Limit

I/O

Division

DI-1

Control

Mode

PST

{{

As CN1B-7 acts as a control change signal, the speed selected when the speed or torque control mode is selected is as follows:

x When speed control mode is selected

(Note)

SP1

Analog speed command (VC)

Internal speed command 1 (parameter No. 8)

Note. 0: OFF (SP1-SG open)

1: ON (SP1-SG shorted)

x When torque control mode is selected

(Note)

SP1

Analog speed limit (VLA)

Internal speed limit 1 (parameter No. 8)

Note. 0: OFF (SP1-SG open)

1: ON (SP1-SG shorted)

Speed Command

Speed Limit

3 - 12

3. SIGNALS AND WIRING

Connec-

Signal Symbol

Proportion control

Forced stop EMG CN1B15Disconnect EMG-SG to bring the servo motor to a forced stop

Clear CR CN1A8Connect CR-SG to clear the position control counter droop pulses

Control change LOP CN1B

tor Pin

No.

PC CN1B8Connect PC-SG to switch the speed amplifier from the

proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control signal (PC) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, switch on the proportion control signal and torque control signal (TL) at the same time to make the torque less than the rated by the analog torque limit.

state, in which the servo is switched off and the dynamic brake is operated. Connect EMG-SG in the forced stop state to reset that state.

on the leading edge of the signal. The pulse width should be 10ms or more. When the parameter No. 42 setting is 1, the pulses are always cleared while CR-SG are connected. <Position/speed control change mode> Used to select the control mode in the position/speed control

change mode.

Functions/Applications

I/O

Division

DI-1

Control

Mode

PST

{ ∆

{{{

{

(Note) LOP Control Mode

0 Position 1 Speed

Note. 0: OFF (LOP-SG open)

1: ON (LOP-SG shorted) <Speed/torque control change mode> Used to select the control mode in the speed/torque control change mode.

(Note) LOP Control Mode

0 Speed 1Torque

Note. 0: OFF (LOP-SG open)

1: ON (LOP-SG shorted) <Torque/position control mode> Used to select the control mode in the torque/position control change mode.

(Note) LOP Control Mode

0Torque 1 Position

Note. 0: OFF (LOP-SG open)

1: ON (LOP-SG shorted)

Refer to

Functions/

Appli-

cations.

3 - 13

3. SIGNALS AND WIRING

Signal Symbol

Analog torque limit

Analog torque command

Analog speed command Analog speed limit Forward rotation pulse train Reverse rotation pulse train

Connec-

tor Pin

No.

TLA To use this signal in the speed control mode, set any of

VC Apply 0 to ±10VDC across VC-LG. Speed set in parameter No. 25

VLA

CN1B

CN1A

parameters No. 43 to 48 to make TL available. When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range. Apply 0 to +10 VDC across TLA-LG. Connect the positive terminal of the power supply to TLA. Maximum torque is generated at +10 V. (Refer to (2) in Section 3.4.1.) Used to control torque in the full servo motor output torque range. Apply 0 to ±8VDC across TC-LG. Maximum torque is generated at ±8V. (Refer to (1) in Section 3.4.3.) The torque generated at ±8V input can be changed using parameter No. 26.

is provided at ±10V. (Refer to (1) in Section 3.4.2.) Apply 0 to ±10VDC across VLA-LG. Speed set in parameter No. 25 is provided at ±10V. (Refer to (3) in Section 3.4.3.) Used to enter a command pulse train. x In the open collector system (max. input frequency 200kpps): Forward rotation pulse train across PP-SG Reverse rotation pulse train across NP-SG x In the differential receiver system (max. input frequency 500kpps): Forward rotation pulse train across PG-PP Reverse rotation pulse train across NG-NP The command pulse train form can be changed using parameter No. 21.

Functions/Applications

I/O

Division

Analog

input

Analog

input

Analog

input

Analog

input

DI−2

Control

Mode

PST

{ ∆

{

3 - 14

3. SIGNALS AND WIRING

(2) Output signals

Connec-

Signal Symbol

Trouble ALM CN1B18ALM-SG are disconnected when power is switched off or the

Ready RD CN1A19RD-SG are connected when the servo is switched on and the servo

In position INP INP-SG are connected when the number of droop pulses is in the

Speed reached SA

Limiting speed VLC CN1B6VLC-SG are connected when speed reaches the value set to any of

Limiting torque TLC CN1B6TLC-SG are connected when the torque generated reaches the

Zero speed ZSP CN1B19ZSP-SG are connected when the servo motor speed is zero speed

Electromagnetic brake interlock

Warning WNG To use this signal, assign the connector pin for output using

MBR

tor Pin

No.

CN1A

CN1B

Functions/Applications

protective circuit is activated to shut off the base circuit. Without alarm, ALM-SG are connected within about 1s after power on.

amplifier is ready to operate.

preset in-position range. The in-position range can be changed using parameter No. 5. When the in-position range is increased, INP-SG may be kept connected during low-speed rotation. SA turns off when servo on (SON) turns off or the servomotor speed has not reached the preset speed with both forward rotation start (ST1) and reverse rotation start (ST2) turned off. SA turns on when the servomotor speed has nearly reached the preset speed. When the preset speed is 20r/min or less, SA always turns on.

the internal speed limits 1 to 3 (parameters No. 8 to 10) or the analog speed limit (VLA) in the torque control mode. They are disconnected when the servo-on signal (SON) switches off.

value set to the internal torque limit 1 (parameter No. 28) or analog torque limit (TLA). They are disconnected when the servoon signal (SON) switches off.

(50r/min) or less. Zero speed can be changed using parameter No.

24. Set1 in parameter No. 1 to use this parameter. Note that ZSP will be unusable. In the servo-off or alarm status, MBR-SG are disconnected. When an alarm occurs, they are disconnected independently of the base circuit status.

parameter No. 49. The old signal before assignment will be unusable. When warning has occurred, WNG-SG are connected. When there is no warning, WNG-SG are disconnected within about 1s after power-on.

I/O

Division

DO−1

Control

Mode

PST

{{{

{

{{

{{{

∆∆∆

3 - 15

3. SIGNALS AND WIRING

Signal Symbol

Alarm code ACD0

ACD1

ACD2

Connec-

tor Pin

No.

CN1A

CN1B

Functions/Applications

To use this signal, set 1 in parameter No. 49. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output. Alarm codes and alarm names are listed below:

(Note) Alarm Code

CN1B

CN1A

19 Pin

18 Pin

19 Pin

000

0 0 1 A. 33 Overvoltage 010A. 10Undervoltage

011

100

101

110

Note. 0: OFF (Pin-SG open)

1: ON (Pin-SG shorted)

Alarm

Display

8888 Watchdog A. 11 Board error 1 A. 12 Memory error 1 A. 13 Clock error A. 15 Memory error 2 A. 17 Board error 2 A. 18 Board error 3 A. 37 Parameter error

A. 8E RS-232C error

A. 50 Overload 1 A. 51 Overload 2 A. 24 Motor output ground fault A. 32 Overcurrent A. 31 Overspeed

Command pulse frequency

A. 35

alarm A. 52 Error excessive A. 16 Encoder error 1 A. 20 Encoder error 2

Name

I/O

Division

DO−1

Control

Mode

PST

∆∆∆

3 - 16

3. SIGNALS AND WIRING

Signal Symbol

Encoder Z-phase pulse (Open collector)

Encoder A-phase pulse (Differential line driver)

Encoder B-phase pulse (Differential line driver) Encoder Z-phase pulse (Differential line driver)

Connec-

tor Pin

No.

OP CN1A14Outputs the zero-point signal of the encoder. One pulse is output

per servo motor revolution. OP and LG are connected when the zero-point position is reached. ( Negative logic) The maximum pulse width is about 400µs. For zeroing using this pulse, set the creep speed to 100r/min. or less.

LAR

LBR

LZR

CN1A

Outputs pulses per servo motor revolution set in parameter No. 27 in the differential line driver system. The encoder B-phase

pulse lags the encoder A-phase pulse by a phase angle of π/2.

The same signal as OP is output in the differential line driver system.

Functions/Applications

I/O

Division

DO−2

Control

Mode

PST

{{{

3 - 17

3. SIGNALS AND WIRING

(3) Power supply

Connec-

Signal Symbol

I/F internal power supply Digital I/F power supply input

Open collector power input Digital I/F common

DC15V power supply

Control common LG CN1A

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

VDD CN1B3Used to output 24VDC for input interface.

COM CN1A

OPC CN1A11When inputting a pulse train in the open collector system, supply

P15R CN1A

tor Pin

No.

CN1B

SG CN1A

10 20

CN1B

10 20

CN1B

CN3

1 3

5 11 13 15

Functions/Applications

Connected with P24L inside the servo amplifier. Used to input 24VDC for input interface. Connect the positive terminal of the 24VDC external power supply. 24VDC±10%

this terminal with the positive (+) power of 24VDC. Common terminal for input signals such as SON and EMG. Pins are connected internally. Internally connected with LG.

Outputs 15VDC to across P15R-LG. Available as power for TC, TLA, VC, VLA. Permissible current: 30mA

Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP and P15R. Pins are connected internally.

I/O

Division

Control

Mode

PST

{{{

3 - 18

3. SIGNALS AND WIRING

3.4 Detailed Description of the Signals

3.4.1 Position control mode

(1) Pulse train input

(a) Input pulse waveform selection

Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in parameter No. 21. Arrow A- and B-phase pulse trains are imported after they have been multiplied by 4.

Pulse Train Form Forward Rotation Reverse Rotation

Forward rotation pulse train Reverse rotation pulse train

or in the table indicates the timing of importing a pulse train.

Parameter No. 21

(Command pulse train)

0010

Pulse train + sign

Negative logic

A-phase pulse train B-phase pulse train

Forward rotation pulse train Reverse rotation pulse train

Pulse train + sign

Positive logic

A-phase pulse train B-phase pulse train

0011

0012

0000

0001

0002

3 - 19

3. SIGNALS AND WIRING

(b) Connections and waveforms

1) Open collector system Connect as shown below:

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their relationships with transistor ON/OFF are as follows:

Forward rotation pulse train (transistor)

Servo amplifier

24VDC

(ON)(OFF)

P24G P24L

VDD

OPC

About 2k

Ω

(OFF)

Reverse rotation pulse train (transistor)

(ON) (OFF) (ON) (OFF) (ON)(OFF)

3 - 20

3. SIGNALS AND WIRING

2) Differential line driver system Connect as shown below:

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows. The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.

Servo amplifier

Forward rotation pulse train

Reverse rotation pulse train

3 - 21

3. SIGNALS AND WIRING

(2) Torque limit

CAUTION

If the torque limit is canceled during servo lock, the servomotor may suddenly

rotate according to position deviation in respect to the command position.

(a) Torque limit and generated torque

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor-generated torque is shown below.

Max. torque

Generated torque

0100

Torque limit value [%]

A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo motor is shown below. Generated torque limit values will vary about 5% relative to the voltage depending on products. At the voltage of less than 0.05V, generated torque may vary as it may not be limited sufficiently. Therefore, use this function at the voltage of 0.05V or more.

100

±5%

Torque limit value [%]

010

0.05

TLA application voltage [V]

TLA application voltage vs.

torque limit value

2kΩ

Japan Resistor RRS10 or equivalent

2kΩ

Servo amplifier

P15R

TLA

3 - 22

3. SIGNALS AND WIRING

(b) Torque limit value selection

Choose the torque limit made valid by the internal torque limit value 1 (parameter No. 28) using the external torque limit selection (TL) or the torque limit made valid by the analog torque limit (TLA) as indicated below:

(Note) TL

Note. 0: TLA-SG off (open)

1: TLA-SG on (short)

If TLA > Parameter No. 28 If TLA < Parameter No. 28

Internal torque limit value 1

(parameter No. 28)

TLC-SG are connected when the torque generated by the servo motor reaches the torque set to internal torque limit value 1 or analog torque limit.

(3) In-position (INP)

PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. 5). INP-SG may remain connected when low-speed operation is performed with a large value set as the in-position range.

Servo-on (SON)

OFF

Torque Limit Value Made Valid

Internal torque limit value 1

(parameter No. 28)

Analog torque limit (TLA)

(4) Ready (RD)

Alarm

Droop pulses

In position (INP)

Servo-on (SON)

Alarm

Ready (RD)

Yes

OFF

Yes

OFF

In-position range

80ms or less 10ms or less 10ms or less

3 - 23

3. SIGNALS AND WIRING

3.4.2 Speed control mode

(1) Speed setting

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below:

Speed [r/min]

−

CW direction

Rated speed [r/min]

CCW direction

VC applied voltage [V]

Rated speed

Forward rotation (CCW)

Reverse rotation (CW)

The following table indicates the rotation direction according to forward rotation start (ST1) and reverse rotation start (ST2) combination:

(Note 1) External Input Signals (Note 2)Rotation Direction

ST2 ST1

01 CCW CW CCW 10 CW

Note 1. 0: ST1/ST2-SG off (open)

1: ST1/ST2-SG on (short)

2. If the torque limit is canceled during servo lock, the servomotor may suddenly rotate according to position deviation in respect to the command position.

+ Polarity 0V − Polarity

Stop

(Servo lock)

Stop

(Servo lock)

Analog Speed Command (VC)

Stop

(Servo lock)

Stop

(No servo lock)

Stop

(Servo lock)

Stop

(Servo lock)

CCW CW

Stop

(Servo lock)

Internal Speed

Commands

Stop

(Servo lock)

Stop

(Servo lock)

Generally, make connection as shown below:

Servo amplifier

2kΩ

Japan Resistor RRS10 or equivalent

2kΩ

SP1 SP2

P15R

VC LG SD

3 - 24

3. SIGNALS AND WIRING

(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value

Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).

(Note) External Input Signals

SP2 SP1

0 0 Analog speed command (VC) 0 1 Internal speed command 1 (parameter No. 8) 1 0 Internal speed command 2 (parameter No. 9) 1 1 Internal speed command 3 (parameter No. 10)

Note. 0: SP1/SP2-SG off (open)

1: SP1/SP2-SG on (short)

The speed may be changed during rotation. In this case, the values set in parameters No. 11 and 12 are used for acceleration/deceleration. When the speed has been specified under any internal speed command, it does not vary due to the ambient temperature.

(2) Speed reached (SA)

SA-SG are connected when the servo motor speed nearly reaches the speed set to the internal speed command or analog speed command.

Set speed selection

Speed Command Value

Internal speed

command 1

command 2

(3) Torque limit

As in Section 3.4.1 (2).

Start (ST1,ST2)

Servo motor speed

Speed reached (SA)

ON OFF

3 - 25

3. SIGNALS AND WIRING

3.4.3 Torque control mode

(1) Torque control

(a) Torque command and generated torque

A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below. The maximum torque is generated at ±8V. Note that the torque generated at ±8V input can be changed with parameter No. 26.

Max. torque

Generated torque

−8

−0.05

CW direction

CCW direction

+0.05 +8

TC applied voltage [V]

Max. torque (Note)

Forward rotation (CCW)

Reverse rotation (CW)

Generated torque limit values will vary about 5% relative to the voltage depending on products. Generated torque may vary at the voltage of −0.05V to +0.05V. The following table indicates the torque generation directions determined by the forward rotation selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.

(Note) External Input Signals Rotation Direction

RS2 RS1

0 0 Torque is not generated Torque is not generated

CCW (reverse rotation in

1 1 Torque is not generated

Note. 0: RS1/RS2-SG off (open)

1: RS1/RS2-SG on (short)

driving mode/forward rotation in regenerative mode) CW (forward rotation in driving mode/reverse rotation in regenerative mode)

+ Polarity 0V − Polarity

Torque control Command (TC)

CW (forward rotation in driving mode/reverse rotation in regenerative

No torque

mode) CCW (reverse rotation in driving mode/forward rotation in regenerative mode)

Torque is not generated

Generally, make connection as shown below:

−8 to +8V

Servo amplifier

RS1 RS2

TC LG SD

3 - 26

3. SIGNALS AND WIRING

(b) Analog torque command offset

Using parameter No. 30, the offset voltage of -999 to +999mV can be added to the TC applied voltage as shown below.

Max. torque

Parameter No.30 offset range

Generated torque

−999 to +999mV

TC applied voltage [V]

+8(−8)

(2) Torque limit

By setting parameter No. 28 (internal torque limit 1), torque is always limited to the maximum value during operation. A relationship between limit value and servo motor-generated torque is as in (2) in section 3.4.1. Note that the analog torque limit (TLA) is unavailable.

(3) Speed limit

(a) Speed limit value and speed

The speed is limited to the values set in parameters No. 8 to 10 (internal speed limits 1 to 3) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is shown below. When the motor speed reaches the speed limit value, torque control may become unstable. Make the set value more than 100r/min smaller than the desired speed limit value.

Speed [r/min]

CW direction

−10

Rated speed

CCW direction

VLA applied voltage [V]

Rated speed

Forward rotation (CCW)

Reverse rotation (CW)

The following table indicates the limit direction according to forward rotation selection (RS1) and reverse rotation selection (RS2) combination:

(Note) External Input Signals Speed Limit Direction

RS1 RS2

10 CCW CW CCW 01 CW CCW CW

Note. 0: RS1/RS2-SG off (open)

1: RS1/RS2-SG on (short)

Analog Speed Limit (VLA)

+ Polarity − Polarity

Internal Speed

Commands

Generally, make connection as shown below:

Servo amplifier

SP1 SP2

2kΩ

Japan Resistor RRS10 or equivalent

2kΩ

P15R

VC LG SD

3 - 27

3. SIGNALS AND WIRING

(b) Speed selection 1 (SP1)/speed selection 2 (SP2) and speed command values

Choose any of the speed settings made by the internal speed limits 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the speed limit command (VLA).

(Note) External Input Signals

SP2 SP1

0 0 Speed limit command (VLA) 0 1 Parameter No. 8 1 0 Parameter No. 9 1 1 Parameter No. 10

Note. 0: SP1/SP2-SG off (open)

1: SP1/SP2-SG on (short)

Speed Command Value

When the internal speed commands 1 to 3 are used to command the speed, the speed does not vary with the ambient temperature.

VLC-SG are connected when the servo motor speed reaches the limit speed set to any of the internal speed limits 1 to 3 or analog speed limit.

3 - 28

3. SIGNALS AND WIRING

3.4.4 Position/speed control change mode

Set 0001 in parameter No. 0 to switch to the position/speed control change mode. This function is not available in the absolute position detection system.

(1) Control change (LOP)

Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:

(Note) LOP Servo Control Mode

0 Position control mode 1 Speed control mode

Note. 0: LOP-SG off (open)

1: LOP-SG on (short)

The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below:

Position

control mode

Speed

control mode

Position

control mode

Zero speed

Servo motor speed

Zero speed (ZSP)

Control change (LOP)

Note: When ZSP is not on, control cannot be changed if LOP is switched on-off. If ZSP switches on after that, control cannot not be changed.

level

OFF

(2) Torque limit in position control mode

As in Section 3.4.1 (2).

(Note)

3 - 29

3. SIGNALS AND WIRING

(3) Speed setting in speed control mode

(a) Speed command and speed

The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal (ST1) and reverse rotation start signal (ST2) are as in (a), (1) in section 3.4.2. Generally, make connection as shown below:

Japan resistor RRS10 or equivalent

When a precision speed command is required, refer to (a), (1) in section 3.4.2

(b) Speed selection 1 (SP1) and speed command value

Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and the speed set by the analog speed command (VC) as indicated in the following table:

(Note) External Input Signals

SP1

0 Analog speed command (VC) 1 Internal speed command 1 (parameter No. 8)

Note. 0: SP1-SG off (open)

1: SP1-SG on (short)

Speed Command Value

Servo amplifier

SP1 SG P15R VC LG SD

By making speed selection 2 (SP2) usable by setting of parameter No. 43 to 48, you can choose the speed command values of analog speed command (VC) and internal speed commands 1 to 3.

(Note) External input signals

SP2 SP1

0 0 Analog speed command (VC) 0 1 Internal speed command 1 (parameter No. 8) 1 0 Internal speed command 2 (parameter No. 9) 1 1 Internal speed command 3 (parameter No. 10)

Note. 0: SP/1SP2-SG off(open)

1: SP/1SP2-SG on(short)

Speed command value

The speed may also be changed during rotation. In this case, it is increased or decreased according to the value set in parameter No. 11 or 12. When the internal speed command 1 is used to command the speed, the speed does not vary with the ambient temperature.

As in Section 3.4.2 (2).

3 - 30

3. SIGNALS AND WIRING

3.4.5 Speed/torque control change mode

Set 0003 in parameter No. 0 to switch to the speed/torque control change mode.

(1) Control change (LOP)

Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:

(Note) LOP Servo Control Mode

0 Speed control mode 1 Torque control mode

Note. 0: LOP-SG off (open)

1: LOP-SG on (short)

The control mode may be changed at any time. A change timing chart is shown below:

Torque

control mode

Load torque

Forward rotation in driving mode

Speed

control mode

(Note)

Servo motor speed

Analog torque command (TC)

Control change (LOP)

Speed

control mode

10V

OFF

Note: When the start signal (ST1 x ST2) is switched off as soon as the mode is changed to speed control, the servo motor comes to a stop according to the deceleration time constant.

(2) Speed setting in speed control mode

As in Section 3.4.2 (1).

(3) Torque limit in speed control mode

As in Section 3.4.1 (2).

3 - 31

3. SIGNALS AND WIRING

(4) Speed limit in torque control mode

(a) Speed limit value and speed

The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.4.3. Generally, make connection as shown below:

2kΩ

Japan Resistor RRS10 or equivalent

When a precision speed command is required, refer to (a), (3) in section 3.4.3.

(b) Speed selection 1 (SP1) and speed limit value

Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and the speed set by the analog speed limit (VLA) as indicated in the following table:

(Note) External Input Signals

SP1

0 Analog speed limit (VLA) 1 Internal speed limit 1 (parameter No. 8)

Note. 0: SP1-SG off (open)

1: SP1-SG on (short)

Speed Command Value

Servo amplifier

SP1 SG

Ω

P15R VLA LG SD

When the internal speed limit 1 is used to command the speed, the speed does not vary with the ambient temperature.

As in (c), (3) in section 3.4.3.

(5) Torque control in torque control mode

As in Section 3.4.3 (1).

(6) Torque limit in torque control mode

As in Section 3.4.3 (2).

3 - 32

3. SIGNALS AND WIRING

3.4.6 Torque/position control change mode

Set 0005 in parameter No. 0 to switch to the torque/position control change mode.

(1) Control change (LOP)

Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact. Relationships between LOP-SG status and control modes are indicated below:

(Note) LOP Servo Control Mode

0 Torque control mode 1 Position control mode

Note. 0: LOP-SG off (open)

1: LOP-SG on (short)

The control mode may be changed in the zero-speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to torque control mode, droop pulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below:

Speed

control mode

Torque

control mode

Speed

control mode

Servo motor speed

Analog torque command (TLA)

Zero speed (ZSP)

Control change (LOP)

(2) Speed limit in torque control mode

As in Section 3.4.3 (3).

(3) Torque control in torque control mode

As in Section 3.4.3 (1).

(4) Torque limit in torque control mode

As in Section 3.4.3 (2).

Zero speed level

10V

OFF

(5) Torque limit in position control mode

As in Section 3.4.1 (2).

3 - 33

3. SIGNALS AND WIRING

3.5 Alarm Occurrence Timing Chart

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting

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 reset the alarm, switch the control circuit power supply off, then on. However, the alarm cannot be reset unless its cause of occurrence is removed.

(Note 3) Main circuit control circuit power supply

Base circuit

(Note 1) Dynamic brake

Servo-on (SON)

Ready (RD)

Trouble (ALM)

Reset (RES)

operation.

As soon as an alarm occurs, turn off Servo-on (SON) and power off the main circuit.

ON OFF

Valid Invalid

ON OFF

Brake operation

Alarm occurs.

Remove cause of trouble.

50ms or more

Power off

Brake operation

15 to 40ms (Note 2)

Power on

Note 1. At an occurrence of the overcurrent(A.32) alarm and a power failure of the control circuit power supply 40ms or more, the dynamic brake cannot be operated.

2. Changes depending on the operating status.

3. Shut off the main circuit power as soon as an alarm occurs.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A.

32), overload 1 (A. 50) or overload 2 (A. 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 15 minutes for cooling before resuming operation.

(2) Instantaneous power failure

Undervoltage (A.10) occurs when the input power is in either of the following statuses.

A power failure of the control circuit power supply continues for 40ms or longer and the control circuit is not completely off. The bus voltage dropped to 15VDC.

(3) Position control mode

When an alarm occurs, the home position is lost. When resuming operation after deactivating the alarm, make a return to home position.

3 - 34

3. SIGNALS AND WIRING

3.6 Interfaces

3.6.1 Common line

The following diagram shows the power supply and its common line.

DI-1

(Note)

Analog input (+10V/max. current)

DC24V

CNP1

CN1A CN1B

P24G

P24L

VDD

COM

SON etc.

OPC

PG NG

PP NP

15VDC±10% 30mA

P15R

TLA VC etc.

ALM etc.

LAR etc.

LA etc.

LG SD

RDP RDN

SDP SDN

P24C

CN1A CN1B

DO-1

Open collector output 35mA or less

CNP1

Differential line driver output 35mA or less

MRR

Servo motor

Note. For the open collector pulse train input. Make the following connection for the differential line driver pulse train input:

Earth

ECNP2

OPC

CNP2

Servo motor encoder

PGxNG

PPxNP

3 - 35

3. SIGNALS AND WIRING

3.6.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Section 3.3.2. 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.

24VDC

Servo amplifier

P24G

P24L

For a transistor

Approx. 5mA

1.0V

CES

≤

CEO

≤100µA

VDD

COM

SON etc.

Switch

R:Approx. 4.7kΩ

(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)

24VDC

Servo amplifier

P24G

P24L

VDD

COM

24VDC

ALM,etc.

3 - 36

Load

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

3. SIGNALS AND WIRING

(3) Pulse train input interface DI-2

Provide a pulse train signal in the open collector or differential line driver system. (a) Open collector system

1) Interface

24VDC

2m(78.74in) or less

Servo amplifier

P24G

P24L

VDD

OPC

PP(NP)

Approx. 10mA

Max. input pulse frequency 200kpps

Approx. 1.2k

Ω

2) Conditions of the input pulse

0.9

0.1

tc tLH

tHL

tLH = tHL < 0.2µs tc > 2µs tF > 3µs

3 - 37

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface

10m (393.70in) or less

Servo amplifier

Max. input pulse frequency 500kpps

PP(NP)

2) Conditions of the input pulse

(4) Encoder pulse output DO-2

(a) Open collector system

Interface Max. output current 35mA

Servo amplifier

Am26LS31 or equivalent

PP PG

NP NG

0.9

0.1

tc tLH

PG(NG)

tHL

About 100

tLH tHL 0.1 s tc 1 s tF 3 s

Servo amplifier

5 to 24VDC

LG SD

Photocoupler

3 - 38

3. SIGNALS AND WIRING

(b) Differential line driver system

1) Interface

Max.output current 35mA

Servo amplifier

LA (LB,LZ)

LAR (LBR,LZR)

Am26LS32 or equivalent

150

Servo amplifier

LA (LB,LZ)

Ω

LAR (LBR,LZR)

100Ω High-speed photocoupler

2) Output pulse

(5) Analog input

Input impedance 10 to 12k

Shorted

Ω

Upper limit setting 2k

Servo motor CCW rotation

LAR

LBR

LZR

Open

π/2

400µs or more

Servo amplifier

P15R

VC‚ etc

Approx.

10k

15VDC

3 - 39

3. SIGNALS AND WIRING

3.7 Input Power Supply Circuit

CAUTION

y W hen the servo amplifier has become faulty, switch power off on the servo

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

3.7.1 Connection example

Wire the power supply and main circuits as shown below so that the servo-on signal also turns off as soon as power is switched off at detection of alarm occurrence. When using an electromagnetic brake, determine the power supply by taking the rated current value of the electromagnetic brake into consideration.

Forced

24VDC

RA1

Circuit protector

−

stop

RA2

P24M

P24G

P24L

EMG

OFF

CNP1

CN1B

RA2

Servo amplifier

CN1B

VDD

COM

ALM

RA2

RA1

Circuit protector

RA3

RA5

RA4

RA6

Forced

stop

Forced

stop

P24M

P24G

P24L

EMG

P24M

P24G

P24L

EMG

OFF

CNP1

CN1B

OFF

CNP1

CN1B

RA4

Servo amplifier

CN1B

RA6

Servo amplifier

CN1B

VDD

COM

ALM

VDD

COM

ALM

RA4

RA3

RA6

RA5

3 - 40

3. SIGNALS AND WIRING

3.7.2 Explanation of signals

Abbreviation Signal Name Description

P24M Main circuit power input Power supply for main circuit

P24G Power ground

P24L Control power input

Ground

3.7.3 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above Section 3.7.1 using the relay with the main circuit power supply. Configure up an external sequence to switch off the relay as soon as an alarm occurs.

2) Switch on the control circuit power supply P24L, P24G simultaneously with the main circuit power 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 signal (SON) about 1 second after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the 24V power supply, the base circuit will switch on in about 1 second, and the ready signal (RD) will switch on in further about 20ms, making the servo amplifier ready to operate.

Main circuit power supply and control power supply. Connected to SG and LG inside the unit. Control power supply and digital I/O power supply. Always use a stabilizing power supply. Grounding terminal Connect to the earth of the control box for grounding.

(2) Timing chart

Power supply

Base circuit

Servo on

(SON)

Reset

(RES)

Ready

(RD)

OFF

SON accepted

(1s)

20ms

10ms

60ms

10ms 20ms 10ms 20ms 10ms

10ms

60ms

3 - 41

3. SIGNALS AND WIRING

(3) Forced stop

To stop operation and switch power off immediately, provide a forced stop circuit.

CAUTION

Make up a circuit which shuts off main circuit power as soon as EMG-SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG-SG. By disconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo forced stop warning (A. E6). During ordinary operation, do not use the external forced stop to alternate stop and run. The servo amplifier life may be shortened. During ordinary operation, do not use the forced stop signal to alternate stop and run. If the start signal is on or a pulse train is input during a forced stop, the servo motor will rotate as soon as the warning is reset. During a forced stop, always shut off the run command.

Servo amplifier

P24L

VDD

COM

Approx.

Ω

4.7k

EMG

(4) CNP1 connector wiring

The servo amplifier is packed with the following parts for wiring the CNP1. For connection of the terminals and cables, use the crimping tool 57026-5000 (for UL1007) or 570275000 (for UL1015).

Part Model Maker

Connector 5557-08R

Terminal 5556

Molex

3 - 42

3. SIGNALS AND WIRING

3.8 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 emergency stop signal.

CAUTION

POINT

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

Servo amplifier

CNP2

Circuit must be opened during emergency stop signal.

EMG

Servo motor

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) The brake will operate when the emergency stop switch on.

2) While the reset signal is on, the base circuit is shut off. When using the servo motor with a

vertical shaft, use the electromagnetic brake interlock signal (MBR).

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

(1) Connection diagram

Configure up a circuit which switches off main circuit power and makes the electromagnetic brake effective as soon as EMG-SG are disconnected at a emergency stop. For connection, use the optional MR-JRBRCBL

M-H electromagnetic braked servo motor cable and

MR-JRBRCN electromagnetic brake contact connector set.

10m(32.8ft) or less

(Note)

EMG

Servo motor

Servo amplifier

CNP2

Connector set for electromagnetic brake contact (option) MR-JRBRCN

CNP21

B1A 1 B1B

Cable for servo motor with electromagnetic brake (option) MR-JRBRCBL M-H

Note. Fit a snubber circuit to the forced stop contact. (Refer to Section 12.2.5)

3 - 43

3. SIGNALS AND WIRING

(2) Setting

Using parameter No.33 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in (2) in this section.

(3) Operation timing

(a) Servo-on (SON) command ON/OFF

Tb [ms] after the servo-on (SON) signal 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.

Coasting

Servo motor speed

0 r/min

Base circuit

Electromagnetic

brake (CNP2-9)

Servo-on(SON)

(b) Forced stop (EMG) ON/OFF

Servo motor speed

Base circuit

Electromagnetic

brake (CNP2-9)

Forced stop (EMG)

OFF

Invalid(ON)

Valid(OFF)

OFF

Invalid(ON)

Valid(OFF)

Invalid(ON)

Valid(OFF)

(80ms)

(10ms)

Electromagnetic brake operation delay time

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

3 - 44

3. SIGNALS AND WIRING

POINT

When the overcurrent(A.32) alarm occurs, the dynamic brake cannot be operated.

Servo motor speed

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Base circuit

Electromagnetic brake(CNP2-9)

Trouble (ALM)

OFF

Invalid(ON)

Valid(OFF)

No(ON)

Yes(OFF)

Electromagnetic brake operation delay time(10ms)

(d) Main circuit power off

When main circuit power switches off, the undervoltage alarm (A.10) occurs and the operation timing is as shown in (c) of this section.

(e) Control circuit power off

POINT

When the control circuit power supply is turned off, the dynamic brake cannot be operated.

Coasting

Servo motor speed

20ms

Electromagnetic brake

Control power (P24L)

OFF

(3) Release of electromagnetic brake

To release the electromagnetic brake when main circuit power is off, use the output signal forced output (refer to Section 6.7). The electromagnetic brake can be released by turning on the electromagnetic brake power B1 (CNP2-

9).

3 - 45

3. SIGNALS AND WIRING

3.9 Grounding

y Ground the servo amplifier and servo motor securely.

WARNING

(1) Connection diagram

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).

y To prevent an electric shock, always connect the earth terminal (E) of the servo

amplifier to the earth (E) of the control box (refer to (2) of this section for the fitting method of the earth terminal).

Control box

24VDC

Circuit

protector

Servo amplifier

P24M

P24G

P24L

CN1A CN1B

Earth (E)

Servo motor

Programmable

controller

Outer box

3 - 46

3. SIGNALS AND WIRING

(2) Fitting of earth (E) terminal (AERSBAN-JR)

As shown below, fit the earth (E) terminal to the bottom or top of the servo amplifier.

Positioning boss

Earth (E) terminal AERSBAN-JR

M4 screw

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 - 47

3. SIGNALS AND WIRING

MEMO

3 - 48

4. OPERATION

4.1 When Switching Power On for the First Time

Before starting operation, check t he foll owing:

(1) Wiring

(a) A correct power supply is connected to the power input terminals (P24M x P24G x P24L) of the servo

amplifier.

(b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the

power input terminals (U, V, W) of the servo motor.

power input terminals (P24M x P24L). (d) The servo amplifier and servo motor are grounded securely. (e) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during

operation. (f) 24VDC or higher voltages are not a ppli ed to t he pins of connect ors CN1A and C N1B. (g) SD and SG of connectors CN1A and CN1B is not shorted. (h) The wiring cab les a re free from excess i ve force.

(2) Environment

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

(3) 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 s ervo motor ca n be operat ed.

4 - 1

4. OPERATION

4.2 Startup

WARNING

y Do not operate the switches with wet hands. You may get an electric shock.

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

unexpected operation.

y Take safety measures, e.g. provide covers, to prevent accidental contact of hands

and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake

CAUTION

resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

y During operation, never touch the rotating parts of the servo motor. Doing so can

cause injury.

Connect the servo motor with a machine a fter confi rming t hat t he servo mot or operat es properl y al one.

4.2.1 Selection of control mode

Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by switching power off, then on.

4.2.2 Position control mode (1) Power on

(a) Switch off the servo on (SON) signal. (b) When main circuit power/control circuit power is switched on, "C (Cumulative feedback pulses)"

appears on the parameter unit.

(2) Test operation 1

Using jog operation in the "test operation mode", make sure that the servo motor operates. (Refer to Section 6.8.2.)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 7.8 for the setting method.

Parameter Name Setting Description

No. 0 Select the control mode 0 Fourth digit : Position control mode

First digit: : Middle response (initial val u e) i s s el ected.

No. 2 Auto tuning 104

No. 3 Electronic gear numerator (CMX) 1 Electronic gear numerator No. 4 Electronic gear deno m inato r (CDV) 1 Electronic gear denominator

Second digit : Ordinary machine Third digit : Used

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

4 - 2

4. OPERATION

(4) Servo on

Switch the servo on in the foll owing procedure: (a) Switch on main circuit/control power. (b) Switch on the servo on signal (SON) (s hort SON-S G).

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is

locked.

(5) Command pulse input

Entry of a pulse train fr om the p ositionin g de vice ro tates the servo moto r. At first, r un it at low spe ed and check the rotation directi on, etc. If it does not run i n the i ntended di recti on, check t he input s igna l. On the status displ ay, check t he s peed, command pul s e frequency, load fa ctor, etc. of the s ervo mot or. When machine operation check is over, check automatic operation with the program of the positioning device. This servo amplifier has a real-time auto tuning function under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No. 2.

(6) Zeroing

Make home position return as required.

(7) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the se rvo motor equippe d with electrom agnetic brake. Note th at the stop pattern of stroke end (LSP/LS N) OFF is as des cribed bel ow. (a) Servo on (SON) OFF

The base circuit is shut off and the servo motor coasts . (b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dyn amic brake is operated to bring the

servo motor to a sudden stop. (c) Forced stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden

stop. Alarm A. E6 occurs. (d) Stroke end (LSP/L SN) OF F

The droop pulse value is erased and t he servo motor is st opped and servo-lock ed. It can b e run in the

opposite direction.

4 - 3

4. OPERATION

4.2.3 Speed control mode (1) Power on

(a) Switch off the servo on (SON) signal. (b) When main circuit power/control circuit power is switched on, "r (servo motor speed)" appears on the

display shows.

(2) Test operation

Using jog operation in the test operation mode, make sure that the servo motor operates. (Refer to Section 6.8.2.)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 6.5 for the setting method.

Parameter Name Setting Description

No. 0 Select the control mode 2 First digit : Speed control mode

First digit : Middle response (initial value) is selected.

No. 2 Auto tuning 104

No. 8 Internal speed command 1 1000 Set 1000r/min.

No. 9 Internal speed command 2 1500 Set 1500r/min. No. 10 Internal spe ed command 3 2000 Set 2000r/min. No. 11 Acceler ation time constant 1000 Set 1000ms. No. 12 Decele r atio n tim e constant 500 Set 500ms.

No. 13

S-pattern acceleration/deceleration time constant

Second digit : Ordinary machine Third digit : Used

0 Not used

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

(4) Servo on

Switch the servo on in the foll owing procedure: (a) Switch on main circuit/control power.

(b) Switch on the servo on signal (SON) (s hort SON-S G).

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(5) Start

Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on forward rotation start (ST1) to run the motor in the forward rotation (CCW) direction or reverse rotation start (ST2) to run it in the reve rse rotatio n (CW) dir ection. At first, set a low spe ed and check the rotation direction, etc. If it does not run i n the i ntended di recti on, check the i nput s igna l. On the status displ ay, check t he s peed, l oad fact or, et c. of the s ervo motor. When machine operation check is over, check aut omat ic opera t ion wit h t he host cont roller or t he li ke. This servo amplifier has a real-time auto tuning function under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in parameter No. 2.

4 - 4

4. OPERATION

(6) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that simultaneous ON or simultaneous OFF of stroke end (LSP, LSN) OFF and forward rotation star t (ST1) or reverse rotation start (ST2) signal has the same stop pattern as described below. (a) Servo on (SON) OFF

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

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dyn amic brake is operated to bring the servo motor to a sudden stop.

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Alarm A. E6 occurs.

(d) Stroke end (LSP/L SN) OF F

The servo amplifier removes droop pulses and operates the servo-lock. The motor may be run in the opposite direction.

(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start

(ST2) signals The servo motor is decelerated to a stop.

POINT

A sudden stop indicates deceleration to a stop at the deceleration time constant of zero.

4.2.4 Torque control mode (1) Power on

(a) Switch off the servo on (SON) signal. (b) When main circuit power/control circuit power is switched on, "U (torque command voltage)"

appears on the parameter unit.

(2) Test operation

Using jog operation in the "test operation mode" of the Parameter unit, make sure that the servo motor operates. (Refer to Section 6. 8.2 .)

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections 6.5 for the setting method.

Parameter Name Setting Description

No. 0 Select the control mode 4 First digit : Torque control mode

No. 8 Internal speed command 1 1000 Set 1000r/min.

No. 13 No. 14 Torque c ommand time constant 2000 Set 2000ms

No. 28 Internal torque limit 1 50 Controlled to 50% output

S-pattern acceleration/deceleration time constant

0 Not used

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

4 - 5

4. OPERATION

(4) Servo on

Switch the servo on in the foll owing procedure:

1) Switch on main circuit/control power.

2) Switch on the s ervo on si gnal (S ON) (short S ON-SG). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(5) Start

Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on forward rotation select (DI4) to run the motor in the forward rotation (CCW) direction or reverse rotation select (DI3) to run it in the reverse rotation (CW) direction, generating torque. At first, set a low speed and check the rotation direction, etc. If it does not run in the intended direction, check the input signal. On the status displ ay, check t he s peed, l oad fact or, et c. of the s ervo motor. When machine operation check is over, check aut omat ic opera t ion wit h t he host cont roller or t he li ke.

(6) Stop

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

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dyn amic brake is operated to bring the servo motor to a sudden stop.

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Alarm A. E6 occurs.

POINT

A sudden stop indicates deceleration to a stop at the deceleration time constant of zero.

4.3 Multidrop Communication

You can use the RS-422 commu nicatio n f un ctio n to o pe rate two o r mo re se rv o amp lifie rs o n th e same bus. In this case, set station numbers to the servo amplifiers to recognize the servo amplifier to which the current data is being sent. Use parameter No. 15 to set the stat ion numbers. Always set one station number to one servo amplifier. Normal communication cannot be made if the same station number is set to two or more servo amplifiers. For details, refer to Chapter 13.

4 - 6

5. PARAMETERS

CAUTION

y Never adjust or change the parameter values extremely as it will make operation

instable.

5.1 Parameter List

5.1.1 Parameter write inhibit

POINT

y After setting the parameter No. 19 value, switch power off, then on to make

that setting valid.

In the MR-J2-03A5 servo amplifier, its parameters are classified into the basic parameters (No. 0 to 19) and expansion parameters (No. 20 to 49) according to their safety aspects and frequencies of use. In the factory setting condition, the customer can change the basic parameter values but cannot change the expansion parameter values. When fine adjustment, e.g. gain adjustment, is required, change the parameter No. 19 setting to make the expansion parameters write-enabled. The following table indicates the parameters which are enabled for reference and write by the setting of parameter No. 19. Operation can be performed for the parameters marked

Parameter No. 19 Setting Operation

0000

(initial value)

000A

000B

000C

Reference {

Write {

Reference No. 19 only

Write No. 19 only

Reference {{

Write {

Reference {{

Write {{

Basic Parameters

No. 0 to No. 19

Expansion Parameters

No. 20 to No. 49

5 - 1

5. PARAMETERS

5.1.2 Lists

(1) Item list

No. Symbol Name

0 *STY Control mode selection P x S x T 0000 1 *OP1 Function selection 1 P x S x T 0002 2 ATU Auto tuning P x S 0104 3 CMX Electronic gear (Command pulse multiplying factor numerator) P 1

4CDV

5 INP In-position range P 100 pulse 6 PG1 Position loop gain 1 P 145 rad/s

7PST

8SC1

9SC2

Basic parameters

10 SC3

11 STA Acceleration time constant S x T0ms 12 STB Deceleration time constant S x T0ms 13 STC S-pattern acceleration/deceleration time constant S x T0 ms 14 TQC Torque command time constant T 0 ms 15 *SNO Station number setting P x S x T0station 16 *BPS Communication baudrate selection, alarm history clear P x S x T 0000 17 For manufacturer setting 0 18 *DMD Status display selection P x S x T 0000 19 *BLK Parameter write inhibit P x S x T 0000

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.

For details of the parameters, refer to the corresponding items. The symbols in the Control Mode column of the table indicate the following modes: P : Position control mode S : Speed control mode T : Torque control mode

Control

Mode

Electronic gear (Command pulse multiplying factor denominator)

Position command acceleration/deceleration time constant (Smoothing) Internal speed command 1 S 100 r/min Internal speed limit 1 T 100 r/min Internal speed command 2 S 500 r/min Internal speed limit 2 T 500 r/min Internal speed command 3 S 1000 r/min Internal speed limit 3 T 1000 r/min

P3ms

Initial

Value

Unit

Customer

Setting

5 - 2

5. PARAMETERS

No. Symbol Name

20 *OP2 Function selection 2 P x S x T 0000 21 *OP3 Function selection 3 (Command pulse selection) P 0000 22 *OP4 Function selection 4 P x S x T 0000 23 FFC Feed forward gain P 0 % 24 ZSP Zero speed P x S x T50 r/min

25 VCM

26 TLC Analog torque command maximum output T 100 % 27 *ENR Encoder output pulses P x S x T 4000 pulse 28 TL1 Internal torque limit 1 P x S x T 100 %

29 VCO

30 TLO

31 For manufacturer setting 0 32 For manufacturer setting 0 33 MBR Electromagnetic brake sequence output P x S x T0 ms

34 GD2

Basic parameters

35 PG2 Position loop gain 2 P 97 rad/s 36 VG1 Speed loop gain 1 P x S 873 rad/s 37 VG2 Speed loop gain 2 P x S 1144 rad/s 38 VIC Speed integral compensation P x S20 ms 39 VDC Speed differential compensation P x S 980 40 For manufacturer setting 0 41 *DIA Input signal automatic ON selection P x S x T 0000 42 *DI1 Input signal selection 1 P x S x T 0003 43 *DI2 Input signal selection 2 (CN1B-pin 5) P x S x T 0111 44 *DI3 Input signal selection 3 (CN1B-pin 14) P x S x T 0222 45 *DI4 Input signal selection 4 (CN1A-pin 8) P x S x T 0665 46 *DI5 Input signal selection 5 (CN1B-pin 7) P x S x T 0770 47 *DI6 Input signal selection 6 (CN1B-pin 8) P x S x T 0883 48 *DI7 Input signal selection 7 (CN1B-pin 9) P x S x T 0994 49 *DO1 Output signal selection 1 P x S x T 0000

Note 1. The setting of "0" provides the rated servo motor speed.

2. Depends on the servo amplifier.

Analog speed command maximum speed S Analog speed limit maximum speed T

Analog speed command offset S (Note2) mV Analog speed limit offset T (Note2) mV Analog torque command offset T 0 mV Analog torque limit offset S 0 mV

Ratio of load inertia moment to servo motor inertia moment

Control

Mode

P x S x T 3.0

Initial

Value

(Note1) 0 (Note1) 0

Unit

(r/min) (r/min)

0.1

times

Customer

Setting

5 - 3

5. PARAMETERS

(2) Details list

Class No. Symbol Name and Function

0 *STY Control mode, regenerative brake option selection

Used to select the control mode and regenerative brake option.

000

Select the control mode. 0:Position 1:Position and speed 2:Speed 3:Speed and torque 4:Torque 5:Torque and position

1 *OP1 Function selection 1:

Used to select the input signal filter and CN1B-pin 19’s output signal.

Initial

Value

0000 0000h

0002 0000h

Unit

Setting

Range

0005h

0012h

Control

Mode

P x S x T

Basic parameters

Input signal filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0:None 1:1.77[ms]

2:3.55[ms] CN1B-pin 19's function selection 0:Zero Speed detection signal 1:Electromagnetic brake interlock sugnal

5 - 4

5. PARAMETERS

Class No. Symbol Name and Function

2 ATU Auto tuning:

Used to set the response level, etc. for execution of auto tuning.

Auto tuning response level

setting

Set Value Response Level

Basic parameters

⋅

If the macine hunts or generates

large gear sound, decrease the

set value.

⋅

To improve performance, e.g.

shorten the settling time, increase

the set value.

Select the machine.

For example, used to improve the

position setting characteristic

when friction is large.

0: Ordinary machine 1: Machine with large friction

Auto tuning selection

0: Auto tuning selected for use of interpolation axis control, etc. in position control 1: Auto tuning for ordinary operation 2: No auto tuning

Low response

Middle response

High response

Initial

Value

0104 0001h

Unit

Setting

Range

0215h

Control

Mode

P x S

3 CMX Electronic gear numerator:

Used to set the electronic gear numerator value. For the setting, refer to Section 5.2.1. Setting "0" automatically sets the resolution of the servo motor connected.

4 CDV Electronic gear denominator:

Used to set the electronic gear denominator value. For the setting, refer to Section 5.2.1.

32767

5 - 5

5. PARAMETERS

Class No. Symbol Name and Function

5 INP In-position range:

Used to set the droop pulse range in which the imposition (INP) signal will be output.

6 PG1 Position loop gain 1:

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

7 PST Position command acceleration/deceleration time constant

(smoothing):

Used to set the time constant of a low pass filter in response to the position command. Example: When a command is given from a synchronizing detector, synchronous operation can be started smoothly if started during line operation.

Synchronizing detector

Start

Servo amplifier

Servo motor

Initial

Value

100 pulse 0

145 red/s 4

3ms0

Unit

Setting

Range

10000

1000

20000

Control

Mode

Basic parameters

9SC2

Without time constant setting

Servo motor

speed

ON OFF

Start

Internal speed command 1:

Used to set speed 1 of internal speed commands.

Internal speed limit 1:

Used to set speed 1 of internal speed limits.

Internal speed command 2:

Used to set speed 2 of internal speed commands.

Internal speed limit 2:

Used to set speed 2 of internal speed limits.

With time constant setting

100 r/min

500 r/min

0 to

instan-

taneous

permi-

ssible speed

0 to

instan-

taneous

permi-

ssible speed

S8SC1

5 - 6

5. PARAMETERS

Class No. Symbol Name and Function

10 SC3

Internal speed command 3:

Used to set speed 3 of internal speed commands.

Internal speed limit 3:

Used to set speed 3 of internal speed limits.

11 STA 0

Acceleration time constant:

Used to set the acceleration time required to reach the rated speed from zero speed in response to the analog speed command and internal speed commands 1 to 3.

If the preset command speed is

Speed

Rated

lower than the rated speed, acceleration/deceleration time will be shorter.

speed

Zero speed

Parameter No.11 setting

Parameter No.12 setting

Example: Set 3000 (3s) to increase speed from 0r/min to 1000r/min in

1 second.

POINT

Basic parameters

y When configuring an external position loop, set 0 or minimal

values in parameters No. 11 and 12.

Time

Initial

Value

Unit

1000 r/min

ms 0

Setting

Range

0 to

instan-

taneous

permi-

ssible speed

20000

Control

Mode

S x T

12 STB Deceleration time constant:

Used to set the deceleration time required to reach zero speed from the rated speed in response to the analog speed command and internal speed commands 1 to 3.

13 STC S-pattern acceleration/deceleration time constant:

Used to smooth start/stop of the servo motor.

Command speed

Speed

Servomotor

0r/min

STA

STC

STA: Aeceleration time constant (parameter No.11) STB: Deceleration time constant (parameter No.12) STC: S-pattern acceleration/deceleration time con stant (parameter No.13)

STC

STB

STC

Time

0ms0

1000

S x T

5 - 7

5. PARAMETERS

Class No. Symbol Name and Function

14 TQC

15 *SNO Station number setting

16 *BPS Communication baudrate selection, alarm history clear:

Torque command time constant:

Used to set the constant of a low pass filter in response to the torque command.

Torque

TQC: Torque command time constant

Used to specify the station number for multidrop communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.

Used to select the communication baudrate for use of the set-up software and to clear the alarm history.

Torque command

TQC

After filtered

Time

Initial

Value

0ms0

0sta-

0000 0000h

Setting

Unit

Range

20000

tion0to

1112h

Control

Mode

P x S x T

Basic parameters

Communication response delay time

0: Invalid, reply sent in less than 400µs

1: Valid, reply sent in 400µs or more

17 For manufacturer setting

Do not change this value by any means.

RS-422/RS-232C boudrate selection

0: 9600 [bps]

1: 19200[bps]

2: 4800 [bps]

Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is clearedat next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0).

RS-422/RS-232C communication standard selection 0: RS-232C used 1: RS-442 used

5 - 8

5. PARAMETERS

Class No. Symbol Name and Function

*DMD

Status display selection:

Used to select the status display shown at power-on.

Selection of status display at

power-on

0: Cumulative feedback pulses

1: Servo motor speed

2: Droop pulses

3: Cumulative command pulses

4: Command pulse frequency

5: Analog speed command voltage

(Note 1)

6: Analog torque command voltage

(Note 2)

7: Regenerative load ratio

8: Effective load ratio

9: Peak load ratio

A: Within one-revolution position

B: ABS counter

C: Load inertia moment ratio

Note: 1.

In speed control mode. Analog

speed limit voltage in torque

control mode.

In torque control mode. Analog

2. torque limit voltage in speed or position control mode.

Initial

Value

Unit

Setting

Range

0000 0000h

001Ch

Control

Mode

P x S x T

Status display at power-on in corresponding control mode 0: Depends on the control mode.

Basic parameters

19 *BLK 0000 0000h

Parameter write inhibit:

Control Mode

Position

Position/speed

Speed

Speed/torque

Torque

Torque/position

ends on the first digit setting of this parameter.

1: De

Cumulative feedback pulses/servo motor speed

Servo motor speed/analog torque command voltage

Analog torque command voltage/cumulative feedback pulses

Status Display at Power-On

Cumulative feedback pulses

Servo motor speed

Analog torque command voltage

Used to select the reference and write ranges of the parameters. Operation can be performed for the parameters marked

Basic

Set Value Operation

0000

(Initial value)

000A

000B

000C

Reference

Write

Reference No. 19 only

Write No. 19 only

Reference

Write

Reference

Write

Parameters

No. 0 to No. 19

No. 20 to No. 49

{

{{

{

{{

Expansion

Parameters

P x S x T

000Ch

5 - 9

5. PARAMETERS

Class No. Symbol Name and Function

20 *OP2 Function selection 2:

Used to select restart after instantaneous power failure, servo lock at a stop in speed control mode, and slight vibration suppression control.

Restart after instantaneous power failure

If the power supply voltage has returned to normal after an undervoltage status caused by the reduction of the input power supply voltage in the speed control mode, the servo motor can be restarted by merely turning on the start signal without resetting the alarm.

0: Invalid (Undervoltage alarm (A.10) occurs.) 1: Valid

Stop-time servo lock selection

The shaft can be servo-locked to remain still at a stop in the speed control mode.

0: Valid 1: Invalid

Expansion parameters

Initial

Value

0000

Unit

Setting

Range

0000h

0111h

Control

Mode

Slight vibration suppression control

Used to suppress vibration at a stop.

0: Invalid 1: Valid

21 *OP3 Function selection 3 (Command pulse selection) :

Used to select the input form of the pulse train input signal. (Refer to Section 3.4.1.)

Command pulse train input form 0: Forward/reverse rotation pulse train 1: Signed pulse train 2: A/B phase pulse train

Pulse train logic selection 0: Positive logic 1: Negative logic

0000 0000h

0012h

5 - 10

5. PARAMETERS

Class No. Symbol Name and Function

22 *OP4 Function selection 4:

Used to select stop processing at LSP/LSN signal off and choose the machine resonance suppression filter.

How to make a stop when LSP/LSN signal is valid. (Refer to Section 5.2.3) 0: Sudden stop 1: Slow stop

In the position control mode,

⋅

the servo motor is decelerated to a stop according to parameter No. 7 setting.

⋅

In the speed control mode, the servo motor is decelerated to a stop according to parameter No. 12 setting.

VC/VLA voltage averaging

Used to set the filtering time when the analog speed command (VC) voltage or analog speed limit (VLA) is imported. Set 0 to vary the speed to voltage fluctuation in real time. Increase the set value to vary the speed slower to voltage fluctuation.

Expansion parameters

Set Value

37.11

Filtering Time [ms]

1.77

3.55

Initial

Value

0000

Unit

Setting

Range

0000h

7301h

Control

Mode

P S

Machine resonance suppression filter

Set Value

3375

7161

Notch Frequency [Hz]

Not used

1125

563

282

225

188

5 - 11

5. PARAMETERS

Class No. Symbol Name and Function

23 FFC Feed forward gain:

Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed. When setting this parameter, always set auto tuning (parameter No.

2) to ″No″

24 ZSP Zero speed:

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

25 VCM

Used to set the speed at the maximum input voltage (10V) of the analog speed command (VC). Set 0 to select the rated speed of the servo motor connected.

Analog speed limit maximum speed:

Used to set the speed at the maximum input voltage (10V) of the analog speed limit (VLA). Set 0 to select the rated speed of the servo motor connected.

26 TLC Analog torque command maximum output:

Used to set the output torque at the analog torque command voltage (TC = ±8V) of +8V on the assumption that the maximum torque is 100[%]. For example, set 50 to output (maximum torque × 50/100) at the TC of +8V.

27 *ENR Encoder output pulses:

Expansion parameters

Used to set the number of output pulses per encoder revolution output by the servo amplifier.

28 TL1 100 % 0

Internal torque limit 1:

Set this parameter to limit servo motor-generated torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced.

Internal torque limit 1:

Set this parameter to limit servo motor-generated torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced.

Across

TL-SG

Open Internal torque limit 1 (Parameter No. 28)

Short

Torque limit relationship Valid torque limit

Analog torque limit < internal torque limit 1

Analog torque limit > internal torque limit 1

Torque Limit

Analog torque limit

Internal torque limit 1

Initial

Value

Unit

Setting

Range

0%0

100

50 r/min 0

10000

0Analog speed command maximum speed:

r/min 1

10000

r/min 1

10000

100 % 0

1000

4000 pulse 5

16384

100

Control

Mode

P x S x T

P x S

5 - 12

5. PARAMETERS

Class No. Symbol Name and Function

29 VCO

31 For manufacturer setting

32 For manufacturer setting

33 MBR Electromagnetic brake sequence output:

34 GD2 Ratio of load inertia moment to servo motor inertia moment:

35 PG2 Position loop gain 2:

Expansion parameters

36 VG1 Speed loop gain 1:

37 VG2 Speed loop gain 2:

38 VIC Speed integral compensation

Analog speed command offset:

Used to set the offset voltage of the analog speed command (VC). When automatic VC offset is used, the automatically offset value is set to this parameter.(Refer to Section 6.3.) The initial value is the value provided by the automatic VC offset function before shipment at the VC-LG voltage of 0V.

Analog speed limit offset:

Used to set the offset voltage of the analog speed limit (VLA). When automatic VC offset is used, the auto-matically offset value is set to this parameter.(Refer to Section 6.3.) The initial value is the value provided by the automatic VC offset function before shipment at the VLA-LG voltage of 0V.

Analog torque command offset:

Used to set the offset voltage of the analog torque command (TC).

Analog torque limit offset:

Used to set the offset voltage of the analog torque limit (TLA).

Do not change this value by any means.

Used to set the delay time (Tb) between electromagnetic brake operation and the base drive circuit is shut-off.

Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning is selected, the result of auto tuning is auto-matically set.

Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set.

Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set.

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

Used to set the integral time constant of the speed loop. When auto tuning is selected, the result of auto tuning is automatically set.

Initial

Value

Depends

on servo

amplifier

100 ms 0

216 rad/s 20

714 rad/s 20

Unit

mV −999

0mV−999

70 0.1

times0to

30 rad/s 1

ms 1

Setting

Range

999

1000

500

5000

8000

1000

Control

Mode

T30 TLO

P x S x T

P x S

5 - 13

5. PARAMETERS

Class No. Symbol Name and Function

39 VDC Speed differential compensation:

Used to set the differential compensation. Made valid when the proportion control signal is switched on.

40 For manufacturer setting

Do not change this value by any means.

Used to set automatic ON of SON, LSP and LSN.

Servo on signal (SON) input selection

0: Switched on/off by external input. 1: Switched on automatically in servo: amplifier. (No need of external wiring)

Forward rotation stroke end signal (LSP) input selection

0: Switched on/off by external input. 1: Switched on automatically in servo amplifier. (No need of external wiring)

Reverse rotation stroke end signal (LSN) input selection

0: Switched on/off by external input. 1: Switched on automatically in servo amplifier. (No need of external wiring)

42 *DI1 Input signal selection 1:

Used to assign the control mode changing signal input pins and to set the clear signal.

Expansion parameters

Control change signal (LOP) input pin assignment Used to set the control mode change signal input connector pins. Note that this parameter is made valid when parameter No. 0 is set to select the position/speed, speed/torque or torque/position change mode.

Set Value

3 CN1B-7

4 CN1B-8

5 CN1B-9

Connector Pin No.

CN1B-5

CN1B-14

CN1A-8

Initial

Value

980 0

0000h

0000

0003 0000h

Unit

Setting

Range

1000

0000h

0111h

0015h

Control

Mode

P x S

P x S x T41 *DIA Input signal automatic ON selection:

P x S

P/S S/T T/P

Clear signal (CR) selection

0: Droop pulses are cleared on the

leading edge.

1: Always cleared while on.

5 - 14

P x S x T

5. PARAMETERS

Class No. Symbol Name and Function

43 *DI2 Input signal selection 2 (CN1B-pin 5):

This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1B-pin 5. Allows any input signal to be assigned to CN1B-pin 5. Note that the setting digit and assigned signal differ according to the control mode.

Position control mode

Speed control mode

Torque control mode

Signals that may be assigned in each control mode are indicated below by their symbols.

Set value

Expansion parameters

PST

SON SON SON

RES RES RES

PC PC

TL TL TL

CR CR CR

Input signals of CN1B-pin 5 selected.

(Note) Control Mode

SP1 SP1

SP2 SP2

ST1 RS2

ST2 RS1

Initial

Value

0111

Unit

Setting

Range

0000h

0999h

Control

Mode

P x S x T

Note. P: Position control mode

S: Speed control mode T: Torque control mode

44 *DI3 Input signal selection 3 (CN1B-pin 14):

Allows any input signal to be assigned to CN1B-pin 14. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

Position control mode

Speed control mode

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1B-pin 14.

Input signals of CN1B-pin 14 selected.

0222

0000h

0999h

P x S x T

5 - 15

5. PARAMETERS

Class No. Symbol Name and Function

45 *DI4 Input signal selection 4 (CN1A-pin 8):

Allows any input signal to be assigned to CN1A-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

Position control mode

Speed control mode

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1 A-pin 8.

46 *DI5 Input signal selection 5 (CN1B-pin 7):

Allows any input signal to be assigned to CN1B-pin 7. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

Position control mode

Speed control mode

Torque control mode

Input signals of CN1A-pin 8 selected.

Input signals of CN1B-pin 7 selected.

Initial

Value

0665

0770

Unit

Setting

Range

0000h

0999h

0000h

0999h

Control

Mode

P x S x T

This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1 B-pin 7.

47 *DI6 Input signal selection 6 (CN1B-pin 8):

Allows any input signal to be assigned to CN1B-pin 8.

Expansion parameters

48 *DI7 Input signal selection 7 (CN1B-pin 9):

The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

Position control mode

Speed control mode

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1B-pin 8.

Allows any input signal to be assigned to CN1B-pin 9. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43).

Position control mode

Speed control mode

Torque control mode

This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP) to CN1B-pin 9.

Input signals of CN1B-pin 8 selected.

Input signals of CN1B-pin 9 selected.

0883

0994

0000h

0999h

0000h

0999h

P x S x T

5 - 16

5. PARAMETERS

Class No. Symbol Name and Function

49 *DO1 Output signal selection 1:

Used to select the connector pins to output the alarm code and warning (WNG).

Setting of alarm code output

Set Value

(Note) Alarm Code

CN1B

CN1A

pin 19

pin 18

000

Expansion parameters

CN1B-19

0ZSP

Alarm code is output at alarm occurrence.

Alarm

CN1A

Display

pin 19

8888

A. 11

A. 12

A. 13

A. 15

A. 17

A. 18

A. 37

A. 8E

A. 33

100

A. 10

A. 50

A. 51

A. 24

A. 32

A. 31

A. 35

A. 52

A. 16

A. 20

Note: 0:OFF

1:ON

Setting of warning (WNG) output

Select the connector pin to output warning. The old signal before selection will be unavailable.

Connector Pins

CN1A-18 CN1A-19

INP or SA

Watchdog

Board error 1

Memory error 1

Clock error

Memory error 2

Board error 2

Board error 3

Parameter error

Serial communication error

Overvoltage

Undervoltage

Overload 1

Overload 2

Motor output ground fault

Overcurrent

Overspeed

Command pulse error

Error excessive

Encoder error 1

Encoder error 2

Name

Initial

Value

0000

Unit

Setting

Range

0000h

0051h

Control

Mode

P x S x T

Set Value

Connector Pin No.

3 CN1A-18

4 CN1B-19

5 CN1B-6

5 - 17

Not output.

CN1A-19

CN1B-18

5. PARAMETERS

5.2 Detailed Description

5.2.1 Electronic gear

POINT

• The guideline of the electronic gear setting range is

set value is outside this range, noise may be generated during acceleration/deceleration or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

(1) Concept of electronic gear

The machine can be moved at any multiplication factor to input pulses.

CMX

CMX CDV

3 No. Parameter 4 No. Parameter

CDV

Input pulse train

Electronic gear Parameters No. 3, 4

Deviation counter

−

Encoder feedback pulse

CMX

＜ 50. If the

CDV

Motor

Encoder

The following setting examples are used to explain how to calculate the electronic gear:

(a) For motion in increments of 10µm per pulse

Machine specifications

Ballscrew lead Pb =10 [mm] Reduction ratio: n = 1/2 Servo motor resolution: Pt = 8192 [pulses/rev]

CMX CDV

= ∆

∆

⋅

Pbn

10×10

-3

8192

⋅

1021

n=NL/NM =1/2

Servo motor 8192 [pulse/rev]

16384

1000

Pb=10[mm]

2048

125

Hence, set 2048 to CMX and 125 to CDV.

(b) Conveyor setting example

For rotation in increments of 0.01° per pulse

Servo motor

Machine specifications

8192 [pulse/rev]

Table

Table resolution: 36000 pulses/rev Reduction ratio: n = 4/64 Servo motor resolution: Pt = 8192 [pulses/rev]

Timing belt : 4/64

CMX CDV

∆

131072

64436000

36000

4096 1125

Reduce CDV to 32767 or less and round off the result to the units. Hence, set 4096 to CMX and 1125 to CDV.

5 - 18

5. PARAMETERS

(2) Setting for use of AD75P

The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 500kpps, open collector 200kpps).

AP: Number of pulses per motor revolution AL: Moving distance per motor revolution AM: Unit scale factor

Servo amplifierAP75P

Command

value

Control

unit

AMAL

Electronic gear

Command

pulse

Electronic gear

CMX

CDV

Deviation

counter

Feedback pulse

Servo motor

Electronic gear setting example for use of AD75P

Rated Servo Motor Speed 3000r/min

Input system Open collector Differential line driver

Servo amplifier

AD75P

Note 1. Command pulse frequency at rated speed

2. Assuming that AP=8192 and AL=8000, the command unit amount per motor revolution is 8000 pulses/rev, which makes positioning data setting easier.

3. In the case where the ballscrew lead is 10mm.

Max. input pulse frequency 200kpps 500kpps Feedback pulse/revolution 8192pulse/rev Electronic gear (CMX/CDV) 125/256 1/1 Command pulse frequency (Note 1) 200kpps 409.6kpps Number of pulses per servo motor revolution as viewed from AD75P 4000pulse/rev 8192pulse/rev

Minimum command unit 1pulse

Electronic gear

Minimum command unit

0.1µm(Note 3)

AP 1 1(Note 2) AL 1 1(Note 2) AM 1 1(Note 2) AP 4000 8192 AL 1000 1000 AM 100 100

5 - 19

5. PARAMETERS

5.2.2 Changing the status display screen

The status display item of the servo amplifier display shown at power-on can be changed by changing the parameter No. 18 settings. The item displayed in the initial status changes with the control mode as follows:

Control Mode Displayed Item

Position control mode Cumulative feedback pulses Speed control mode Motor speed Torque control mode Torque command voltage

For display details, refer to Section 6.2.

Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses 3: Cumulative command pulses 4: Command pulse frequency 5: Analog speed command voltage (Note 1) 6: Analog torque command voltage (Note 2) 7: Regenerative load ratio 8: Effective load ratio 9: Peak load ratio A: Within one-revolution position B: ABS counter C: Load inertia moment ratio

Note: 1.

In speed control mode. Analog speed limit voltage in torque control mode.

In torque control mode. Analog torque limit voltage in speed or position control mode.

Status display at power-on in corresponding control mode 0: Depends on the control mode.

Control Mode

Position

Position/speed

Speed

Speed/torque

Torque

Torque/position

1: Depends on the first digit setting of this parameter.

Cumulative feedback pulses/servo motor speed

Servo motor speed/analog torque command voltage

Analog torque command voltage/cumulative feedback pulses

Status Display at Power-On

Cumulative feedback pulses

Servo motor speed

Analog torque command voltage

5 - 20

5. PARAMETERS

5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. 22 value.

Parameter No.22 Setting Stopping Method

0

(initial value)

1

5.2.4 Alarm history clear

The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using parameter No.16 before starting operation. Clearing the alarm history automatically returns to “ After setting, this parameter is made valid by switch power from OFF to ON.

Sudden stop Droop pulses are reset to make a stop. Slow stop Position control mode : The motor is decelerated to a stop in accordance with the

parameter No. 7 value.

Speed control mode : The motor is decelerated to a stop in accordance with the

parameter No. 12 value.

0 ”.

Parameter No.16

Alarm history clear 0: Invalid (not cleared) 1: Valid (cleard)

5 - 21

Mitsubishi Electronics MR-J2-03A5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

z Safety Instructions z

About processing of waste

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

CONTENTS

Optional Servo Motor Instruction Manual CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

1.2 Servo Amplifier Standard Specifications

1.3 Function List

1.4 Model Code Definition

1.5 Combination with Servo Motor

1.6 Parts Identification

1.7 Servo System with Auxiliary Equipment

2. INSTALLATION

2.1 Environmental conditions Environment Conditions

2.2 Installation direction and clearances

2.3 Keep out foreign materials

2.4 Cable stress

2.5 Using the DIN rail for installation

3. SIGNALS AND WIRING

3.1 Standard connection example

3.1.2 Speed control mode

3.1.3 Torque control mode

3.2 Internal Connection Diagram of Servo Amplifier

3.3 I/O Signals

3.3.1 Connectors and signal arrangements

3.3.2 Signal explanations

3.4 Detailed Description of the Signals

3.4.1 Position control mode

3.4.2 Speed control mode

3.4.3 Torque control mode

3.4.4 Position/speed control change mode

3.4.5 Speed/torque control change mode

3.4.6 Torque/position control change mode

3.5 Alarm Occurrence Timing Chart

3.6 Interfaces

3.6.1 Common line

3.6.2 Detailed description of the interfaces

3.7 Input Power Supply Circuit

3.7.1 Connection example

3.7.2 Explanation of signals

3.7.3 Power-on sequence

3.8 Servo Motor with Electromagnetic Brake

3.9 Grounding

3.10 Instructions for the 3M Connector

4. OPERATION

4.1 When Switching Power On for the First Time

4.2 Startup

4.2.1 Selection of control mode

4.2.2 Position control mode (1) Power on

4.2.3 Speed control mode (1) Power on

4.2.4 Torque control mode (1) Power on

4.3 Multidrop Communication

5. PARAMETERS

5.1 Parameter List

5.1.1 Parameter write inhibit

5.1.2 Lists

5.2 Detailed Description

5.2.1 Electronic gear

5.2.2 Changing the status display screen

5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

5.2.4 Alarm history clear