Mitsubishi Electric MR-J2-03B5 Instruction Manual

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General-Purpose AC Servo

J2-Jr Series

SSCNET Compatible

MODEL

MR-J2-03B5

SERVO AMPLIFIER INSTRUCTION MANUAL

Safety Instructions

(Always read these instructions before using the equipment.)

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

Indicates that incorrect handling may cause hazardous conditions,

WARNING CAUTION

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

resulting in death or severe injury.

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

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

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

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1. To prevent electric shock, note the following:

WARNING

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

Connect the serv o a mpl i fie r and se rvo mot o r to grou nd . Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you

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

2. To prevent fire, note the following:

CAUTION

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

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

3. To prevent injury, note the follow

CAUTION

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

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

motor. Their temperatures may be high and you may get burnt or a parts may dameged. 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 weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. 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

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

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

Storage 90%RH or less (non-condensing)

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

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

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

[m/s2] 5.9 or less HC-AQ Series X Y : 19.6

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

[ft/s

Servo amplifier Servo motor

Conditions

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CAUTION

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

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safet y m easur es , e .g. provide cover s, to prevent ac ci de nt al ac c ess to the rotating p ar ts of the s ervo

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.

(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.

(3) Test run adjustment

CAUTION

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

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

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(4) Usage

CAUTION

Provide a forced stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resettin g an alarm , make sure th at the run s igna l is of f to pr event an acc ident. A sudde n rest art is

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

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

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

are coupled via a tim ing belt), the electrom agnetic brak e may not hold the s ervo motor s haft. To ensure safety, instal l a stop pe r on t he mach in e side .

(5) Corrective actions

CAUTION

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

Configure th e electromagnet ic brake circu it so that it is activated n ot only by t he servo amplifier s ignals but also by a forced stop (EM1).

Circuit must be opened during forced stop (EM1).

Servo amplifier

CNP2

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

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

EM1

Servo motor

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(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

(7) General instruction

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

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

This product is not designed or manufactured to be used in equipment or systems in situations that can affect or enda nge r hu man li fe . When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

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-R OM du e to pa ra met er se t ting ch an ge s

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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 mar king). CE marking applies to machines and equipment into which servo amplifiers have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310). This servo has been confirmed to be compliant with the EMC Directives in the compliance method given in the EMC Installation Guidelines.

(2) Low voltage di re ctiv e

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

(3) Machine directive

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

2. PRECAUTIONS FOR COMPLIANCE

The standard models of the servo amplifier and servo motor comply with the EN standard. In addition to the precautions for compliance with the EN standard provided in this manual, strictly follow the items given below. Where there is no specific explanation of EN standard compliance, the specifications are the same as those of the standard models.

(1) Configuration

Control box

Reinforced insulation type

24VDC power supply

Circuit protector

Servo amplifier

(2) Environment

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

Servo motor

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(3) Power supply

Use a 24VDC power supply which has been insulation-reinforced in I/O.

(4) Grounding

To prevent an electric shock, always connect the protective earth terminal (E) to the servo amplifier and always connect it to the earth (E) of the control box.

(5) Auxiliary equipment and options

(a) The circuit protector used should be the EN or IEC standard-compliant products of the models

described in Section 11.2.2.

(b) The sizes of the cable s described in Section 11.2. 1 meet the following req uirements. To meet t he

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

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

(6) Performing EMC tests

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

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CONFORMANCE WITH UL/C-UL STANDAR D

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 th e standard models. When using 24VDC power supply, options and auxiliary equipment, use those which conform to the UL/C-UL Standard.

<<About the manual s>>

This Instruction Manua l and the MEL SERVO Se rvo Moto r Ins truc tion M anua l are re quired if yo u use the General-Purpose AC servo MR-J2-03B5 for the first time. Always purchase them and use the MRJ2-03B5 safely. Also read the manual of the servo system controller. 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.

Relevant manuals

Manual name Manual No.

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

IB(NA)67426

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MEMO

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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- 2

1.4 Model code definition ..............................................................................................................................1- 3

1.5 Combination with servo motor...............................................................................................................1- 3

1.6 Parts identification.................................................................................................................................. 1- 4

1.7 Servo system with auxiliary equipment................................................................................................ 1- 5

2. INSTALLATION 2- 1 to 2- 6

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

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

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

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

2.5 Using the DIN rail for installation ........................................................................................................2- 5

3. SIGNALS AND WIRING 3- 1 to 3-18

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

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

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

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

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

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

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

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

3.5 Input power supply circuit......................................................................................................................3- 9

3.5.1 Connection example..........................................................................................................................3- 9

3.5.2 Explanation of signals.....................................................................................................................3-10

3.5.3 Power-on sequence...........................................................................................................................3-10

3.6 Servo motor with electromagnetic brake .............................................................................................3-12

3.7 Grounding................................................................................................................................................3-15

3.8 Instructions for the 3M connector.........................................................................................................3-17

3.9 Control axis selection.............................................................................................................................3-18

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

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

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

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

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

5. PARAMETERS 5- 1 to 5- 8

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

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

6. ADJUSTMENT 6- 1 to 6-10

6.1 What is gain adjustment?.......................................................................................................................6- 1

6.1.1 Difference between servo amplifier and other drives ...................................................................6- 1

6.1.2 Basics of the servo system ...............................................................................................................6- 2

6.2 Gain adjustment......................................................................................................................................6- 3

6.2.1 Parameters required for gain adjustment...................................................................................... 6- 3

6.2.2 Block diagram ...................................................................................................................................6- 3

6.2.3 What is auto tuning? ........................................................................................................................6- 4

6.3 Gain adjustment by auto tuning............................................................................................................6- 5

6.3.1 Adjustment method..........................................................................................................................6- 5

6.3.2 Valid conditions.................................................................................................................................6- 5

6.4 Manual gain adjustment.........................................................................................................................6- 6

6.4.1 When machine rigidity is low ..........................................................................................................6- 6

6.4.2 When the machine vibrates due to machine resonance frequency.............................................. 6- 7

6.4.3 Load inertia moment is 20 or more times ......................................................................................6- 8

6.4.4 When shortening the settling time .................................................................................................6- 9

6.4.5 When the same gain is used for two or more axes .......................................................................6-10

6.5 Slight vibration suppression control.....................................................................................................6-10

7. INSPECTION 7- 1 to 7- 2

8. TROUBLESHOOTING 8- 1 to 8- 8

8.1 Alarms and warning list......................................................................................................................... 8- 1

8.2 Remedies for alarms................................................................................................................................8- 2

8.3 Remedies for warnings............................................................................................................................8- 7

9. OUTLINE DIMENSION DRAWINGS 9- 1 to 9- 6

9.1 Servo amplifiers.......................................................................................................................................9- 1

9.2 Connectors................................................................................................................................................9- 2

10. CHARACTERISTICS 10- 1 to 10- 4

10.1 Overload protection characteristics...................................................................................................10- 1

10.2 Dynamic brake characteristics...........................................................................................................10- 2

10.3 Motor cable flexing life........................................................................................................................10- 3

11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-20

11.1 Options..................................................................................................................................................11- 1

11.1.1 Cables and connectors..................................................................................................................11- 1

11.1.2 Servo configurations software ....................................................................................................11-12

11.2 Auxiliary equipment ..........................................................................................................................11-13

11.2.1 Recommended wires....................................................................................................................11-13

11.2.2 Circuit protector...........................................................................................................................11-15

11.2.3 Relays............................................................................................................................................11-15

11.2.4 Noise reduction techniques.........................................................................................................11-15

11.2.5 Snubber unit.................................................................................................................................11-19

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 24VD C power supply. It c an be used in a wide range of fields from semiconductor equipment to small robots, etc. The input signals of the servo amplifier control system are compatible with those of the MR-J 2 As the standard models comply with the EN Standard satisfactorily in various countries. The MR-J2-03B5 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. 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.

UL/C-UL Standard, they can be used

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Servo amplifier standard specifications

Servo amplifier

Item

Circuit

power

supply

(Note)

Control circuit power supply System Sine-wave PWM control, curr ent control system

Dynamic brake Built-in

Protective functions

Speed frequency response 250Hz or more Structure Open (IP00)

Weight

Note: To comply with the low voltage directive, use a reinforced insulation stabilizing power supply.

Voltage 21.6 to 30VDC (instantaneous permissible voltage 34V) Power supply

capacity

Ambient temperature

Ambient humidity

Environment

Vibration

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

(Note)

Operation

Storage

Operation

Storage

Ambient

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

[m/s2] 5.9 or less

[ft/s

] 19.4 or less

24VDC brake)

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder fault protection, undervoltage, instantaneous p ow er failure prot ect i on, overspeed p r otection, excess iv e error protection

[ ]0 to 55 (non-freezing) [

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

] 4 to 149 (non-freezing)

[kg] 0.2

[lb] 0.44

10% 200mA (400mA when using the servo motor equipped with electromagnetic

90%RH or less ( non - condensing)

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

MR-J2-03B5

Indoors (no dir ect su nl i gh t )

1.3 Function list

The following table lists the functions of this servo. For details of the functi ons, refer to the reference field.

Function Description Reference

Slight vibration suppression control

Real-time auto tuning

Torque limit Servo motor torque can be limited to any value. External forced stop signal

automatic ON Test operati on mode

Servo configurati on sof t wa re

Suppresses vibration of

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

Forced stop (EM1) can be automatically switched on internally to invalidate it. Parameter No.23 Servo motor can be run from the operation section of the servo amplifier

without the start signal entered. Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

1 pulse produced at a servo motor stop. Section 6.5

Section 6.2 Section 6.3 Parameter No.9 Parameter No.10 Parameter No.11

Section 4.4

Section 11.1.2

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1. FUNCTIONS AND CONFIGURATION

1.4 Model code definition (1) Rating plate

(2) Model

MITSUBISHI

MODEL

MR-J2-03B5

POWER : INPUT :

OUTPUT: SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

30W DC24V

A5 T3 AAAAG52

MR-J2 - 03 5

Series name

Rated output 30[W]

AC SERVO

PASSED

24VDC power supply specification SSCNET Compatible

Model Capacity

Applicable power supply

Rated output current Serial number

Rating plate

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-J2-03B5 HC-AQ0335D

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1. FUNCTIONS AND CONFIGURATION

1.6 Parts identification

Name/Application

Reference

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

Axis select switch (CS1)

CS1

Used to set the axis number

of the servo amplifier.

Section 4.3

Section 3.9

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

Section 3.2

preceding axis servo amplifier. Bus cable connector (CN1B)

Used to connect the subsequent axis servo amplifier or termination connector (MR-A-TM).

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/digital input signals.

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.

Section 3.2

Section 1.4

Section 3.2 Section 9.1

Section 11.1.1

Section 3.2 Section 9.1

Section 3.2

Section 9.1 Section 11.1.1 Section 11.1.2

Section 3.7

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1. FUNCTIONS AND CONFIGURATION

1.7 Servo system with auxiliar y equipm ent To prevent an electric shock, fit the supplied earth terminal (E) to the servo

WARNING

Power supply

24VDC

Circuit protector

amplifier (refer to (2), Section 3.7) and always connect it t o the earth (E) of the control box.

Servo amplifier

MITSUBISHI

OPEN

CN1A CN1B

MELSERVO

Servo system

controller

or preceding axis servo amplifier

Servo configuration software (MRZJW3SETUP81E)

Main ci rcuit power supp l y

Relay

Control circuit power supply

Personal computer

To CNP1

To CNP3

CNP1 CNP2

CNP3

Earth (E) terminal

To CN1A

To CN1B

To CNP2

Motor cable

Power leads

Subsequent axis

servo amplifier

Encoder cable

Servo motor

1 - 5

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 6

2. INSTALLATION

CAUTION

Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to

combustibles will led to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual.

Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.

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

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

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

Do not install or operate a faulty servo amplifier.

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

2.1 Environmental con dit ions

Environment Conditions

Ambient temperature

Ambient humidity

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

Operation

Storage

Operation Storage

[ ]0 to 55 (non-freezing) [

] 32 to 131 (non-freezing)

[ ] 20 to 65 (non-freezing)

] 4 to 149 (non-freezing)

[

90%RH or less (non-condensing)

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

[m/s2] 5.9 or less

] 19.4 or less

[ft/s

2 - 1

2. INSTALLATION

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

CAUTION

(1) Installation of one servo amplifier

10mm (0.4 in.) or more

occur.

Leave specified clearances between the servo amplifier and control box inside

walls or other equipment.

Control box Control box

40mm (1.6 in.) or more

Servo amplifier

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.) or more

Bottom

2 - 2

2. INSTALLATION

(2) Installation of two or more servo amplifiers

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

Control box

10mm (0.4 in.) or more

100mm (4.0 in.) or more

MITSUBISHI

OPEN

CN1A CN1B

CNP1 CNP2

CNP3

MELSERVO

40mm (1.6 in.) or more

1mm (0.04 in.) or more

MITSUBISHI

OPEN

CN1A CN1B

CNP1 CNP2

CNP3

MELSERVO

10mm (0.4 in.) or more

(3) Others

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

2.3 Keep out foreign materials

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

servo amplifier.

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

box or a fan installed on the ceiling.

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

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

2 - 3

2. INSTALLATION

2.4 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight

stress are not applied to the cable connection.

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

supplied with the servo motor, and flex the optional motor cable or the power supply and brake wiring cables. Use the optional motor cable within the flexing life flexi ng life range. Use the power supply and brake wiring cables within the flexing li fe of the cabl es.

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

or stamped by workers or vehicles.

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

large as possible. Refer to section 10.3 for the flexing life.

2 - 4

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 - 5

2. INSTALLATION

MEMO

2 - 6

3. SIGNALS AND WIRING

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

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

WARNING

CAUTION

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

installed. Otherwise, you may get an electric shock.

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

pinched. Otherwise, you may get an electric shock.

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

misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Use a noise filter, etc. to minimize the influence of electromagnetic interference,

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

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

power line of th e se rv o moto r .

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 Connection example of control signal system

POINT

Refer to Section 3.5 for the connection of the power supply system. Do not apply the test lead bars or like of a tester directly to the pins of the connectors supplied with the servo motor. Doing so will deform the pins, causing poor contact.

Servo system controller

(Note 10) Servo configuration software

(Note 5, 9) Bus cable

Cable clamp (Option)

24VDC power supply

(Note 2, 4) Forced stop

Personal computer

(Option)

Circuit protector

15m(49.2ft) or less

CNP1

P24M

P24G P24L

CNP1

Servo amplifier

MR-J2-03B5

1 2 3

4EM1

CNP2

CNP3

(Note 3) CN1A

(Note 3) CN1B

CS1

Setting: 0

(Note 11)

Servo

motor 30m(98.4ft) or less

(Note 1)

(Note 5, 9 ) Bus cable (Option)

(Note 8)

MR-A-TM

3 - 2

MR-J2-03B5

(2 axis)

CN1A

CN1B

Setting: 1

MR-J2-03B5

(3 axis)

CN1A

CN1B

Setting: 2

MR-J2-03B5

(n axis)

CN1A

CN1B

Setting: n 1

(Note 6)

CS1

(Note 6)

CS1

(Note 6)

CS1

(Note 7) n 1 to 8

3. SIGNALS AND WIRING

Note 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo am plifier and always connect it to the earth (E) of

the control box. (Refer to Section 3.7.)

2. If the controller does not have an emergency stop function, always install a forced stop switc h (Normall y closed).

3. CN1A and CN1B have the same shape. Wrong connection of the connectors will lead to a fault.

4. When starting operation, always connect the forced stop (EM1) and P24G. (Normally closed contacts ) By setting “0001” i n parameter No.23, the forced stop (EM1) signal can be made invalid.

5. Use the bus cable at the overall distance of 30m(98.4ft) or less. In addition, to improve noise immunity, it is recommended to use a cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

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

7. Up to eight axes (n same bus.

8. Always insert the termination connector (MR-A-TM) into CN1B of the servo amplifier locat ed at the terminati on.

9. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected. Refer to the following table and choose the bus cable.

1 to 8) may be connected. The MR-J2S-

MR-J2S- B MR-J2-03B5

QD75M

Q172CPU(N) Q172J2BCBL M

Motion controller

Q173CPU(N) Q173J2B CBL M A motion MR-J2HBUS

MR-J2S- B MR-J2-03B5 MR-J2HBUS M

MR-J2-03B5 servo amplifier may be connected on the

MR-J2HBUS

M-A

10. Use MRZJW3-SETUP81E.

11. When using the servo motor provided with electromagnetic brake, refer to Section 3.6.

3 - 3

3. SIGNALS AND WIRING

3.2 I/O signals

3.2.1 Connectors and signal arrangements POINT

The pin configurations of the connectors are as viewed from the cable connector wiring section.

CN1A CN1B

EMG

TXD

RD*

TD*

EMG*

CNP1

P24M

P24G

P24L

EM1

CNP3

RXD

MITSUBISHI

MELSERVO

CNP1

CNP2

CNP3

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

EMG

CNP2

MR MRR

P5 LG

104

B2 B1

RD*

TD*

11 LG 13

15 LG 17

EMG*

3 - 4

3. SIGNALS AND WIRING

3.2.2 Signal expla na ti on s

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

(1) Connector applications

Connector Name Function/Application

CN1A Connector for bus cable from preceding axis.

CN1B Connector for bus cable to next axis

CNP1 Power su ppl y input connector CNP2 Motor connector Used for connection with the servo motor.

CNP3 Communicat io n con ne ctor Used for connection wi th t he pe rsonal computer.

CNP21 Electromagnetic brake contact connector

(2) Input si gn al

Signal Symbol

Forced stop EM1

Connector Pin

No.

CNP1

Disconnect EM1-P24G to bring the servo motor to a forced stop state, in which the servo is switched off and the dynamic brake is operated. In the forced stop state, connect EM1-P24G to reset that state.

Used for connection with the controller or preceding-axis servo amplifier. Used for connection with the next-axis servo amplifier or for connection of the termination connector . Used to connect the input power supply/control circuit power supply/digital input signals.

Disconnect B1A-B1B to make the electromagnetic brake effective. Make up a circuit which will switch off main circuit power and make the electromagnetic brake effective as soon as EMG-SG are disconnected at a forced stop.

Function/Application I/O Division

DI-1

3 - 5

3. SIGNALS AND WIRING

3.3 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation

CAUTION

When an alarm occurs in the servo amplifier, t he 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. The alarm is deactivated by switching control circuit power off, then on or by turning on the error reset command or CPU reset command from the servo system controller. However, it cannot be deactivated unless the cause of the alarm is removed.

(Note 1) Main circuit control circuit

Base circuit

Servo motor shaft operation

power supply

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

OFF

Coasting Coasting Coasting

Base circuit on

Base circuit on Base circuit on

Power off

(Note 3) Dynamic brake(Note 2) Dynamic brake

Power on

Servo-on command (from controller)

Trouble Reset command

(from controller)

Note 1. Shut off the main circuit power as soon as an alarm occurs.

2. At overcurent (32) alarm occurrence, the dynamic brake does not operate. The servo motor coasts to a stop.

3. When control circuit power switches off, the dynamic brake does not operate. The servo motor coasts to a stop.

OFF

1sec

NOYESNO YES NO

Instantaneous power failure alarm

15 to 40msec or more

Alarm occurs

Remove cause of trouble

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32), overload 1 (50) or overlo ad 2 (51) alarm af ter its occurrenc e, without remov ing its c ause, 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 (10) occurs if power is restored after a 40ms or longer power failure of the control circuit power supply or after a drop of the bus voltage to or below 20VDC. Control circuit power switches off if i t ha s fai led , is no t res tor ed , and remain s failing. Wh en the power f a ilu re i s re se t in this state, the alarm is reset and the servo amplifier returns to the initial state.

3 - 6

3. SIGNALS AND WIRING

3.4 Interfaces

3.4.1 Common line

The following diagram shows the power supply and its common line. To conform to the EMC directive, refer to the EMC Installation Guide lines (IB(NA)67310).

Servo amplifier

CNP1

24VDC

P24G

P24L

CN1

Servo motor

CN1A CN1B

EM1

RD TD EMG

RD* TD* EMG*

MRR

CNP2

Servo motor

encoder

3 - 7

3. SIGNALS AND WIRING

3.4.2 Detailed description of the interfaces

This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in Sections 3.2.2. Refer to this section and connect the interfaces with the external equipment.

Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Servo amplifier

For a transistor

Approx. 5mA

1.0V

CES

100 A

CEO

Switch

EM1

R: Approx.

4.7k

P24G P24L

3 - 8

3. SIGNALS AND WIRING

3.5 Input power supply circuit

When the servo amplifier has become faulty, switch power off on the servo

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

CAUTION

3.5.1 Connection example

Wire the power supply and main cir cu i ts as sh ow n be lo w so th a t th e se rv o -o n s ig nal also tu rns off as so o n 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.

Switch power off at detection of an alarm. Otherwise, a regenerative brake transistor fault or the like may overh eat the rege nerative brak e resistor, ca using a fire.

POINT

If the equipment does not comply with the EN Standard, use the insulated 24VDC power supply.

Forced stop

OFF ON

RA1

24VDC

Circuit protector

RA1

Forced stop

RA2

Forced stop

RA3

P24M P24G

P24L

EM1

P24M P24G

P24L

EM1

P24M P24G

P24L

EM1

CNP1

Servo

amplifier

2 3

CNP1

OFF ON

RA2

CNP1

Servo

amplifier

2 3

CNP1

OFF ON

RA3

CNP1

Servo

amplifier

2 3

CNP1

RA2

RA3

3 - 9

3. SIGNALS AND WIRING

3.5.2 Explanation of signals

Abbreviation Signal Name Description

P24M Main circuit power input Power supply for main circuit.

P24G Power ground

P24L Control circ uit power input

Ground Connect to the earth of the control box for grounding.

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

1) Always wire the powe r supply as sh ow n in a bo ve Se c tio n 3. 5.1 using the re lay with the m ain circu it 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 L supply or before switching on the main circuit power supply. If the main circuit power supply i s not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on command abou t 1s after the m ain 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 1s, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

Main circuit power supply and control circuit power supply ground. Connected to SG and LG inside the unit. Control circuit power supply and digital I/O power supply. Always use a stabilizing power supply.

, L21 simultaneously with the main circuit power

(2) Timing chart

Power supply (24VDC)

Base circuit Servo-on command

(from controller)

OFF

SON accepted

10ms 60ms

3 - 10

3. SIGNALS AND WIRING

(3) Forced stop

CAUTION

Install an forced stop circuit externally to ensure that operation can be stopped and

power shut off immediately.

If the controller does not have an emergency stop function, make up a circuit which shuts off main circuit power as soon as EM1-P24G are opened at a forced stop. To ensure safety, always install a forced stop switch across EM1-P24G. By disconnecting EM1-SG, the dynamic brake is operated to bring the servo motor to a stop. At this ti me, the display shows the servo forced stop warning (E6). During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the servo amplifier may be shortened.

24VDC

Servo amplifier

P24L

Approx.

4.7k

EM1

P24G

(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 - 11

3. SIGNALS AND WIRING

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

by the servo amplifier signals but also by an external forced stop (EM1).

CAUTION

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

for ordinary braking.

POINT

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

Servo amplifier

CNP2

Circuit must be opened during forced stop (EM1).

EM1

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 forced stop switch on.

2) 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 EM1-SG are disconnected at a forced 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

Servo amplifier

CNP2

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

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

CNP21

B1A 1 B1B

(Note)

EM1

Servo motor

Note. Fit a snubber circuit to the forced stop contact. (Refer to Section 11.2.5)

(2) Setting

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

3 - 12

3. SIGNALS AND WIRING

(3) Operation timings

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

Tb [ms](parameter No.21) after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operati on delay ti me to prevent a drop.

Servo motor speed

0 r/min

Coasting

Electromagnetic brake operation delay time

Base circuit

Electromagnetic brake (CNP2-9)

Servo-on command (from controller)

ON OFF

Invalid (ON) Valid (OFF)

ON OFF

(60ms)

(80ms)

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

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake (CNP2-9)

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

(10ms)

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

Electromagnetic brake

Electromagnetic brake release

Electromagnetic brake operation delay time

(180ms)

3 - 13

3. SIGNALS AND WIRING

POINT

When the overcurrent alarm (32) occurs, the dynamic brake is not operated.

Servo motor speed

Base circuit

Electromagnetic brake (CNP2-9)

ON OFF Invalid (ON) Valid (OFF)

Dynamic brake

Electromagnetic brake

(10ms)

Electromagnetic brake operation delay time

Trouble (ALM)

No (ON) Yes (OFF)

(d) Main circuit power off

When main circuit power switches off, the undervoltage alarm (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 is switched off, the dynamic brake is not operated.

Coasting

Servo motor speed

Control circuit power (P24L)

ON OFF

20ms

Electromagnetic brake

3 - 14

3. SIGNALS AND WIRING

3.7 Grounding 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 noi se (du e to d i /d t and d v /d t) of the tr ansistor. To p re v e nt such a fault , re fe r to the f ollo wing diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

To prevent an el e ctric shock, alway s conn e ct th e ea rt h t e rmina l ( E ) of th e se rv o

amplifier to 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

(Note)

Earth (E)

Servo system

Servo motor

controller

Outer box

Note: To reduce the influence of external noise, we recommend you to ground the bus cable near

the controller using a cable clamping fixture or to connect three or four data line filters in series.

3 - 15

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

M4 screw

Earth (E) termina AERSBAN-JR

3 - 16

3. SIGNALS AND WIRING

3.8 Instructions for the 3M connector

When fabricating a cable with the 3M connector, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

Ground plate

External conductor

SheathCore

Pull back the external conductor to cover the sheath

Screw

Cable

Screw

3 - 17

3. SIGNALS AND WIRING

3.9 Control axis selection

Use the axis select switch (CS1) to set the cont rol axis num ber for the servo. The con trol axis number set to CS1 should be the same as the one set to the servo system controller. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the bus cable connection sequence. Set the switch to "F" when executing the test operation mode using servo configuration softwa re.

Axis select switch (CS1)

No. Description

0Axis 1 1Axis 2 2Axis 3 3Axis 4 4Axis 5 5Axis 6 6Axis 7 7Axis 8 8 Not used 9 Not used A Not used B Not used C Not used

D Not used

E Not used F Test operation mode

3 - 18

4. OPERATION AND DISPLAY

4.1 When switching power on for the first time

Before starting operation, check the following:

(1) Wiring

(a) A correct power supply is connected to the power input terminals (P24 M, P24G, P24L) of the servo

amplifier.

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

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

power input terminals (P24M, P24G, P24L) of the servo motor. (d) The servo amplifier is grounded securely. (e) 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B. (f) SD and LG of connectors CN1A and CN1B are not shorted. (g) The wiring cables are free from excessive force. (h) CN1A should be connected with the bus cable connected to the servo system controller or preceding

axis servo amplifier, and CN1B should connected with the bus cable connected to the subsequent

axis servo amplifier or with the termination connector (MR-A-TM.)

(2) Axis number

The axis number setting of CS1 should be the same as that of the servo system controller. (Refer to Section 3.9. )

(3) Parameters

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

(4) Environment

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

(5) Machine

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

4 - 1

4. OPERATION AND DISPLAY

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

Do not operate the controller with the front cover removed. High-voltage terminals

WARNING

CAUTION

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

and charging area exposed and you may get an electric shock.

During power-on or operation, do not open the front cover. You may get an electric

shock.

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

unexpected operation.

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

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

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

cause injury.

(1) Power on

When the main and control circuit power supplies are switched on, the servo status appears on the servo amplifier display. Refer to Section 4.3 for the displayed data.

(2) Parameter setting

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

Parameter No. Name Setting Description

7 Rotation direction setting 0 8 Auto tuning 1Used.

9 Servo response 4 Slow response (initial value) is selected.

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

(3) Servo-on

Switch the servo-on in the following procedure:

1) Switch on main circuit/control circuit power supply.

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

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

(4) Home position return

Always perform home position return before starting positioning operation.

4 - 2

4. OPERATION AND DISPLAY

(5) Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to Section 3.6.

Operation/command Stopping condition

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

Servo system controller

Servo amplifier

Emergency stop command

Main circuit power supply off Control circuit power supply off

Alarm occurrence

Forced stop (EM1) OFF

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

The base circuit is shut off an d the servo motor coasts. The base circuit is shut off and the dynamic brake

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

4 - 3

4. OPERATION AND DISPLAY

4.3 Servo amplifier display

On the servo amplifie r display (2-digit, 7-seg ment display), check the status o f communication w ith the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.

(1) Display sequence

Servo amplifier power ON

Waiting for servo system controller power to switch ON

Servo system controller power ON

Initial data communication with servo system controller

During emergency stop and forced stop

When alarm occurs, alarm code appears.

Servo system controller power OFF

(Note)

Ready ON

(Note)

Servo ON

(Note)

Ordinary operation

Ready OFF/servo OFF

Emergency stop and forced stop reset

Ready O N/serv o OFF

Ready O N/serv o ON

Servo system controller power ON

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

4 - 4

4. OPERATION AND DISPLAY

(2) Indication list

Indication Status Description

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

Power to the servo system controller was switched off during power-on of the servo amplifier. The axis No. set to the servo system controller does not match the axis No. set with the axis setting switch (CS1) of the servo amplifier. A servo amplifie r fault occurred or an error took place in communication with the servo system controller. In t his ca se, the indication changes: "Ab"

"AC" "Ad" "Ab"

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

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

Motor-less operation

(Note 1) (Note 1) (Note 1) (Note 2)

(Note 1)

AA Initializing

Ab Initializing

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

AE Initialize completion Initial data communication with the servo system controller was completed. b# Ready OFF The ready off signal from the servo system controller was received. d# Servo ON The ready off signal from the servo system controller was received. C# Servo OFF The ready off signal from the servo system controller was received. ** Alarm 88 CPU error

b0. b#.

d#. c#.

(Note 3)

Test operati on mode

Warning The alarm No./warning No. that occurred is displayed. (Refer to Section 8.1.)

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

# Description

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

2. ** indicates the warning/alarm No.

3. Requires the servo configuration software.

4 - 5

4. OPERATION AND DISPLAY

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

CAUTION

By using a personal computer and the servo configuration software (MRZJW3-SETUP81E), you can execute jog operation, positioning operation, motor-less operation and DO forced output without connecting the motion controller.

(1) Test operation mode

(a) Jog operation

Jog operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the jog operation screen of the Servo configuration software.

1) Operation pattern

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

Item Initial value Setting range

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

2) Operation method

Operation Screen control

Forward rotation start Press Reverse rotation start Press Stop Press

[Forward (G)] [Reverse (R)]

[Stop (O)]

button.

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the servo configuration software.

1) Operation pattern

Item Initial value Setting range

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

2) Operation method

Operation Screen control

Forward rotation start Press Reverse rotation start Press Pause Press

[Forward (G)] [Reverse (R)]

[Pause (O)]

4 - 6

button.

4. OPERATION AND DISPLAY

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the servo configuration software. For full information, refer to the Servo Configuration Software Installation Guide.

Operation Screen Control

Start Press

Stop Press

(d) Motorless operation

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

1) Load conditions

[Start (G)]

[Reset (O)]

button.

POINT

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

Load Item Condition

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

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

Encoder error 1 (16) Encoder error 2 (20)

4 - 7

4. OPERATION AND DISPLAY

(2) Configuration

Configuration should be as in Section 3.1. Always install a forced stop switch to enable a stop at occurrence of an alarm.

(3) Operation procedure

(a) Jog operation, positioning operation, program operation.

1) Switch power off.

2) Set CS1 to “F”. When CS1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed.

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

Decimal poin t fli ck e r s .

4) Perform operation with the personal computer.

(b) Motor-less operation

1) Switch off the servo amplifier.

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

Decimal point flickers.

4 - 8

5. PARAMETERS

CAUTION

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

instable.

POINT

When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the servo configuration software invalid and the servo system controller values valid. In the maker setting parameters, do not set any values other than the initial values. Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller. For details, refer to the servo system controller user's manual.

5.1 Parameter write inhibit POINT

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

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

Setting Operation Operation from controller Operation from servo configuration

0000(initial value)

000A

000E

Reference

Write

Reference

Write

Reference

Write

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

Parameter No.1 to 39 Parameter No.40

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

5.2 Lists POINT

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

5 - 1

5. PARAMETERS

(1) Item list

Classifi-

cation

Note 1: Factory settings of the servo amplifier. Connecting it with the servo system control l er and switching power on changes them to

No. Symbol Name

1 0000 2 3 0080 4 0000 5 1 6 7 *POL Rot a tion dire ction selection 0 8 ATU Auto tuning 0001

Basic parameters

9 RSP Servo response 0004 10 TLP Forward rotation torque limit 11 TLN Reverse rotation torque limit 12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio) 30 0.1 times 13 PG1 Position control gain 1 145 rad/s 14 VG1 Speed control gain 1 873 r ad/ s 15 PG2 Position control gain 2 97 rad/s 16 VG2 Speed control gain 2 1144 rad/s 17 VIC Speed integral compensation 20 ms 18 NCH Machine resonance suppression filter (Notch filter) 0 19 FFC Feed for ward gain 0 % 20 IN P In-position range 100 pulse 21 MBR Ele c t romagnetic brake sequence output 0 ms 22 For manufacturer setting 0001

Adjustment parame te rs

23 *OP1 Optional function 1 0000 24 *OP2 Optional function 2 0000 25 0000 26 0000 27 0mV 28 0mV 29 30 ZSP Zero speed 50 r/min 31 ERZ Error excessive alarm level 80 0.1rev 32 OP5 Optional function 5 0000 33 For manufacturer setting 0000 34 VPI PI-PID control switch-over position droop 0 pulse 35 For manufacturer setting 0 36 VDC Speed differential compe nsation 980

Expansion parameters

37 0000 38 0 39 40 *BLK Parameter blocks

the settings of the servo system controller.

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

For manufacturer setting

For manufa cturer setti ng by servo sys tem controller Automatically set from the servo system controller

(Note 2)

For manufacturer setting

(Note 2)

(Note1)

Initial

Value

0000

300 % 300 %

0001

0000

Unit

Customer

setting

5 - 2

5. PARAMETERS

)

(2) Details list

Classifi-

cation

No. Symbol Name and Function

1 0000 2 3 0080 4 0000 5 1 6 7 *POL Rotation dire ction se le ction

For manufacturer setting Don't change this value by any means.

For automatic setting by servo system controller Automatically set from the servo system controller

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

address.

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

address.

CCW

Initial

Value

0000

0 00

Unit

Setting

Range

Basic parameters

8 ATU Auto tuning

Used to select the auto tu ning.

0 00

Auto tuning selection 0: Auto tuning for use of interpolation axis control or the like under position control (valid 1: Auto tuning for ordina ry operation (valid) 2: Not executed (invalid)

0001 0000

0002h

5 - 3

5. PARAMETERS

Classifi-

cation

Basic parameters

No. Symbol Name and Function

9 RSP Servo response

Used to select response of auto tuning.

0 00

Response selection Optimum response can be selected according to the rigidity of the machine. As machine rigidity is higher, faster response can be set to improve tracking performance in response to a command and to reduce settling time.

Description

Machine

Type

Normal

Large

friction

Setting

1 2 3 4 5

8 9 A B C

Response

Low response

Middle

response

High response

Low response

Middle

response

High response

Guideline for

corresponding

machine rigidity

Low rigidity

Medium rigidity

High rigidity

Low rigidity

Medium rigidity

High rigidity

/GDM

inertia

GDL

guideline for load

1 to 10 times

Initial

Value

0004 0001h

Guideline for Position Settling Time

GDL

/GDM2 guideline

within 5 times

50 to 300ms

70 to 400ms

10 to 100ms

Unit

10 to 70ms

10 to 30ms

10 to 50ms

Setting

Range

000Ch

When changing the setting, look at the vibration and stop settling of the servo motor and machine immediately before they stop and during their stop, and always increase the setting in sequence, beginning with the slower response.

10 TLP Forward rotation torque limit

Assume that the rated torque is 100[%]. Used to limit the torque in the forward rotation driving mode and reverse rotation regenerative mode.

11 TLN Reverse rotation torque limit

Assume that the rated torque is 100[%]. Used to limit the torque in the forward rotation driving mode and forward rotation regenerative mode.

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

Used to set the ratio of the load inertia (inertia moment) to the inertia moment of the servo motor shaft. When auto tuning is selected, the result of auto tuning is automatically used.

13 PG1 Position loop gain 1

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

Adjustment parame te rs

300 % 0

500

300 % 0

500

30 0.1

times0to

1000

145 rad/s 4

1000

5 - 4

5. PARAMETERS

Classifi-

cation

Adjustment parame te rs

No. Symbol Name and Function

14 VG1 Speed loop gain 1

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

15 PG2 Position loop gain 2

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

16 VG2 Speed loop gain 2

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

17 VIC Speed integral compensation

Used to set the constant of integral compensation. When auto tuning is selected, the result of auto tuning is automatically used.

18 NCH Machine resonance suppression filter (Notch filter)

Used to select the frequency that matches the resonance frequency of the mechanic a l sy s tem.

Setting

Machine Resonance (Notch) Frequency [Hz]

0 1 2 3 4 5 6 7

Not used

1125

563 375 282 225 188 161

Initial

Value

873 rad/s 20

97 rad/s 1

1144 rad/s 20

20 ms 1

00 to 7

Unit

Setting

Range

5000

500

8000

1000

19 FFC Feed f orward gain

Used to set the feed forward gain. When it is set to 100%, droop pulses will be almost zeroed in constantspeed operation . Note that sud d en acceleration/de cel e r a ti on wi l l increase overshoot. As a guideline, specify 1s or more as the acceleration/deceleration time con st a n t to the rated speed when you set the feed forward gain to 100%. When setting this parameter, always set auto tuning (parameter No. 8) to "No".

0%0

100

5 - 5

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

20 INP In-position range

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

21 MBR Electromagnetic brake sequence output

Used to set a time delay between electromagnetic brake operation and base drive circuit shut-off.

22 For manufacturer setting

Don't change this value by any means.

23 *OP1 Optional function 1

Used to make the servo forced stop function invalid.

000

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

24 *OP2 Optional function 2

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

0 0

Initial

Value

100 pulse 0

0ms0

0001

0000 0000

Unit

Setting

Range

10000

1000

0001h

0010h

Adjustment parame te rs

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

25 0000 26

For manufacturer setting Don't change this value by any means.

Slight vibration suppression control selection (Refer to Section 6.5.) Made valid when auto tuning selection is set to "0002" in parameter No.8. Used to suppress vibration at a stop. 0: Invalid 1: Valid

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

0000

5 - 6

5. PARAMETERS

Classifi-

cation

Expansion parameters

No. Symbol Name and Function

27 0 28 0 29 30 ZSP Zero speed

31 ERZ Error excessive alarm level

32 OP5 Optional function 5

For manufacturer setting Don't change this value by any means.

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

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

Used to select PI-PID control switch-over.

Initial

Value

0001

0000 0000

50 r/min 0

Unit

k pulse

Setting

Range

10000

1000

0002h

0 00

PI-PID control switch over selection 0: PI control is always valid. 1: Switched to PID control when droop value set in parameter No. 34 is reached or exceeded. 2: PID control is always valid.

33 For manufacturer setting

Don't change this value by any means.

34 VPI PI-PID control switch-over position droop

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

35 For manufacturer setting

Don't change this value by any means.

36 VDC Speed differential compensation

Used to set the differential compensation.

37 For manufacturer setting

Don't change this value by any means. 38 0 39 40 *BLK 0000 0000h

For manufacturer setting

Don't change this value by any means.

Parameter blocks

Setting Operation Operation from

controller

Parameter No.1 to 39

(initial

value)

Reference0000

Write

Reference000A

Write

Reference000E

Write

Operation from

servo configuration

Parameter No.1 to 11

Parameter No.40

Parameter No.1 to 40

0000

0pulse0

50000

980 0

1000

0010

000Ah 000Eh

5 - 7

5. PARAMETERS

MEMO

5 - 8

6. ADJUSTMENT

6.1 What is gain adjustment?

6.1.1 Difference between servo amplifier and other drives

Besides the servo amplifier, there are other motor drives such as an inverter and stepping driver. Among these drives, the servo amplifier requires gain adjustment. The inverter and stepping driver are in an open loop (actual motor speed and position are not detected on the driver side).

Load

MotorInverter

On the other hand, the servo amplifier always detects the positions and speeds of the motor and machine using the servo motor encoder, and exercises control to match the posit ion and speed commands with the actual motor (machine) position and speed. In the servo system, adjustment is needed because:

Servo amplifier

Servo motor

Load

Encoder

(1) Response changes according to t he inertia moment of the machin e; (2) Vibration occurs due to the resonance point, etc. peculiar to the machine; and (3) Operation delay and accuracy specific ation differ between mach ines and response sh ould satisfy this

specification.

6 - 1

6. ADJUSTMENT

6.1.2 Basics of the servo system

Servo moto

Command pulse train

Deviation

counter

Position loop

PG2

Position

control section

VG2 Speed control

section

Speed loop

Current

control

section

Current loop

Power control section

Motor

Encoder

A general servo system configuration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop. Among these three loops, the response of the inside loop must be increased 4 to 6 times higher. If this condition is not satisfied, vibration will be generated. If the condition further worsens, hunting will occur.

(1) Current loop

For this servo amplifier, the response level of the current loop is factory-set to a high value and need not be adjusted. If the motor is installed to the machine, the response of the current loop will hardly vary.

(2) Speed loop

Response will vary according to the inertia moment of the machine. When the load inertia moment increases, the response of the speed loop will reduce. Use the speed loop gain (VG2) to compensate for the reduction of the response level.

Amplifier gain setting VG2 [rad/s]

Speed loop response fv[rad/s]

m: Load inertia moment ratio

JL load inertia moment J

servo motor shaft inertia moment

(3) Position loop

The response level will not vary according to machine conditions. Position loop response fp [rad/s]

amplifier gain setting PG2 [rad/s] When the motor is installed to the machine, the gain must be adjusted to satisfy fv to the load inertia moment ratio m.

6 - 2

4 to 6fp according

6. ADJUSTMENT

6.2 Gain adjustment

6.2.1 Parameters required for gain adjustment

Parameter No. Symbol Name

8 ATU Auto tuning

9 RSP Servo response 12 GD2 13 PG1 Position loop gain 1

14 VG1 Speed loop gain 1 15 PG2 Position loop gain 2 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation 18 NCH Notch filter

6.2.2 Block diagram

The block diagram of the Servo amplifier servo control section is shown above. (The current loop is omitted.)

Ratio of load inertia moment to servo motor inertia moment (load inertia moment)

Virtual motor

Command

PG1 VG1

Auto tuning

section

PG2 VG2

VIC

Notch filter

Motor

ENC

Virtual encoder

Machine

Encoder

ENC

Model section

Actual loop section

(1) Actual loop section

A control loop designed to control the actual motor and acts to control the servo system stably in response to the load torque of the machine.

(2) Model section

Acts to provide the ideal operation values to the current loop in response to the command.

(3) Auto tuning section

Judges the load inertia moment of the machine fitted with the actual motor from the operation error of the motor to change each control gain in real time. The gains changed by auto tuning are PG1, VG1, PG2, VG2 and VIC.

6 - 3

6. ADJUSTMENT

6.2.3 What is auto tuning?

The load inertia moment is estimated from the angular speed ( equation of motion (6.1) used for motor acceleration/deceleration. In actuality, the acceleration/ deceleration characteristics of the model and those of the actual motor are compared to estimate the inertia moment of the load in real time.

................................................................(6.1)

J : Inertia moment

: Angular speed

T : Torque

Real-time auto tuning is performed in th e following procedure: (1) When the motor makes acceleration/deceleration, load inertia moment JL is estimated in the above

method to calculate the load inertia moment ratio (GD2).

(2) Each gain (PG 1, VG1, PG2, VG 2, VIC) to the calculated load in ertia moment ra tio (GD2) i s changed

according to the response level set in parameter No. 9. Note that these gains have been patterned beforehand to satisfy the aforementioned stabilization condition.

) and torque (T) in accordance with the

6 - 4

6. ADJUSTMENT

6.3 Gain adjustment by auto tuning

6.3.1 Adjustment method

In the factory setting of the servo amplifier, auto tuning selection is valid (parameter No. 8: 0001) and the response selection is "4" (parameter No. 9: 0004). The initial settings provide sufficient tuning for general machines. Higher-level tuning can be provided by adjusting the response selection (parameter No. 9) according to machine rigidity. The following table lists guidelines for response selection to drive systems. Choose slow response when using a reduction gear having backlash:

Main drive system High response Middle response Low response

Ballscrew

Rack & pinion

Timing belt

Chain

Direct coupling With reduction gear Direct coupling With reduction gear Direct coupling With reduction gear Direct coupling With reduction gear

The following is how to adjust the response selection to machine phenomena:

Actual machine operation Ideal machine operation Parameter No. 9 setting

Settling time is long Large overshoot at stop Reduce overshoot. Gear sound generated from machine Reduce gear sound. Decrease response setting.

Note: Settling time indicates time from zero command pulse to servo motor stop.

(Note)

Reduce settling time. Increase response setting.

Decrease response setting. Set machine selection setting to "large friction".

6.3.2 Valid conditions POINT

If the acceleration/deceleration time is long or the servo motor speed used is only low speed, the valid conditions of auto tuning are not satisfied. Therefore, it may result in fa lse tuning. In this case, after performing operation which satisfies the auto tuning conditions, set auto tuning selection to "Not executed" (parameter No. 8:

0002).

This section provides constraints on the operation pattern to enable excellent auto tuning. If the conditions in this section cannot be satisfied, normal auto tuning may not be performed. In this case, after executing auto tuning in o peration which s atisfies the con ditions g iven in this sect ion, make auto tu ning invalid to disallow the gain setting from being changed.

(1) Set the acceleration time (time until the preset speed is reached) to 5s or less and the acceleration/

deceleration current to 50% or more. (2) Perform operation several times until the cumulative acceleration/decel erati on time is 1s or more. (3) Set the servo motor speed to 500r/min or more.

6 - 5

6. ADJUSTMENT

6.4 Manual gain adjustment

On some machines, gain adjustment may not be made by auto tuning or excellent gain setting may not be made if gain adj us tment is perf orme d by au to tun ing . In thi s ca se, adjus t the ga ins m anua lly. U se an y of the methods given in this section to adjust the gains.

6.4.1 When machine rigidity is low (1) Machine condition

Because of low machine rigidity, the response selection of auto tuning is set to low response and it

takes too much time to reach the target position.

When the machine or motor shaft is moved lightly at a stop, it moves easily.

(2) Adjustment procedure

(a) Adjustment 1

1) Execute auto tuning with the response selection of the level at which machine will not vibrate. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.

2) Set "Not executed" (parameter No. 8: 0002) by the auto tuning selection.

3) Gradually decrease the speed integral compensation VIC (parameter No. 38) setting.

(b) Adjustment 2

1) Perform auto tuning with the response selection of low response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.

2) Set the notch filter (parameter No. 18) in order from higher to lower frequencies.

3) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.

4) If the machine condition does not become excellent after the above adjustment, reduce the setting of speed integral compensation (parameter No. 17) in Adjustment 1.

6 - 6

6. ADJUSTMENT

6.4.2 When the machine vibrates due to machine resonance frequency (1) Machine condition

The servo motor shaft is oscillating at high frequency (100Hz or more). The servo motor shaft motion cannot be confirmed visually. However, if the machine generates large noise and vibrates, make Adjustment 1. If higher "response setting" of auto tuning increases vibration, make Adjustment 2.

(2) Adjustment procedure

(a) Adjustment 1

1) Perform auto tuning with the response selection of low response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.

2) Set 563Hz or 375Hz to the notch filter (parameter No. 18).

3) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.

4) Decrease the notch filter value gradually and repeat step 3). The optimum value is provided at the point where vibration is mini mum.

5) To further shorten the settling time, gradually increase the response selection (parameter No. 9) and repeat steps 1) to 4).

(b) Adjustment 2

1) Select the response selection of low response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.

2) Set the load inertia moment ratio (machine inertia moment ratio in parameter No. 12). If an exact machine inertia moment ratio is unknown, enter an approximate value. When the value is set in this parameter, the following parameters are set automatically. When there is no machine resonance, the value of each parameter is set to the ideal gain for the load inertia moment ratio (parameter No. 12) value.

Parameter No. Symbol Name

13 PG1 Position loop gain 1 15 PG2 Position loop gain 2 14 VG1 Speed loop gain 1 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation

3) Set "not executed" (parameter No. 8: 0002) by the auto tuning selection.

4) Decrease the speed loop gain 2 (parameter No. 16) to a value ab out 10 0 to 200 sma ller tha n the automatically set value. The optimum value is provided at the point just before vib rati on increases.

5) Set 563Hz or 375Hz to the notch filter (parameter No. 18).

6) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.

7) Decrease the notch filter value gradually and repeat step 6). The optimum value is provided at the point where vibration is mini mum.

8) When there is no machine resonance, check the operating status and gradually increase the speed loop gain 2 (parameter No. 16) and repeat steps 5) to 7). Set the value about 50 to 100 smaller than the value at which gear sound begins to be generated. Make this gain a little if there is variation in the machine because a timing belt or the like is used.

9) To further shorten the settling time, gradually increase the response setting (parameter No. 9) and repeat steps 1) to 8).

6 - 7

6. ADJUSTMENT

6.4.3 Load inertia moment is 20 or more times (1) Machine condition

The machine inertia moment is 20 times or more and the servo motor oscillates at low frequency (5Hz or more). At this time, servo motor shaft vibration can be confirmed visually. This adjustment method is valid for the following machines: (a) Machine in which a timing belt is driven without reduction gear

Pulley

Servo motor

(b) Machine in which a disc is rotated without reduction gear

Disc

Servo motor

(2) Adjustment procedure

1) Select the response selection of low response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.

2) Set the load inertia moment ratio (parameter No. 12). If an exact load inertia moment ratio is unknown, enter an approximate value. When the value is set in this parameter, the following parameters are set automatically. When there is no machine resonance, the value of each parameter is set to the ideal gain for the load inertia moment ratio (parameter No. 12) value.

Parameter No. Symbol Name

13 PG1 Position loop gain 1 15 PG2 Position loop gain 2 14 VG1 Speed loop gain 1 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation

3) Set "not executed" (parameter No. 8 to 0002) by the auto tuning selection.

4) Alternate a start and a stop several times and check whether the machine does not vibrate.

5) If vibration still persists, repeat steps 1) to 4).

6) If vibration still persists, make (a) adjustment 1 and (b) adjustment 2 in paragraph (2) of Section

6.4.2.

7) To further increase the response, set auto tuning selection to Valid (parameter No. 8: 0001) with operation at a stop, and increase the response setting (paramet er No. 9). After that, set auto tuning to "Not executed" (parameter No. 8: 0002).

8) Reducing the speed loop's integral compensation (parameter No. 17) may improve the performance. However, making it too small may generate vibration.

Ballscrew

6 - 8

6. ADJUSTMENT

6.4.4 When shortening the settling time (1) Machine condition

The settling time will be increased by the gains provided by auto tuning.

(2) Adjustment procedure

1) Select the response setting of slow response. Set parameter No. 8 to "0001" and parameter No. 9 to "0003" or less.

2) Alternate a start and a stop several times, execute auto tuning, and check whether the machine does not vibrate.

3) Set the load inertia moment ratio (parameter No. 12). If an exact load inertia moment ratio is unknown, enter an approximate value. When the value is set in this parameter, the following parameters are set automatically. When there is no machine resonance, the value of each parameter is set to the ideal gain for the load inertia moment ratio (parameter No. 12) value.

Parameter No. Symbol Name

13 PG1 Position loop gain 1 15 PG2 Position loop gain 2 14 VG1 Speed loop gain 1 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation

4) Set "not executed" (parameter No. 8: 0002) by the auto tuning selection. Make the parameter No. 13 to 17 settings manually adjustable.

5) Check the operating status and adjust the following parameter val ues:

Parameter No. Symbol Na me Description

13 PG1 Position lo op gain 1 15 PG2 Position lo op gain 2 14 VG1 Speed loop gain 1 16 VG2 Speed loop gain 2

17 VIC Speed integral compensation

Higher setting shortens the settling time but is liable to cause overshooting.

Higher setting improves the servo response level but is liable to cause vibration.

Lower setting keeps the speed constant to load disturbance and increases holding force at a stop (servo rigidity) but is liable to cause overshooting.

Make adjustment by gradually increasing the parameter No. 13 to 16 settings at the same ratio and reducing the speed integral compensation (parameter No. 17). The optimum value is provided at the point just before vibration increases. Use of the notch filter (parameter No. 18) may increase the limit point. However, note that the setting increased up to the limit point may cause resonance due to the machine's variations and changes with time.

6 - 9

6. ADJUSTMENT

6.4.5 When the same gain is used for two or more axes (1) Machine condition

To perform interpolation operation with two or more axes of servo amplifiers, the position loop gains of the axes are set to the same value.

(2) Adjustment procedure

1) To adjust the gains of each axis, adjust the gains of all axes in the adjustment procedures in Sections 6.4.1 to 6.4.4.

2) Set "0000" or "0002" in parameter No. 8.

"0000": Interpolation control ............ The following parameter values change at the next start/stop.

Parameter No. Symbol Name

15 PG2 Position loop gain 2 16 VG2 Speed loop gain 2 17 VIC Speed integral compensation

"0002": No auto tuning...................... Make auto tuning invalid and set each gain manually.

3) Match position loop gain 1 to the minimum value of each axis to make the gains of all axes equal.

6.5 Slight vibration suppression control

The slight vibration suppression control mode is used to reduce servo-specific

1 pulse vibrat ion at the time of a stop. This mode produces an effect especially when the ratio of load inertia moment to servo motor inert ia mome nt is sm all (2 to 5 time s). Note that wh en vib ration is attri butable to loose ness ( such as gear backlash) or machine resonance, use the notch filter (parameter No. 18). The slight vibration suppression control mode should be used after real-time auto tuning or manual gain adjustment.

Usage First, perform real-time auto tuning or manual gain adjust ment so that vibration falls within

2 to 3 pulses. Set "

1 " in parameter No. 24 to enter the slight vibration suppression mode at the time of a stop.

Parameter No. 24

Slight vibration suppression control execution

6 - 10

7. INSPECTION

Before starting maintenance/inspection, switch power off, and after more than 10 minutes have elapsed, confirm that the voltage is safe in the tester or the like.

WARNING

(1) Inspection

Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions.

Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

POINT

Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty. Do not disassemble and/or repair the equipment on customer side.

(2) Life

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions.

Part name Life guideline

Smoothing capacitor 10 years Relay

(a) Smoothing capacitor

Affected by ripple currents, etc. and deteriorate s in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment.

(b) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity.

Number of power-on and number of emergency stop times : 100,000 times

7 - 1

7. INSPECTION

MEMO

7 - 2

8. TROUBLESHOOTING

8.1 Alarms and warning list

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 8.2 or 8.3 and take the appropriate action. After its cause has been removed, the alarm can be deactivated in any of the methods marked alarm deactivation column.

Alarm deactivation

Display Name

10 Undervoltage 11 Board error 1 12 Memory error 1 13 Clock error 15 Memory error 2 16 Encoder error 1 17 Board error 2 20 Encoder error 2 24 Main circuit error 31 Overspeed 32 Overcurrent

Alarms

33 Overvoltage 34 CRC error 35 Command frequency error 36 Transfer error 37 Pa rameter erro r 50 Overload 1 51 Overload 2 52 Error excessive

8E Serial communication error

88 Watchdog E1 Overload warning E4 Parameter w a rning E6 Servo forced stop warning E7 Contr oller emergenc y stop warning

Warnings

E9 Main circuit off warning

Note: Deactivate the alarm about 15 minutes of cooling time after removing the cause of occurrence.

Power

OFF

(Note) (Note)

Removing the ca u se of occurrenc e deactivates the alarm automatically.

Error reset CPU reset

(Note) (Note)

in the

8 - 1

8. TROUBLESHOOTING

8.2 Remedies for alarms

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, then reset the

alarm, and restart operation. Otherwise, injury may occur.

POINT

When any of the following alarms has occurred, always remove its cause and allow about 15 minutes for cooling before resuming operation. If operation is resumed by switching control circuit power off, then on to reset the alarm, the servo amplifier and servo motor may become faulty. To protect the main circuit elements, any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence. Judging the load changing condition until the alarm occurs, the servo amplifier calculates this specified time automatically.

Overload 1 (50)

Overload 2 (51) The alarm can be deactivated by switching power off, then on or by the error reset command or CPU reset command from the servo system controller. (For details, refer to Section 8.1.)

When an alarm occurs, the dynamic brake is operated to stop the servomotor. At this time, the display indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. The optional servo configuration software may be used to refer to the cause.

Display Name Definition Cause Action

10 Undervolta g e Power supply

voltage dropped to 20VDC or less

1. Power supply voltage is low.

2. There was an instantaneous control circuit power failure of 40ms or longer.

3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

4. Power was restored after the bus voltage had dropped to 15VDC. (Main circ uit power switched on within 5s after it had switched off.)

5. Faulty parts in the servo amplifier

Checking method Alarm (10) occurs if power is switched on after CN1A, CN1B, CNP2, and CNP3 connectors are disconnected.

Review the power supply.

Change the servo amplifier.

11 Board error 1 Printed board fault 12 Memory error 1 RAM , ROM m em ory

fault

13 Clock error Prin ted board fault

Faulty parts in the servo amplifier

Checking method Alarm (any of 11 to 13)

occurs if power is switched on after disconnection of all cables but the control circ uit power supply cables.

8 - 2

Change the servo amplifier.

8. TROUBLESHOOTING

Display Name Definition Cause Action

15 Memory error 2 EEP-ROM fault

16 Encoder error 1 Commu nica tion

error occurred between encoder and servo amplifier.

17 Board error 2 CPU/parts fault Faulty parts in the servo amplifier

1. Faulty parts in the servo amplifier Checking method

Alarm (15) occurs if power is swi tched on after disconnection of all cables but the control circuit power supply cables.

2. The number of write times to EEP-

ROM exceeded 100,000.

1. Motor connector (CNP2)

disconnected.

2. Encoder fault Change the servo motor.

3. Motor cable faulty

(Wire breakage or s horted)

Checking method

Alarm (17) occurs if power is switched on after CN1A, CN1B, CNP2 and CNP3 connectors are disconnected.

Change the servo amplifier.

Connect co rrectly.

Repair or change the cable.

Change the servo amplifier.

20 Encoder error 2 C om munication

error occurred between encoder and servo amplifier.

24 Main circuit

error

31 Overspeed Speed has exceeded

Ground fault occurred at the servo motor outputs (U,V and W phases) of the servo amplififer.

the instantaneous permissible speed.

1. Motor connector (CNP2)

disconnected.

2. Encoder fault Change the servo motor.

3. Motor cable faulty

(Wire breakage or shorted)

1. Sheathes of s ervo motor pow er

cables deteriorated, resulting in ground fault.

2. Main circuit of servo amplifier

failed.

Checking method

Alarm (24) occurs if the power is switched on after CNP2 connector are disconnected.

1. Small acceleration/deceleration

time constant caused overshoot to be large.

2. Servo system is instable to cause

overshoot.

3. Encoder faulty. Change the servo motor.

Connect co rrectly.

Repair or change the cable.

Change the cable.

Change the servo amplifier.

Increase acceleration/deceleration time constant.

1. Reset servo gain to proper value.

2. If servo gain cannot be set to proper value:

1) Reduce load inertia moment ratio; or

2) Reexamine acceleration/

deceleration time constant.

8 - 3

8. TROUBLESHOOTING

Display Name Definition Cause Action

32 Overcurrent Current that flew is

higher than the permissible current of the servo amplifier.

1. Short occurred in servo amplifier output phases U, V and W.

2. Transistor of the servo amplifier faulty.

Checking method Alarm (32) occurs if power is switched on after CNP2 connector are disconnect ed.

Correct the wiring.

Change the servo amplifier.

33 Overvoltage Input value of

converter bus voltage 35VDC or more.

34 CRC error Bus cable is faulty

35 Command

frequency er ror

36 Transfer error Bus cable or printed

37 Parameter

error

Input frequency of command pulse is too high.

board is faulty

Parameter setting is wrong.

3. Ground fault occurred in servo amplifier output phases U, V and W.

4. External noise caused the overcurrent detection circuit to misoperate.

Power supply voltage is outside the permissible voltage range.

1. Bus cable disconnected. Connect correctly.

2. Bus cable fault Change the cable.

3. Noise entere bus cable. Take measures against noise.

4. Termination connector disconnected.

5. The same No. exists in the servo amplifier side axis setting.

1. Command given is greater than

the maximum speed of the ser v o motor.

2. Noise entered bus cable. Take action against noise.

3. Servo sys tem controlle r f a ilure Change the servo system co ntroller.

1. Bus cable is disconnected. Connect the connector of the bus cable.

2. Bus cable fault. Change the cable.

3. Printed board is faulty. Change the servo amplifier

4. Terimination connector

disconnected

1. Servo amplifier fault caused the

parameter setting to be rewritten.

2. There is a parameter whose value

was set to outside the setting range by the controller.

3. The number of write times to EEP-

ROM exceeded 100,000 due to parameter write, program write, etc.

Correct the wiring.

Take noise suppression measures.

Change battery.

Connect termination connector.

Set correctly.

Review operation program.

Connect termination connector.

Change the servo amplifier.

Change the parameter value to within the setting range.

Change the servo amplifier.

8 - 4

8. TROUBLESHOOTING

Display Name Definition Cause Action

50 Overload 1 Load exceeded

overload protection characteristic of servo amplifier.

1. Servo amplifier is used in excess

of its continuous output current.

2. Servo system is instable and

hunting.

3. Machine struck something. 1. Review operation pattern.

4. Wrong connection of servo motor.

Servo amplifier's output terminals U, V, W do not match servo motor' s input te rminals U, V , W.

5. Encoder faulty.

Checking method

When the servo motor shaft is rotated with the servo off, the cumulative fee dback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

1. Reduce load.

2. Review operation pattern.

3. Use servo motor that pro v i des larger output.

1. Repeat acceleration/ deceleration to execute auto tuning.

2. Change auto tuning response setting.

3. Set auto tuning to OFF and make gain adjustment manually.

2. Install limit switches.

Connect co rrectly.

Change the servo motor.

51 Overload 2 Mac hine collision or

the like caused max. output current to flow successively for several seconds. Servo motor locked:

1s or more

During rotation:

2.5s or more

1. Machine struck something. 1. Review operation pattern.

2. Install limit switches.

2. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor' s input te rminals U, V , W.

3. Servo system is instable and hunting.

4. Encoder faulty.

Checking method

When the servo motor shaft is rotated with the servo off, the cumulative fee dback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

Connect co rrectly.

1. Repeat acceleration/deceleration to execute auto tuning.

2. Change auto tuning response setting.

3. Set auto tuning to OFF and make gain adjustment manually.

Change the servo motor.

8 - 5

8. TROUBLESHOOTING

Display Name Definition Cause Action

52 Erro r excessive Droop pulse value of

the deviation counter exce ed ed the parameter No.31 setting value (initial value: 80k pulse).

Serial

communication error

88 Watchdog CPU, parts faulty Fault of parts in servo amplifier

communication error occurred between servo amplifier and communication device (e.g. personal computer).

1. Acceleration/deceleration time constant is too small.

2. Torque limit value is too small. Increase the torque limit value.

3. Motor cannot be started due to torque shortage caused by power supply voltage dro p.

4. Position control gain 1 (parameter No.13) value is small.

5. Servo motor shaft was rotated by external force.

6. Machine struck something. 1. Review operation pattern.

7. Encoder f a ulty Chang e t he servo moto r.

8. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor' s input te rminals U, V , W.

1. Communication cable fault (Open cable or short circuit)

2. Communication device (e.g. personal computer) faul ty

Checking method

Alarm (88) occurs i f pow e r i s switched on after CN1A, CN1B, CNP2 and CNP3 connecto rs are disconnected.

Increase the acceleration/deceleration time constant.

1. Review the power supply capacity.

2. Use servo motor which provides larger output.

Increase set value and adjust to ensure proper oper a t i on.

1. When torque is limited, increase the limit value.

2. Reduce load.

3. Use servo motor that pro v i des larger output.

2. Install limit switches.

Connect co rrectly.

Repair or change the cable.8E Serial

Change the communication device (e.g. personal comput er) .

Change servo amplifier.

8 - 6

8. TROUBLESHOOTING

8.3 Remedies for warnings

If E6, E7 or E9 occurs, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Eliminate the cause of the warning according to this section. Use the optional servo configuration software to refer to the cause of warning.

Display Name Definition Cause Action

E1 Overload

warning

There is a possibility that overload alarm 1 or 2 may occur.

Load increased to 85% or more of overload alarm 1 or 2 occurrence level.

Cause, checking method

Refer to 50,51.

Refer to 50, 51.

E4 Parameter

warning

E6 Servo forced stop

warning

E7 Controller

emergency stop warning

E9 Main circuit off

warning

Parameter outside setting range EM1-P24G are open. External forced stop was made valid.

Servo-on (SON) was switched on wit h ma i n circuit power off.

Parameter value set from servo system controller is outside setting range

(EM1-P24G opened.) Emergency stop signal was entered into the servo syste m co n t r ol ler.

Set it correct ly.

Ensure safety and deactivate forced stop. Ensure safety and deactivate emergency stop.

Switch on main circuit p ower.

8 - 7

8. TROUBLESHOOTING

MEMO

8 - 8

9. OUTLINE DIMENSION DRAWINGS

9.1 Servo amplifiers

45 (1.772)

MITSUBISHI

MELSERVO

OPEN

CN1A CN1B

6 (0.24)

CNP1 CNP2

CNP3

Earth terminal plate

(0.906)

100 (3.937)

10 (0.394)

(0.197)

Servo Amplifier

Model

MR-J2-03B5 0.2 (0.44)

70 (2.756) max.

(0.315)

Display setting

section cover

(accessory)

Weight

[kg] ([lb])

(0.551)

1814

(0.551)(0.709)

90 (3.543)

76 (2.992)

Rating plate

12 (0.472)13 (0.512)

[Unit: mm] ([Unit: in])

(0.197)

5 (0.197)

27.3

(1.075)

35.4 (1.394)

90 (3.543)

37.3

(1.469)

5 (0.197)

2- 5 ( 0.197) hole (mounting hole)

(0.197)

(Note)

CNP1

P24M

P24G

P24L

EM1

CNP2 CNP3

MR MRR

P5 LG

TXD

104

B2 B1

RXD

Note: One connector (5557-08R) and 10 terminals (5556) for CNP1 wiring are included in the package.

Earth terminal

Terminal screw: M4 Tightening torque: 1.2 [N m] (169.9 [oz in])

9 - 1

9. OUTLINE DIMENSION DRAWINGS

(

)

9.2 Connectors (1) Servo amplifier side

<3M>

(a) Soldered type

Model Connector : 10120-3000VE Shell kit : 10320-52F0-008

12.0(0.47)

[Unit: mm] ([Unit: in])

22.0 (0.87)

39.0 (1.54)

23.8 (0.94)

33.3 (1.31)

(b) Threaded type

Model Connector : 10120-3000VE Shell kit : 10320-52A0-008 Note. This is not available as option

and should be user-prepared.

22.0

(0.87)

(1.54)

39.0

23.8

(0.94)

14.0

(0.55)

12.7(0.50)

14.0

(0.55)

(0.39)

10.0

Logo, etc. are indicated here.

[Unit: mm] ([Unit: in])

12.0

(0.47)

10.0

27.4

(1.08)

0.39

33.3

5.7

(1.31)

(0.22)

12.7

(0.50)

Model Connector : 10120-6000EL Shell kit : 10320-3210-000

6.7

( 0.26)

20.9 (0.82)

2- 0.5 (0.02)

29.7 (1.17)

Logo, etc. are indicated here.

11.5(0.45)

42.0 (1.65)

33.0 (1.30)

[Unit: mm] ([Unit: in])

9 - 2

9. OUTLINE DIMENSION DRAWINGS

(2) Connectors for CNP1/CNP2/CNP3

<molex> Connector

0.6 (0.024)

3 (0.118)

5.4 (0.213)

2.5 (0.098)

4.2 (0.165)

9.6 (0.378)

2.7 (0.106)

(Pitch)

4.2 (0.165)

A B

1.2

(0.047)

(0.118)

R0.3 Circuit number

8.5

6.3

2.7 (0.106)

(0.335) 3

(0.248)

(0.457)

(0.13)

3.5

(0.138)

11.6

10.7

1.5

(0.059)

(0.421)

Layout diagrams classified by the number of poles

1 3

4 poles 8 poles 12 poles

19.6 (0.772)

Model

Variable Dimensions

4.2 (0.165) 5557-08R 5557-12R

1 7

[Unit: mm]

([Unit: in])

9.6 (0.378)5557-04R

18.0 (0.709)12.6 (0.496)

26.4 (1.039)21.0 (0.827)

1.2 (0.047) OMIN

Exclusive tools

Terminal

5556-PBL

5556-PBT2L

5556-PBT3L

Terminal Model: 5556

14.7 (0.579)

5.5 (0.217)

4.3 (0.169) 1

(0.039)

(0.079)

Core size

AWG18 to AWG24

AWG28 AWG16

1.9 (0.075)

2.9 (0.114)

6.6 (0.26)

Wire specifications

Sheath OD [mm(inch)]

1.5 to 2.2 (0.06 to 0.09)

2.3 to 3.1 (0.06 to 0.12)

2.6

(0.102)

1.7 (0.067)

Tool

number

57026-5000 57027-5000 57064-5000 57022-5300

[Unit: mm]

([Unit: in])

2.55

(0.1)

(0.085)

Applicable wire Core size : AWG#18 to #24 (5556-PBTL) AWG28 (5556-PBT2L) Sheath OD: 3.1mm ( 0.122 in) max. Strip length: 3.0 to 3.5 [mm] (0.118 to 0.138 [in])

9 - 3

9. OUTLINE DIMENSION DRAWINGS

(3) Bus cable connector

(a) Honda Tsu shi n In du st ry PCR type

PCR-LS20LA1WPCR-LS20LA1

13.0 (0.512)

14.2 (0.559)

(0.48)

(0.039)

20.6 (0.811)

HONDA

RS RS

38.5 (1.516)

27.4 (1.079)

32.0 (0.906)

(Note) Model

PCR-LS20LA1 PCR-LS20LA1W

23.0 (0.906)

1 12.2

(0.039)

HONDA

38.5 (1.516)

27.4 (1.079)

32.0 (0.906)

Number of Pins

Note: PCR-S20F and PCR-LS20LA1W are not options and are to be supplied by the customer.

PCR-S20FS (soldering type) PCR-S20F (insulation displacement type)

Connector Case Crimping terminal

(0.039)

1.9 (0.075)

10.4

(0.409)

12.2

(0.48)

FHAT-002A

[Unit: mm]

(Unit: in)

1 (0.039)

9 - 4

9. OUTLINE DIMENSION DRAWINGS

(b) Honda Tsu shi n In du st ry HDR type

Number of Pins

14 HDR-E14MG1 HDR-E14LPA5 26 HDR-E26MG1 HDR-E26LPA5

Note: Not available from us and to be supplied by the customer.

Model Connector : HDR-E14MG1

Connector case : HDR-E14LPA5

(0.39)(0.98)

25 10

Connector Connector case (Note) Crimping terminal

Model Connector : HDR-E26MG1

17 (0.67)

5.6 ( 0.22)

21 (0.83)

Model HDR

Wire straightening tool : FHAT-0029 Insulation displacement tool : FHPT-0004C

Connector case : HDR-E26LPA5

21.8 (0.86)

6 7 (0.24 0.28)

(0.39)(0.98)

25.8 (1.02 )

[Unit: mm] ([Unit: in])

8.0

(0.32)

8.0 (0.32)

(4) Communica ti on cabl e co nn e cto r

[Unit: mm] ([Unit: in])

Fitting fixing screwG

E(max. diameter of cable used)

C D

Type

DE-C1-J6-S6 34.5 19 24.99 33 6 18 #4-40 DB-C2-J9 46 21 47.04 55 10 20 M2.6

0.25

Reference

9 - 5

9. OUTLINE DIMENSION DRAWINGS

MEMO

9 - 6

10. CHARACTERISTICS

10.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 10.1, Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the lefthand side area of the continuous or broken line in the graph. In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.

1000

During ro tation

100

Operation time [s]

0.1 0 50 150 200 250 300

Note: If the servo motor is stopped or low-speed (30r/min or less)

operation is performed at an abnormally high duty with torque more than 100% of the rating being generated, the servo amplifier may fail even in a status where the electronic thermal relay protection is not activated.

During stop

100

(Note) Load ratio [%]

Fig. 10.1 Electronic thermal relay protection characteristics

10 - 1

10. CHARACTERISTICS

10.2 Dynamic brake characteristics

Fig. 10.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 10.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant

varies with the servo motor and machine operation speeds. (Refer to Fig. 10.3)

Forced stop(EM1)

ON OFF

Machine speed

Time constant

Time

Fig. 10.2 Dynamic brake operation diagram

max

: Maximum coasting distance .................................................................................................[mm][in]

max

.......................................................................................................................(10.1)

Vo : Machine rapid feedrate......................................................................................... [mm/min][in/min]

J J

: Servo motor inertial moment.................................................................................[kg cm2][oz in2]

: Load inertia moment converted into equivalent value on servo motor shaft.....[kg cm2][oz in2]

: Brake time constant........................................................................................................................[s]

: Delay time of control section...........................................................................................................[s]

(There is processing delay time of about 3.5ms.)

0.0025

Time constant [s]

0.002

HC-AQ0135

0.0015

0.001

0.0005

0 100 400 700 1000 1300 1600

HC-AQ0335

Fig. 10.3 Dynamic brake time constant

Speed [r/min]

1900

HC-AQ0235

2200

2500 2800

3000

10 - 2

10. CHARACTERISTICS

Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the servo amplifier may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.

Servo amplifier Load inertia moment ratio [times]

MR-J2-03B5 100

10.3 Motor cable flexing life

The flexing life of the MR-JRCBL

M-H cables is sho wn be low. This g raph c alculat ed va lues. Since th ey

are not guaranteed values, provide a little allowa nce for these valu es.

1 10

5 10

1 10

5 10

1 10

5 10

1 10

Flexing life [times]

5 10

1 10

5 10

1 10

4 7 10 20 40 70 100 200

Flexing radius [mm]

10 - 3

10. CHARACTERISTICS

MEMO

10 - 4

11. OPTIONS AND AUXILIARY EQUIPMENT

Before connec ting any option or aux iliary equipment, s witch power off, and after

WARNING

more than 10 m inutes have el apsed, confirm the voltage wi th a tester or the lik e. Otherwise, you may get an electric shock.

CAUTION

fault or fire.

11.1 Options

11.1.1 Cables and connectors (1) Cable make-up

The following cables are used for connection with the servo motor and other models. The broken line areas in the diagram are not options.

Use the specified auxiliary equi pment and options . Unspecified o nes may lead to a

Motion controller

1SD75M(AD75M)

(Note) Bus cable

(Note) Connector set

Personal computer

10) 11)

Servo amplifier

CN1A CN1B

CNP1 CNP2

CNP3

(Note) Bus cable

Servo amplifier

CN1A CN1B

CNP1 CNP2

CNP3

12) Termination connector

Servo motor

HC-AQ

EM1

Note. The bus cable used with the SSCNET depends on the preceding or subsequent controller or servo amplifier connected.

Refer to the following table and choose the bus cable.

MR-J2S- BMR-J2-03B5

QD75M 2) Bus cable :MR-J2HBUS M 4) Connector set:MR-J2CN1

Motion controller

MR-J2S- B MR-J2-03B5

Q172CPU(N) 13) Bus cable :Q172J2BCBL M Q173CPU(N) 14) Bus cable :Q173J2B CBL M A motion 1) Bus cable :MR-J2 HBUS

2) Bus cable :MR-J2HBUS

M-A 3) Connector set:MR-J2CN1-A M 4) Connector set:MR-J2CN1

11 - 1

11. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

1) Bus cable MR-J2HBUS M-A Refer to (4) in this section.

Connector: PCR-S20F Case: PCR-LS20LA1 (Honda Tsushin)

Connector: 1020-6000EL Shell kit: 10320-3210-000 (3M or equivalent)

2) Bus cable MR-J2HBUS M Refer to (4) in this section.

3) Connector set MR-J2CN1-A Refer to (4) in this section

4) Connector set MR-J2CN1 Connector: 10120-3000VE

5) Motor cable MR-JRCBL M-H Refer to (2) in this section.

6) Motor cable

connector set

MR-JRCNM IP20

Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)

Connector: PCR-S20FS Shell kit: PCR-LS2 0LA1 (Honda Tsushin)

Shell kit: 10320-52F0-008 (3M)

Connector: 5557-12R-210 Terminal: 5556 (molex)

Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)

Connector: 10120-3000VE Shell kit: 10320-52F0-008 (3M or equivalent)

Qty: 2 each Connector: 5559-12P-210 Terminal: 5558 (molex)

Connector: 5559-12P-210 Terminal: 5558 (molex)

IP20

7) Motor cable for servo motor with electromagnetic brake

8) Motor cable connector set for servo motor with electromagnetic brake

9) Connector set for electromagnetic brake contact

MR-JRBRCBL Refer to (2) in this section.

MR-JRBRCNM

MR-JRBRCN Connector:5557-02R-210 Qty: 1

Connector:

-H 5557-12R-210

Terminal: 5556 (molex)

Connector:

5557-12R-210

Terminal: 5556 (molex)

Terminal: 5556 Qty: 4 (molex)

Connector:

Terminal: 5558 (molex)

Connector:

Terminal: 5558 (molex)

11 - 2

5559-02P-210

Connector:

5559-12P-210 Terminal: 5558 (molex)

Connector:

5559-12P-210 Terminal: 5558 (molex)

IP20

11. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

10) Communication cable

11) Communication cable

12) Termination connector

13) Bus cable Q172J2BCBL M

Refer to (3) in this section.

MR-A-TM

Refer to (4) in this section

Connector: 5557-04R-210 Terminal: 5556 (molex)

Connector: HDR-E14MG1 Shell kit: HDR-E14LPA5 (Honda Tsushin)

Connector: DE-25PF-N Case: DB-C2-J9 (Japan Aviation Electronics)

Connector: DE-9SF-N Case: DE-C1-J6-S6 (Japan Aviation Electronics)

Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)

For connection with PC-98 personal computer

For connection with PC-ATcompatible personal computer

14) Bus cable Q173J2B CBL M

Refer to (4) in this section

Connector: HDR-E26MG1 Shell kit: HDR-E26LPA5 (Honda Tsushin)

Connector: 10120-6000EL Shell kit: 10320-3210-000 (3M or equivalent)

11 - 3

11. OPTIONS AND AUXILIARY EQUIPMENT

(2) Motor cable

If you have fabricated the encoder cable, connect it correctly.

CAUTION

Generally use the encoder cable available as our options. If the required length is not found in the options, fabricate the cable on the customer side.

Servo Motor

HC-AQ0135D

HC-AQ0335D

Note: 1. indicates the cable length: 2, 5, 10, 20, 30(m).

2. The standard cable has a long flexing life.

Otherwise, misoperation or explosion may occur.

Use the MR-JRBRCBL M-H when using the servo motor provided with

electromagnetic brake.

POINT

The encoder cable is not oil resistant. Refer to Section 10.3 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 . When soldering the wire to the connector pin, insulate and protect the connection portion using heat-shrinkable tubing.

Motor Cable

(Note 1) Model Use for EN/UL Standard

MR-JRCBL

M-H MR-JRCNM

(Note 2)

Long flexing life

Connector Set

(a) MR-JRCBL M-H

1) Model explanation

Model: MR-JRCBL M-H

Symbol Cable Length [m]([ft])

2) Outline drawing

123456

121110987

View A

10 20 30

Long flexing life

2 5

2(6.5)

5(16.4) 10(32.8) 20(65.6) 30(98.4)

123456

12 11 10 9 8 7

View B

11 - 4

11. OPTIONS AND AUXILIARY EQUIPMENT

3) Connection diagram When fabricating the cable, use the recommende d wire (J14B1 180) given in Section 11. 2.1 and follow the connectio n diagram shown be low. A cable of up to 30m(98.4ft) m ay be fabricated for this connection.

Servo amplifier side Connector: 5557-12R-210

erminal :5556

5 3 9 2 7 8 1 6

Blue

Orange

Yellow

White

Red

White

Black

Green

Brown

White

LG P5 B2 B1 U V W E MR MRR

Servo motor sid e Connector: 5559-12P-21 Terminal :5558

Blue

Orange

Yellow

White

Red White Black

Green

Brown

White

0.5mm

0.3mm

0.5mm

0.2mm

LG P5

MRR

11 - 5

11. OPTIONS AND AUXILIARY EQUIPMENT

(b) MR-JRBRCBL M-H

Use this cable when using the servo motor provided with electromagnetic brak e.

1) Model explanation

Model: MR-JRBRCBL M-H

Long flexing life

Symbol Cable Length [m]([ft])

5 10 20 30

2) Outline drawing

(0.59)

109

1211

View A View B

5(0.19)

2(6.5)

5(16.4) 10(32.8) 20(65.6) 30(98.4)

200 (7.87)

View C

(0.59)

5(0.19)

[Unit: mm]

([Unit: inch])

10 9

12 11

Electromagnetic brake contact side

Servo amplifier side Connector Terminal

: 5557-12R-210 : 5556

11LG

5P5 3B2 9B1 2U 7V 8W 1E

6MR 12MRR 10

4SD

Blue Orange Yellow White Red White Black Green Brown White

0.5mm

0.3mm

0.5mm

0.2mm

Connector Terminal

: 5559-02P-210 : 5558

B1B

2 1B1A

Servo motor side Connector Terminal

Orange

Yellow

White

Black Green Brown

White

Blue

Red

: 5559-12P-210 : 5558

MRR

11 - 6

11. OPTIONS AND AUXILIARY EQUIPMENT

(3) Communica ti on cabl e

POINT

This cable may not be used with some personal computers. After fully examining the signals of the RS-2 32C connector, refer to this section and fabricate the cable.

Select the communication cable according to the shape of the RS-232C connector of the personal computer used. When fabricating the cable, refer to the connection diagram in this section.

(a) Fabricating instructions

The following must be observed in fabricati on:

1) Always use a shielded, multi-core cable and connect the shield with FG securely.

2) The optional communication cable is 3m (9.8ft) long. When the cable is fabricated, its maximum length is 15m (49.2ft) in offices of good environment with minimal noise.

(b) Outline drawing

MR-JRPC98CBL3M

iew A

MR-JRPCATCBL3M

iew A

MR-JRPC98CBL3M Personal computer

side

D-SUB25 pins (Note)

3m(9.8ft)

MR-JRPCATCBL3M Personal computer

RXD TXD

LG SD

side

TXD RXD

GND RTS CTS DSR DTR

D-SUB9 pins

3 2

5 7 8 6 4

RXD

TXD

Servo amplifier side Servo amplifier side

2 4

1 3

13 25

View B

5 1

View B

141

9 6

Note: The PC98 Notes having the connector of half-pitch 14 pins are also available. Confirm the shape of the RS-232C connector of the personal computer used.

11 - 7

11. OPTIONS AND AUXILIARY EQUIPMENT

(4) Bus cable

CAUTION

cause misoperation or explosion.

When fabricating this cable, use the reco mmended cable given in Se ction 11.2.1 and f abricate it in accordance with the connection diagram shown in this section. The overall distance of the bus cable on the same bus is 30m(98.4ft).

When fabricating the bus cable, do not make incorrect connection. Doing so can

(a) MR-J2HBUS

M-A

1) Model definition

Model:MR-J2HBUS M-A

Symbol

Cable Length [m(ft)]

0.5 (1.64) 1 (3.28) 5 (16.4)

2) Connection diagram

MR-J2HBUS M-A

PCR-S20FS(Connector) PCR-LS20LA1(Case)

RD*

TD*

EMG

EMG*

10120-6000EL(Connector) 10320-3210-000(Shell kit)

20 Plate

11 - 8

11. OPTIONS AND AUXILIARY EQUIPMENT

(b) MR-J2HBUS M

1) Model definition

Model:MR-J2HBUS M

2) Connection diagram

MR-J2HBUS M

10120-6000EL(Connector) 10320-3210-000(Shell kit)

Cable Length [m(ft)]Symbol

1 5 5 (16.4)

10120-6000EL(Connector) 10320-3210-000(Shell kit)

0.5 (1.64) 1 (3.28)

LG LG RD RD*

TD TD* LG LG

EMG EMG*

BAT

19 10 20

9 19 10 20

Plate

11 - 9

Mitsubishi Electric MR-J2-03B5 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDAR D

<<About the manual s>>

Relevant manuals

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction

1.2 Servo amplifier standard specifications

1.3 Function list

1.4 Model code definition (1) Rating plate

1.5 Combination with servo motor

1.6 Parts identification

1.7 Servo system with auxiliar y equipm ent To prevent an electric shock, fit the supplied earth terminal (E) to the servo

2. INSTALLATION

2.1 Environmental con dit ions

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

2.3 Keep out foreign materials

2.4 Cable stress

2.5 Using the DIN rail for installation

3. SIGNALS AND WIRING

3.1 Connection example of control signal system

3.2 I/O signals

3.2.1 Connectors and signal arrangements POINT

3.2.2 Signal expla na ti on s

3.3 Alarm occurrence timing chart

3.4 Interfaces

3.4.1 Common line

3.4.2 Detailed description of the interfaces

3.5 Input power supply circuit

3.5.1 Connection example

3.5.2 Explanation of signals

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

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

3.7 Grounding Ground the servo amplifier and servo motor securely.

3.8 Instructions for the 3M connector

3.9 Control axis selection

4. OPERATION AND DISPLAY

4.1 When switching power on for the first time

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

4.3 Servo amplifier display

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

5. PARAMETERS

5.1 Parameter write inhibit POINT

5.2 Lists POINT

6. ADJUSTMENT

6.1 What is gain adjustment?

6.1.1 Difference between servo amplifier and other drives

6.1.2 Basics of the servo system

6.2 Gain adjustment

6.2.1 Parameters required for gain adjustment

6.2.2 Block diagram

6.2.3 What is auto tuning?

6.3 Gain adjustment by auto tuning

6.3.1 Adjustment method

6.3.2 Valid conditions POINT

6.4 Manual gain adjustment

6.4.1 When machine rigidity is low (1) Machine condition

6.4.2 When the machine vibrates due to machine resonance frequency (1) Machine condition

6.4.3 Load inertia moment is 20 or more times (1) Machine condition

6.4.4 When shortening the settling time (1) Machine condition

6.4.5 When the same gain is used for two or more axes (1) Machine condition

6.5 Slight vibration suppression control

7. INSPECTION

8. TROUBLESHOOTING

8.1 Alarms and warning list

8.2 Remedies for alarms

8.3 Remedies for warnings

9. OUTLINE DIMENSION DRAWINGS

9.1 Servo amplifiers

9.2 Connectors (1) Servo amplifier side

10. CHARACTERISTICS

10.1 Overload protection characteristics

10.2 Dynamic brake characteristics

10.3 Motor cable flexing life

11. OPTIONS AND AUXILIARY EQUIPMENT