Mitsubishi Electronics MR-J2M-P8A User Manual

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General-Purpose AC Servo

J2M Series

General-Purpose Interface Compatible

MODEL

MR-J2M-P8A MR-J2M- DU MR-J2M-BU

SERVO AMPLIFIER INSTRUCTION MANUAL

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the units until you have read through this Instruction Manual, Installation Guide, Servo Motor Instruction Manual and appended documents carefully and can use the equipment properly. Do not use the units until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

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 Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, always keep it accessible to the operator.

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1. To prevent electric shock, note the following:

WARNING

Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.

Connect the base unit and servo motor to ground.

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

Do not attempt to wire for each unit and the servo motor until they are installed. Otherwise, you can obtain the electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

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

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following:

CAUTION

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

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

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

3. To prevent injury, note the follow

CAUTION

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

Connect the terminals correctly to prevent a burst, damage, etc.

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

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

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

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4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their 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 each unit. Each unit may drop. Install the each unit 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 controller and servo motor must be installed in the specified direction. Leave specified clearances between the base unit and control enclosure walls or other equipment. Do not install or operate the unit 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 each unit and servo motor. Do not drop or strike each unit or servo motor. Isolate from all impact loads. When you keep or use it, please fulfill the following environmental conditions.

Environment

During Ambient temperature

Ambient humidity

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

(Note) Vibration

Note. Except the servo motor with reduction gear.

operation

In storage

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

In 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

[ft/s

] 19.4 or less

Each unit Servo motor

Conditions

HC-KFS Series HC-MFS Series

HC-UFS13 to 43

HC-KFS Series HC-MFS Series

HC-UFS13 to 43

X Y : 49

X Y : 161

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.

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(2) Wiring

CAUTION

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

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and drive unit.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

drive unit

Servo Motor

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

The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction. Otherwise, the forced stop and other protective circuits may not operate.

Interface unit

VIN

Control output

signal

Interface unit

VIN

Control output

signal

RARA

(3) Test run adjustment

CAUTION

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

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

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(4) Usage

CAUTION

Provide an forced stop circuit to ensure that operation can be stopped and power switched off immediately.

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

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near MELSERVO-J2M.

Burning or breaking each unit may cause a toxic gas. Do not burn or break each unit.

Use the drive unit 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 reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EMG_

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

)

Contacts must be open when servo-on (SON ) is off, when an trouble (ALM_ ) is present and

hen an electromagnetic brake

interlock (MBR ).

Servo motor

Electromagnetic brake

Circuit must be opened during forced stop (EMG_ ).

EMG_

24VDC

When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

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(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the drive unit will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

About processing of waste

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

FOR MAXIMUM SAFETY

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

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

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

medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

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

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

EEP-ROM life

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

Write to the EEP-ROM due to parameter setting changes

Home position setting in the absolute position detection system

Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

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

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COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

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

1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment into which servo (MELSERVO-J2M is contained) have been installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to MELSERVO-J2M. Hence, they are designed to comply with the low voltage directive. MELSERVO-J2M is certified by TUV, third-party assessment organization, to comply with the low voltage directive. The MELSERVO-J2M complies with EN50178.

(3) Machine directive

Not being machines, MELSERVO-J2M need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Unit and servo motors used

Use each units and servo motors which comply with the standard model.

Interface unit :MR-J2M-P8A Drive unit :MR-J2MBase unit :MR-J2M-BU Servo motor :HC-KFS

HC-MFS HC-UFS

(2) Configuration

Reinforced insulating transformer

No-fuse breaker

NFB

Control box

Magnetic contactor

Reinforced insulating type

24VDC power supply

MELSERVOJ2M

Servo motor

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(3) Environment

Operate MELSERVO-J2M at or above the contamination level 2 set forth in IEC60664-1 For this purpose, install MELSERVO-J2M in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(4) Power supply

(a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in

IEC60664-1 For this purpose, a reinforced insulating transformer conforming to the IEC or EN standard should be used in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been

insulation-reinforced in I/O.

(5) Grounding

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

base unit to the protective earth (PE) of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the

cables to the terminals one-to-one.

of the base unit must be connected to the corresponding earth terminals.

) of the

(d) The protective earth (PE) of the servo motor is connected to the protective earth of the base unit via

the screw which fastens the drive unit to the base unit. When fixing the drive unit to the base unit, therefore, tighten the accessory screw securely.

(6) Auxiliary equipment and options

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

products of the models described in Section 12.2.2.

(b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the

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

(7) Performing EMC tests

When EMC tests are run on a machine/device into which MELSERVO-J2M has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC directive guidelines on MELSERVO-J2M, refer to the EMC Installation Guidelines(IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDARD

The MELSERVO-J2M complies with UL508C.

(1) Unit and servo motors used

Use the each units and servo motors which comply with the standard model.

Interface unit :MR-J2M-P8A Drive unit :MR-J2MBase unit :MR-J2M-BU Servo motor :HC-KFS

HC-MFS HC-UFS

(2) Installation

Install a fan of 100CFM (2.8m cooling of at least equivalent capability.

(3) Short circuit rating

MELSERVO-J2M conforms to the circuit whose peak current is limited to 5000A or less. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, MELSERVO-J2M conforms to the above circuit.

/min) air flow 4 [in] (10.16 [cm]) above the servo amplifier or provide

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes after power-off.

Base unit Discharge time [min]

MR-J2M-BU4 1 MR-J2M-BU6 1 MR-J2M-BU8 1

(5) Options and auxiliary equipment

Use UL/C-UL standard-compliant products.

(6) Attachment of a servo motor

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.

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.

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<<About the manuals>>

This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use MELSERVO-J2M for the first time. Always purchase them and use the MELSERVO-J2M safely. Also read the manual of the servo system controller.

Relevant manuals

Manual name Manual No.

MELSERVO-J2M Series To Use the AC Servo Safely (Packed with the MR-J2M-P8A, MR-J2MMELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310

DU and MR-J2M-BU )

IB(NA)0300027

In this Instruction Manual, the drive unit, interface unit and base unit may be referred to as follows: Drive unit : DRU Interface unit : IFU Base unit : BU

A - 10

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10

1.1 Overview................................................................................................................................................... 1- 1

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

1.3 Unit standard specifications................................................................................................................... 1- 3

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

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

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

1.7 Parts identification.................................................................................................................................. 1- 7

1.8 Servo system with auxiliary equipment................................................................................................ 1- 9

2. INSTALLATION AND START UP 2- 1 to 2-10

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

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

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

2.4 Cable stress .............................................................................................................................................. 2- 3

2.5 Mounting method ....................................................................................................................................2- 4

2.6 When switching power on for the first time.......................................................................................... 2- 6

2.7 Start up..................................................................................................................................................... 2- 7

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

3.1 Control signal line connection example................................................................................................. 3- 2

3.2 I/O signals of interface unit .................................................................................................................... 3- 5

3.2.1 Connectors and signal arrangements ............................................................................................. 3- 5

3.2.2 Signal explanations .......................................................................................................................... 3- 6

3.2.3 Detailed description of the signals................................................................................................. 3-11

3.2.4 Internal connection diagram ..........................................................................................................3-15

3.2.5 Interface............................................................................................................................................3-16

3.3 Signal and wiring for extension IO unit............................................................................................... 3-20

3.3.1 Connection example ........................................................................................................................ 3-20

3.3.2 Connectors and signal configurations ........................................................................................... 3-22

3.3.3 Signal explanations ......................................................................................................................... 3-23

3.3.4 Device explanations......................................................................................................................... 3-26

3.3.5 Detailed description of the device ..................................................................................................3-30

3.3.6 Device assignment method ............................................................................................................. 3-31

3.4 Signals and wiring for base unit ........................................................................................................... 3-35

3.4.1 Connection example for power line circuit ....................................................................................3-35

3.4.2 Connectors and signal configurations ........................................................................................... 3-37

3.4.3 Terminals.......................................................................................................................................... 3-38

3.4.4 Power-on sequence........................................................................................................................... 3-38

3.5 Connection of drive unit and servo motor ............................................................................................ 3-39

3.5.1 Connection instructions ..................................................................................................................3-39

3.5.2 Connection diagram ........................................................................................................................ 3-40

3.5.3 I/O terminals .................................................................................................................................... 3-41

3.6 Alarm occurrence timing chart .............................................................................................................3-42

3.7 Servo motor with electromagnetic brake ............................................................................................. 3-43

3.8 Grounding................................................................................................................................................ 3-46

3.9 Instructions for the 3M connector......................................................................................................... 3-47

4. OPERATION AND DISPLAY 4- 1 to 4-18

4.1 Display flowchart..................................................................................................................................... 4- 1

4.1.1 Normal indication ............................................................................................................................. 4- 2

4.1.2 If alarm/warning occurs ................................................................................................................... 4- 3

4.1.3 If test operation................................................................................................................................. 4- 4

4.2 Interface unit display .............................................................................................................................. 4- 5

4.2.1 Display flowchart of interface unit ................................................................................................. 4- 5

4.2.2 Status display of interface unit .......................................................................................................4- 6

4.2.3 Diagnostic mode of interface unit ................................................................................................... 4- 7

4.2.4 Alarm mode of interface unit........................................................................................................... 4- 8

4.2.5 Interface unit parameter mode ....................................................................................................... 4- 9

4.2.6 Interface unit output signal (DO) forced output...........................................................................4-10

4.3 Drive unit display ...................................................................................................................................4-11

4.3.1 Drive unit display sequence............................................................................................................ 4-11

4.3.2 Status display of drive unit............................................................................................................. 4-12

4.3.3 Diagnostic mode of drive unit......................................................................................................... 4-14

4.3.4 Alarm mode of drive unit ................................................................................................................ 4-15

4.3.5 Drive unit parameter mode ............................................................................................................4-16

4.3.6 Drive unit external input signal display ....................................................................................... 4-16

4.3.7 Drive unit external output signal display ..................................................................................... 4-17

4.3.8 Drive unit output signal (DO) forced output................................................................................. 4-18

5. PARAMETERS 5- 1 to 5-30

5.1 DRU parameter list................................................................................................................................. 5- 1

5.1.1 DRU parameter write inhibit .......................................................................................................... 5- 1

5.1.2 Lists.................................................................................................................................................... 5- 2

5.2 Interface unit ..........................................................................................................................................5-14

5.2.1 IFU parameter write inhibit........................................................................................................... 5-14

5.2.2 Lists...................................................................................................................................................5-14

5.3 Detailed description ...............................................................................................................................5-21

5.3.1 Electronic gear ................................................................................................................................. 5-21

5.3.2 Analog monitor................................................................................................................................. 5-25

5.3.3 Using forward rotation stroke end (LSP

) reverse rotation stroke end (LSN ) to change the

stopping pattern.............................................................................................................................. 5-28

5.3.4 Alarm history clear.......................................................................................................................... 5-28

5.3.5 Position smoothing ..........................................................................................................................5-29

6. GENERAL GAIN ADJUSTMENT 6- 1 to 6-10

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

6.1.1 Adjustment on a MELSERVO-J2M................................................................................................ 6- 1

6.1.2 Adjustment using MR Configurator (servo configuration software) ...........................................6- 2

6.2 Auto tuning ..............................................................................................................................................6- 3

6.2.1 Auto tuning mode .............................................................................................................................6- 3

6.2.2 Auto tuning mode operation ............................................................................................................ 6- 4

6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 5

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

6.3 Manual mode 1 (simple manual adjustment)....................................................................................... 6- 7

6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 7

6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 7

6.4 Interpolation mode .................................................................................................................................. 6- 9

7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-10

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

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

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

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

7.5 Gain changing function........................................................................................................................... 7- 5

7.5.1 Applications....................................................................................................................................... 7- 5

7.5.2 Function block diagram ................................................................................................................... 7- 5

7.5.3 Parameters ........................................................................................................................................ 7- 6

7.5.4 Gain changing operation.................................................................................................................. 7- 8

8. INSPECTION 8- 1 to 8- 2

9. TROUBLESHOOTING 9- 1 to 9-14

9.1 Trouble at start-up .................................................................................................................................. 9- 1

9.2 Alarms and warning list ......................................................................................................................... 9- 4

9.3 Remedies for alarms................................................................................................................................ 9- 6

9.4 Remedies for warnings...........................................................................................................................9-13

10. OUTLINE DRAWINGS 10- 1 to 10-10

10.1 MELSERVO-J2M configuration example.........................................................................................10- 1

10.2 Unit outline drawings ......................................................................................................................... 10- 2

10.2.1 Base unit (MR-J2M-BU

) ...........................................................................................................10- 2

10.2.2 Interface unit (MR-J2M-P8A) .....................................................................................................10- 2

10.2.3 Drive unit (MR-J2M-

DU)......................................................................................................... 10- 3

10.2.4 Extension IO unit (MR-J2M-D01) ..............................................................................................10- 4

10.2.5 Battery unit (MR-J2M-BT).......................................................................................................... 10- 4

10.3 Connectors............................................................................................................................................ 10- 5

11. CHARACTERISTICS 11- 1 to 11- 6

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

11.2 Power supply equipment capacity and generated loss ....................................................................11- 2

11.3 Dynamic brake characteristics...........................................................................................................11- 4

11.4 Encoder cable flexing life ....................................................................................................................11- 6

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

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

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

12.1.2 Cables and connectors ..................................................................................................................12- 8

12.1.3 Junction terminal block (MR-TB50) .......................................................................................... 12-17

12.1.4 Junction terminal block (MR-TB20) .......................................................................................... 12-19

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

12.1.6 MR Configurator (servo configurations software) .................................................................... 12-23

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

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

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

12.2.3 Power factor improving reactors ................................................................................................12-27

12.2.4 Relays............................................................................................................................................ 12-28

12.2.5 Surge absorbers ...........................................................................................................................12-28

12.2.6 Noise reduction techniques.........................................................................................................12-28

12.2.7 Leakage current breaker ............................................................................................................ 12-34

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

13. COMMUNICATION FUNCTIONS 13- 1 to 13-32

13.1 Configuration ....................................................................................................................................... 13- 1

13.1.1 RS-422 configuration.................................................................................................................... 13- 1

13.1.2 RS-232C configuration ................................................................................................................. 13- 3

13.2 Communication specifications............................................................................................................ 13- 4

13.2.1 Communication overview ............................................................................................................ 13- 4

13.2.2 Parameter setting .........................................................................................................................13- 5

13.3 Protocol ................................................................................................................................................. 13- 6

13.4 Character codes ...................................................................................................................................13- 7

13.5 Error codes ...........................................................................................................................................13- 8

13.6 Checksum .............................................................................................................................................13- 8

13.7 Time-out operation .............................................................................................................................. 13- 9

13.8 Retry operation .................................................................................................................................... 13- 9

13.9 Initialization........................................................................................................................................13-10

13.10 Communication procedure example ...............................................................................................13-10

13.11 Command and data No. list............................................................................................................. 13-11

13.11.1 Read commands .........................................................................................................................13-11

13.11.2 Write commands ........................................................................................................................13-13

13.12 Detailed explanations of commands ............................................................................................... 13-15

13.12.1 Data processing.......................................................................................................................... 13-15

13.12.2 Status display ............................................................................................................................13-17

13.12.3 Parameter...................................................................................................................................13-18

13.12.4 External I/O pin statuses (DIO diagnosis) ..............................................................................13-20

13.12.5 Disable/enable of external I/O signals (DIO) ..........................................................................13-23

13.12.6 External input signal ON/OFF (test operation) .....................................................................13-24

13.12.7 Test operation mode ..................................................................................................................13-25

13.12.8 Output signal pin ON/OFF (output signal (DO) forced output) ...........................................13-28

13.12.9 Alarm history ............................................................................................................................. 13-29

13.12.10 Current alarm .......................................................................................................................... 13-30

13.12.11 Other commands...................................................................................................................... 13-31

14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-12

14.1 Outline.................................................................................................................................................. 14- 1

14.1.1 Features......................................................................................................................................... 14- 1

14.1.2 Restrictions.................................................................................................................................... 14- 1

14.2 Specifications .......................................................................................................................................14- 2

14.3 Signal explanation............................................................................................................................... 14- 3

14.4 Serial communication command........................................................................................................ 14- 3

14.5 Startup procedure................................................................................................................................ 14- 4

14.6 Absolute position data transfer protocol ........................................................................................... 14- 5

14.6.1 Data transfer procedure............................................................................................................... 14- 5

14.6.2 Transfer method ...........................................................................................................................14- 6

14.6.3 Home position setting .................................................................................................................. 14- 9

14.6.4 How to process the absolute position data at detection of stroke end.................................... 14-10

14.7 Confirmation of absolute position detection data............................................................................ 14-11

APPENDIX App- 1 to App- 2

App 1. Status indication block diagram ................................................................................................. App- 1

Optional Servo Motor Instruction Manual CONTENTS

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

1. INTRODUCTION

2. INSTALLATION

3. CONNECTORS USED FOR SERVO MOTOR WIRING

4. INSPECTION

5. SPECIFICATIONS

6. CHARACTERISTICS

7. OUTLINE DIMENSION DRAWINGS

8. CALCULATION METHODS FOR DESIGNING

1. FUNCTIONS AND CONFIGURATION

1.1 Overview

The Mitsubishi general-purpose AC servo MELSERVO-J2M series is an AC servo which has realized wiring-saving, energy-saving and space-saving in addition to the high performance and high functions of the MELSERVO-J2-Super series. The MELSERVO-J2M series consists of an interface unit (abbreviated to the IFU) to be connected with a positioning unit, drive units (abbreviated to the DRU) for driving and controlling servo motors, and a base unit (abbreviated to the BU) where these units are installed. A torque limit is applied to the drive unit by the clamp circuit to protect the main circuit power transistors from overcurrent caused by abrupt acceleration/deceleration or overload. In addition, the torque limit value can be changed as desired using the parameter. The interface unit has an RS-232C or RS-422 serial communication function to allow the parameter setting, test operation, status indication monitoring, gain adjustment and others of all units to be performed using a personal computer or like where the MR Configurator (servo configuration software) is installed. By choosing the station number of the drive unit using the MR Configurator (servo configuration software), you can select the unit to communicate with, without changing the cabling. The real-time auto tuning function automatically adjusts the servo gains according to a machine. A maximum 500kpps high-speed pulse train is used to control the speed and direction of a motor and execute accurate positioning of 131072 pulses/rev resolution. The position smoothing function has two different systems to allow you to select the appropriate system for a machine, achieving a smoother start/stop in response to an abrupt position command. The MELSERVO-J2M series supports as standard the absolute position encoders which have 131072 pulses/rev resolution, ensuring control as accurate as that of the MELSERVO-J2-Super series. Simply adding the optional battery unit configures an absolute position detection system. Hence, merely setting a home position once makes it unnecessary to perform a home position return at power-on, alarm occurrence or like. The MELSERVO-J2M series has a control circuit power supply in the interface unit and main circuit converter and regenerative functions in the base unit to batch-wire the main circuit power input, regenerative brake connection and control circuit power supply input, achieving wiring-saving. In the MELSERVO-J2M series, main circuit converter sharing has improved the capacitor regeneration capability dramatically. Except for the operation pattern where all axes slow down simultaneously, the capacitor can be used for regeneration. You can save the energy which used to be consumed by the regenerative brake resistor.

Regenerative brake option

Control circuit power supply input

Main circuit power input

Forward rotation stroke end Reverse rotation stroke end Forced stop input

Input signal (Axes 1 to 4)

Input signal (Axes 5 to 8)

Extension IO unit MR-J2M-D01

Encoder pulse output extension DIO (Axes 1 to 4)

Encoder pulse output extension DIO (Axes 5 to 8)

Encoder cable

Servo motor power cable

Personal computer connection Monitor output Forced stop input Electromagnetic brake interlock output

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

Base unit Interface unit

CNP1B

CNP1A

CNP3

Inrush current

suppression

circuit

Regener-

ative TR

Power supply 3-phase 200 to

NFB MC

230VAC (Note) 1-phase 200 to 230VAC

Regenerative brake option

FR-BAL

Control circuit power suppy

Pulse train position command Pulse train position command

RS-232C

RS-422

D/A

Drive unit

Input signal

Stroke end

CN5

Forced stop

I/O signals

for slots 1 to 4,

CN1ACN1BCN3CNP2CN2CNP2CN2

e.g. servo-on

I/O signals

for slots 5 to 8,

e.g. servo-on

Personal computer

other servo amplifier

Analog monitor (3 channels)

Overcurrent

Base amplifie

Actual position control

Pulse counter

Pulse train position command

Model position

Model position control

protection

Actual speed control

Model speed control

Drive unit

Model speed

Current control

Virtual servo motor

Dynamic brake

Current detector

Current

detection

Model torque

Virtual encoder

Dynamic brake

Current

detection

Servo motor

(Earth)

U V

Encoder

Servo motor

(Earth)

U V

Drive unit

Dynamic brake

Current

detection

CON3A-3H CON3A-3H CON3A-3H

Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.

1 - 2

CNP2CN2

Encoder

Servo motor

(Earth)

U V

Encoder

1. FUNCTIONS AND CONFIGURATION

1.3 Unit standard specifications

(1) Base unit

Model MR-J2M-BU4 MR-J2M-BU6 MR-J2M-BU8

Number of slots 4 slots 6 slots 8 slots

(Note)

Control circuit power supply

Main circuit power supply

Function Converter function, regenerative control, rushing into current control function

Protective functions

Mass

Note. The control circuit power supply is recorded to the interface unit.

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

Permissible voltage fluctuation 1-phase 170 to 253VAC

Permissible frequency fluctuation Within 5%

Inrush current 20A (5ms)

Voltage/frequency 3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz Permissible voltage fluctuation 3-phase 170 to 253VAC or 1-phase 170 to 253VAC, 50/60 Hz Permissible frequency fluctuation Within 5% Maximum servo motor connection capacity [W] Continuous capacity [W] 1280 1920 2560 Inrush current 62.5A (15ms)

Regenerative overvoltage shut-off, regenerative fault protection, undervoltage /instantaneous power failure protection

[kg] 1.1 1.3 1.5

[lb] 2.4 2.9 3.3

1600 2400 3200

(2) Drive unit

Model MR-J2M-10DU MR-J2M-20DU MR-J2M-40DU MR-J2M-70DU

Power supply

Control system Sine-wave PWM control, current control system Dynamic brake Built-in

Protective functions

Structure Open (IP00) Cooling method Self-cooled Force-cooling (With built-in fan unit)

Mass

Voltage/frequency 270 to 311VDC Permissible voltage fluctuation 230 to 342VDC

Overcurrent shut-off, functions overload shut-off (electronic thermal relay), servo motor overheat protection, encoder fault protection, overspeed protection, excessive error protection

[kg] 0.4 0.4 0.4 0.7

[lb] 0.89 0.89 0.89 1.54

(3) Interface unit

Model MR-J2M-P8A

Control circuit power supply Power supply circuit for each unit(8 slots or less)

Pulse train interface 8 channels

Interface

DIO

AIO Analog monitor 3channels Structure Open (IP00)

Mass

[kg] 0.5

Forced stop input (2 points), alarm output (2 points), input signal (40 points), output signal (16 points)

[lb] 1.10

RS-232C interface 1 channel

RS-422 interface 1 channel

1 - 3

1. FUNCTIONS AND CONFIGURATION

1.4 Function list

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

(1) Drive unit (Abbreviation DRU)

Function Description Reference

High-resolution encoder High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.

Auto tuning

Gain changing function

Adaptive vibration suppression control

Low-pass filter

Position smoothing Speed can be increased smoothly in response to input pulse.

Slight vibration suppression control

Electronic gear Input pulses can be multiplied by 1/50 to 50.

Torque limit Servo motor torque can be limited to any value.

Command pulse selection Command pulse train form can be selected from among four different types.

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. You can switch between gains during rotation and gains during stop or use an external signal to change gains during operation. MELSERVO-J2M detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system response is increased.

Suppresses vibration of 1 pulse produced at a servo motor stop.

Chapter 7

Section 7.5.4

Section 7.3

Section 7.4

DRU parameter No. 7 DRU parameter No.20

DRU parameters No. 3, 4, 69 to 71 Section 5.3.1 DRU parameters No.28 DRU parameter No. 21

(2) Interface unit (Abbreviation IFU)

Function Description Reference

Section 2.7

Position control mode This servo is used as position control servo.

I/O signal selection

Status display Servo status is shown on the 5-digit, 7-segment LED display

Analog monitor Servo status is output in terms of voltage in real time. Section 5.3.2

The servo-on (SON any other pins.

, ready (RD) and other input signals can be reassigned to

)

Section 3.1.2 Section 3.1.5

Section 3.2.6

Section 4.2.2 Section 4.3.2

(3) Base unit (Abbreviation BU)

Function Description Reference

Regenerative brake option

Used when the built-in regenerative brake resistor of the unit does not have sufficient regenerative capability for the regenerative power generated.

Section 12.1.1

(4) MR Configurator (servo configuration software)

Function Description Reference

Machine analyzer function Analyzes the frequency characteristic of the mechanical system.

Machine simulation

Gain search function Can simulate machine motions on the basis of the machine analyzer results. External I/O signal display Output signal (DO) forced output Test operation mode JOG operation and positioning operation are possible.

Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results.

ON/OFF statuses of external I/O signals are shown on the display.

Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc.

Section 4.3.7

Section 4.2.6 Section 4.3.8

1 - 4

1. FUNCTIONS AND CONFIGURATION

(5) Option unit

Function Description Reference

Absolute position detection system

Encoder pulse output

1.5 Model code definition

(1) Drive unit

(a) Rating plate

Merely setting a home position once makes home position return unnecessary at every power-on. Battery unit MR-J2M-BT (shortly correspondence schedule) is necessary. The encoder feedback is output from extension IO unit MR-J2M-D01 (shortly correspondence schedule) by the A output by the parameter can be changed.

SON

B Z phase pulse. The number of pulses

MODEL

POWER INPUT OUTPUT SERIAL TC300A***G51

(b) Model code

(2) Interface unit

(a) Rating plate

ALM

MR-J2M-40DU

400W DC270V-311V 170V 0-360Hz 2.3A N9Z95046

MITSUBISHI ELECTRIC

MR-J2M- DU

Rating plate

Model Capacity Applicable power supply Rated output current Serial number

Rating plate

Rated output

Symbol Capacity of applied servo motor

10 20 40 70 750

100 200 400

MITSUBISHI

MODEL

POWER : AC INPUT:

POWER

OUTPUT : SERIAL :

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

(b) Model code

AC SERVO

MR-J2M-P8A

75W 2PH AC200-230V 50Hz 2PH AC200-230V 60Hz

DC5/12/20 4.6A/1.2/0.7A

AAAAG52

TC3

MR-J2M-P8A

AC SERVO

PASSED

Model

Input capacity

Applicable power supply

Output voltage / current

Serial number

Pulse train interface compatible

Rating plate

1 - 5

1. FUNCTIONS AND CONFIGURATION

(3) Base unit

(a) Rating plate

Rating plate

MITSUBISHI

MODEL

INPUT :

SERIAL:

N87B95046 BC336U246

MITSUBISHI ELECTRIC

MADE IN JAPAN

(b) Model code

MR-J2M-BU

MR-J2M-BU4

3PH 200-230 14A 50/60Hz

PASSED

Model Applicable power supply Serial number

Symbol

Number of slots

4 61920 8

Maximum servo motor connection capacity [W]

4 6 8

1600 2400 3200

Continuous capacity [W]

1280

2560

1.6 Combination with servo motor

The following table lists combinations of drive units and servo motors. The same combinations apply to the models with electromagnetic brakes and the models with reduction gears.

Drive unit

MR-J2M-10DU 053 13 053 13 13 MR-J2M-20DU 23 23 23 MR-J2M-40DU 43 43 43 MR-J2M-70DU 73 73 73

HC-KFS

Servo motor

HC-MFS HC-UFS

1 - 6

1. FUNCTIONS AND CONFIGURATION

1.7 Parts identification

(1) Drive unit

Status indicator LED Indicates the status of the drive unit. Blinking green: Servo off status Steady green: Servo on status Blinking red: Warning status Steady red: Alarm status

CN2 Encoder connector Connect the servo motor encoder

CNP2 Servo motor connector

For connection of servo motor power line cable

(2) Interface unit

Mounting screw

Rating plate

CN1 I/O signal (For 1 to 4 slots)

CN5 Forward rotation stroke end Reverse rotation stroke end Forced stop input

Display Indicates operating status or alarm.

Pushbutton switches Used to change status indication or set IFU parameters and DRU parameters.

Mounting screw

Display/setting cover

CN1B I/O signal (For 5 to 8 slots)

CN3 For connection of personal computer (RS-232C). Outputs analog monitor.

Charge lamp Lit when main circuit capacitor carries electrical charge. When this lamp is on, do not remove/reinstall any unit from/to base unit and do not unplug/plug cable and connector from/into any unit.

1 - 7

1. FUNCTIONS AND CONFIGURATION

(3) Base unit

The following shows the MR-J2M-BU4.

CNP1B Control circuit power input connector

CNP1 Regenerative brake option connecto

CON3A First slot connector

CON3C Third slot connector

CNP3 Main circuit power input connector

CON1,CON2 Interface unit connectors

CON3B Second slot connector

CON4 Option slot connector

CON5 Battery unit connecto

CON3D Fourth slot connector

1 - 8

1. FUNCTIONS AND CONFIGURATION

1.8 Servo system with auxiliary equipment

WARNING

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

No-fuse breaker (NFB) or fuse

Magnetic contactor (MC)

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

Options and auxiliary equipment

No-fuse breaker

Magnetic contactor

MR Configurator (servo configuration software)

Regenerative brake option

Control circuit power supply

) of the base unit to the protective earth (PE) of the control box.

Reference

Section 12.2.2

Section 12.1.4

Command device (For 1 to 4 slots)

To CN1A

Options and auxiliary equipment

Regenerative brake option

Cables

Power factor improving reactor

Command device (For 5 to 8 slots)

To CN1B

Reference

Section 12.1.1

Section 12.2.1

Section 12.2.3

Powe

acto improving reacto (FR-BAL)

Main circuit power supply

P C

Machine contact

MR Configurator (servo configuration software MRZJW3-SETUP151E or later)

To CNP1A

To CNP3

To CNP1B

Encoder cable

To CN3

To CN5

Power supply lead

Personal computer

Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.

1 - 9

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 10

2. INSTALLATION AND START UP

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

CAUTION

conductive matter or oil and other combustible matter from entering each unit.

Do not block the intake/exhaust ports of each unit. Otherwise, a fault may occur. Do not subject each unit to drop impact or shock loads as they are precision

equipment.

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

Mitsubishi.

When treating the servo amplifier, be careful about the edged parts such as the

corners of the servo amplifier.

2.1 Environmental conditions

The following environmental conditions are common to the drive unit, interface unit and base unit.

Environment Conditions

During Ambient temperature

Ambient humidity

Ambience

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

Vibration

operation

In storage

During operation

In storage

[ ]0 to 55 (non-freezing)

] 32 to 131 (non-freezing)

[ [ ] 20 to 65 (non-freezing)

] 4 to 149 (non-freezing)

[

90%RH or less (non-condensing)

Indoors (no direct sunlight)

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

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

[ft/s

] 19.4 [ft/s2] or less

2 - 1

2. INSTALLATION AND START UP

2.2 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, a fault may

CAUTION

(1) Installation of one MELSERVO-J2M

occur.

Leave specified clearances between each unit and control box inside walls or other

equipment.

40mm(1.57inch) or more

(2) Installation of two or more MELSERVO-J2M

When installing two units vertically, heat generated by the lower unit influences the ambient temperature of the upper unit. Suppress temperature rises in the control box so that the temperature between the upper and lower units satisfies the environmental conditions. Also provide adequate clearances between the units or install a fan.

40mm(1.57inch) or more

Leave 100mm(3.94inch) or more clearance or install fan for forced air cooling.

40mm(1.57inch) or more

2 - 2

2. INSTALLATION AND START UP

(3) Others

When using heat generating equipment such as the regenerative brake option, install them with full consideration of heat generation so that MELSERVO-J2M is not affected. Install MELSERVO-J2M on a perpendicular wall in the correct vertical direction.

2.3 Keep out foreign materials

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

unit.

(2) Prevent oil, water, metallic dust, etc. from entering each unit through openings in the control box or a

fan installed on the ceiling.

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

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

2.4 Cable stress

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

stress are not applied to the cable connection.

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

supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.

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

or stamped by workers or vehicles.

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

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

2 - 3

2. INSTALLATION AND START UP

2.5 Mounting method

(1) Base unit

As shown below, mount the base unit on the wall of a control box or like with M5 screws.

Wall

(2) Interface unit/drive unit (MR-J2M-40DU or less)

The following example gives installation of the drive unit to the base unit. The same also applies to the interface unit.

Sectional view

Drive unit

Base unit

Catch

1) Hook the catch of the drive unit in the positioning hole of the base unit.

Sectional view

Drive unit

Wall

Positioning hole

Base unit

Wall

2) Using the catch hooked in the positioning hole as a support, push the drive unit in.

2 - 4

2. INSTALLATION AND START UP

Sectional view

3) Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit.

POINT

Securely tighten the drive unit fixing screw.

Sectional view

Wall

(3) Drive unit (MR-J2M-70DU)

When using the MR-J2M-70DU, install it on two slots of the base unit. The slot number of this drive unit is that of the left hand side slot of the two occupied slots, when they are viewed from the front of the base unit.

2 - 5

2. INSTALLATION AND START UP

2.6 When switching power on for the first time

Before starting operation, check the following:

(1) Wiring

(a) Check that the control circuit power cable, main circuit power cable and servo motor power cable

are fabricated properly.

(b) Check that the control circuit power cable is connected to the CNP1B connector and the main

circuit power cable is connected to the CNP3 connector. (c) Check that the servo motor power cable is connected to the drive unit CNP2 connector. (d) Check that the base unit is earthed securely. Also check that the drive unit is screwed to the base

unit securely. (e) When using the regenerative brake option, check that the cable using twisted wires is fabricated

properly and it is connected to the CNP1A connector properly. (f) When the MR-J2M-70DU is used, it is wired to have the left-hand side slot number of the two slots. (g) 24VDC or higher voltages are not applied to the pins of connector CN3. (h) SD and SG of connector CN1A (i) The wiring cables are free from excessive force. (j) Check that the encoder cable and servo motor power cable connected to the drive unit are connected

to the same servo motor properly. (k) When stroke end limit switches are used, the signals across LSP

during operation.

CN1B CN3 CN4A CN4B and CN5 are not shorted.

-SG and LSN -SG are on

(2) Parameters

(a) Check that the drive unit parameters are set to correct values using the servo system controller

screen or MR Configurator (servo configuration software). (b) Check that the interface unit parameters are set to correct values using the interface unit display

or MR Configurator (servo configuration software).

(3) Environment

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

(4) 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.

2 - 6

2. INSTALLATION AND START UP

2.7 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

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

During power-on or for some time after power-off, do not touch or close a parts (cable etc.) to the regenerative brake resistor, servo motor, etc. Their temperatures may be high and you may get burnt or a parts may damaged.

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

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

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

2 - 7

2. INSTALLATION AND START UP

(1) Power on

Switching on the main circuit power/control circuit power places the interface unit display in the scroll status as shown below.

In the absolute position detection system, first power-on results in the absolute position lost (A.25) alarm and the servo system cannot be switched on. This is not a failure and takes place due to the uncharged capacitor in the encoder. The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then switching power off once and on again. Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Test operation

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

(3) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for the parameter definitions. After setting the parameters, switch power off once.

2 - 8

2. INSTALLATION AND START UP

(4) Slot number confirmation

Confirm the slot number in the interface unit display section of the installed drive unit.

For MR-J2M-BU4

Display

Slot number

Drive unit status

Slot number

First slot

Second slot

Third slot

Fourth slot

(5) Servo-on

Switch the servo-on in the following procedure:

1) Switch on main circuit/control power supply.

2) Turn on the servo-on (SON

). When the servo-on status is established, operation is enabled and the servo motor is locked. At this time, the interface unit displays "@

d@". (@ represents the slot number.)

(6) Command pulse input

Entry of a pulse train from the positioning device rotates the servo motor. At first, run it at low speed and check the rotation direction, etc. If it does not run in the intended direction, check the input signal. On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor. When machine operation check is over, check automatic operation with the program of the positioning device. This servo amplifier has a real-time auto tuning function under model adaptive control. Performing operation automatically adjusts gains. The optimum tuning results are provided by setting the response level appropriate for the machine in DRU parameter No. 2. (Refer to chapter 7.)

(7) Home position return

Make home position return as required.

2 - 9

2. INSTALLATION AND START UP

(8) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that the stop pattern of forward rotation stroke end (LSP below. (a) Servo-on (SON

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

(b) Alarm occurrence

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

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. Servo forced stop warning (A.E6) occurs.

(d) Forward rotation stroke end (LSP

The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the opposite direction.

) OFF

) reverse rotation stroke end (LSN ) OFF is as described

) reverse rotation stroke end (LSN ) OFF

POINT

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

2 - 10

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

Ground the base unit and the servo motor securely. Do not attempt to wire each unit and servo motor until they have been installed.

Otherwise, you may get an electric shock.

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

pinched. Otherwise, you may get an electric shock.

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

misoperate, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop and other protective circuits.

Interface unit

CAUTION

VIN

Control output

signal

Control output

VIN

signal

RARA

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near each unit.

Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF option) with the power line of the servo motor.

When using the regenerative brake resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative brake resistor, causing a fire.

Do not modify the equipment.

3 - 1

3. SIGNALS AND WIRING

3.1 Control signal line connection example

POINT

Refer to Section 3.4 for connection of the power supply line and to Section

3.5 for connection with servo motors.

(Note 2)

(Note 13)

Symbol

MR-J2M-P8A

CN1A(Note 4)

Slot 1 Slot 2 Slot 3 Slot 4

11 33 6 28RD

Positioning module

QD70

CON1

Slot 1 Slot 2 Slot 3 Slot 4

A1 B1

A16A14B16B14 A15A13B15B13

A6A3B6B3 A7A4B7B4

B2 B5

B18

B20 A18

B17 B19

A2 A5

A20

A17 A19

CON2 (Note 13)

Slot 5 Slot 6 Slot 7 Slot 8

A16

A14B16B14

A15

A13B15B13

A6A3B6B3 A7

A4B7B4

A2B5B2

B18

B20 A18

B17 B19

A20

A17 A19

24VDC

power

supply

(Note 13)

Symbol

24G

24V

CLEAR COM

CLEAR

PULSE COM

PULSE F

PULSE R

PG COM

Symbol

CLEAR COM

CLEAR

PULSE COM

PULSE F

PULSE R

PG COM

(Note 7)

(Note 2)

(Note 7)

INP

ALM_A

SON

RES

(Note 8)

OP_VIN

VIN

OPC

PG PP

OP_COM

(Note 13) CN1B(Note 4)

Symbol

INP

ALM_B

SON RES

(Note 8)

OP_VIN

VIN

OPC CR PG PP NG NP OP

OP_COM

358303

371210 36

21, 46, 50

49 47

3844 42 40 1319 17 15 3945 43 41 1420 18 16 2225 24 23

Plate

Slot 5 Slot 6 Slot 7 Slot 8

11 33 6

358303

32 31

5 4

37 36

21, 46, 50

49 47

121034

3844 42 40 1319 17 15 3945 43 41 1420 18 16 2225 24 23

Plate

3 - 2

3. SIGNALS AND WIRING

(Note 9) MR Configurator (servo configuration software)

Personal computer

CN3

(Note 5)CN3

4MO1

10k

(Note 6)

(Note 3, 6)

Communication cable

(Note 13)

Symbol

LSP LSN

(Note 13)

Symbol Slot 5

LSP LSN

Symbol Slot 1 to 8

EMG_A EMG_B

CN5

Slot 1 Slot 2 Slot 3 Slot 4

CN5

Slot 6 Slot 7 Slot 8

111213

CN5

MR-J2M-P8A

151617

14 MO2

7MO3

11 LG

Plate

Base unit

CON3A

(Slot 1)

CON3B

(Slot 2)

CON3H

(Slot 8)

(Note 12)

10k

Monitor output Max. +1mA meter

10k

Zero-center

Drive unit

(Note 5) CN2

Drive unit

(Note 5) CN2

Drive unit

(Note 5) CN2

(Note 11) Battery unit

MR-J2M-BT

MR-J2MBTCBL M

CON4

(Note 1)

(Note 10)MR-J2M-D01

CN4A

CN4B

3 - 3

3. SIGNALS AND WIRING

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

protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals,

disabling the forced stop and other protective circuits.

3. The forced stop switch (normally closed contact) must be installed.

4. CN1A

5. CN2 and CN3 have the same shape. Wrong connection of the connectors can cause a fault.

6. When starting operation, always connect the forced stop (EMG_A) and forward/reverse rotation stroke end (LSN

7. Trouble (ALM_

8. Always connect P5-OP_VIN when using the 5V output (P5). Keep them open when supplying external power.

9. Use MRZJW3-SETUP151E.

10. Refer to Section 3.3 for the MR-J2M-D01 extension IO unit.

11. The MR-J2M-BT battery unit is required to configure an absolute position detection system. Refer to Chapter 14 for details.

12. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).

13.

CN1B, CN4A CN4B have the same shape. Wrong connection of the connectors will lead to a fault.

/LSP ) with

SG. (Normally closed contacts)

) is connected with COM in normal alarm-free condition. When this signal is switched off (at occurrence of an

alarm), the output of the programmable controller should be stopped by the sequence program.

(Refer to Section 12.1.2)

in Symbol indicates a slot number.

3 - 4

3. SIGNALS AND WIRING

3.2 I/O signals of interface unit

3.2.1 Connectors and signal arrangements

POINT

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

(1) Signal arrangement

CN1BCN1A

OPC

RES4

RD3

INP2

SON2

CR1

NP4

NP3

NP2

NP1

OP4

OP2

INP4

SON4

CR3

RES2

RD1

PP4

PP3

PP2

PP1

OP3

OP1

ALM_A

CR4

RES3

RD2

INP1

SON1

NG4

NG3

NG2

NG1

OP_VIN

VIN

RD4

INP3

SON3

CR2

RES1

PG4

PG3

PG2

PG1

OP_COM

MR-J2M-P8A

OPC

RES8

RD7

INP6

SON6

CR5

NP8

NP7

NP6

NP5

OP8

OP6

INP8

SON8

CR7

RES6

RD5

PP8

PP7

PP6

PP5

OP7

OP5

ALM_B

CR8

RES7

RD6

INP5

SON5

NG8

NG7

NG6

NG5

OP_VIN

49 P5

VIN

RD8

INP7

SON7

CR6

RES5

PG8

PG7

PG6

PG5

OP_COM

LSN1

LSN2

LSN3

LSN4

LSP1

LSP2

LSP3

LSP4

CN5

LSN5

LSN6

LSN7

LSN8

EMG_A

LSP5

LSP6

LSP7

LSP8

EMG_B

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

3 - 5

RXD

MO1

TRE

RDP

MO3

SDP

CN3

TXD

MO2

20 P5

RDN

SDN

3. SIGNALS AND WIRING

3.2.2 Signal explanations

For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.2.5. The pin No.s in the connector pin No. column are those in the initial status.

(1) Input signals

Signal Symbol

Servo-on 1 SON 1 CN1A-37 Servo-on 2 SON 2 CN1A-10 Servo-on 3 SON 3 CN1A-32 Servo-on 4 SON 4 CN1A-5 Servo-on 5 SON 5 CN1B-37 Servo-on 6 SON 6 CN1B-10 Servo-on 7 SON 7 CN1B-32 Servo-on 8 SON 8 CN1B-5

Reset 1 RES 1 CN1A-36 Reset 2 RES 2 CN1A-9 Reset 3 RES 3 CN1A-31 Reset 4 RES 4 CN1A-4 Reset 5 RES 5 CN1B-36 Reset 6 RES 6 CN1B-9 Reset 7 RES 7 CN1B-31 Reset 8 RES 8 CN1B-4

Connector

pin No.

Functions/Applications I/O division

SON 1: Servo-on signal for slot 1 SON 2: Servo-on signal for slot 2 SON 3: Servo-on signal for slot 3 SON 4: Servo-on signal for slot 4 SON 5: Servo-on signal for slot 5 SON 6: Servo-on signal for slot 6 SON 7: Servo-on signal for slot 7 SON 8: Servo-on signal for slot 8 Connect SON amplifier ready to operate (servo-on). Disconnect SON motor (servo off). RES 1: Reset signal for slot 1 RES 2: Reset signal for slot 2 RES 3: Reset signal for slot 3 RES 4: Reset signal for slot 4 RES 5: Reset signal for slot 5 RES 6: Reset signal for slot 6 RES 7: Reset signal for slot 7 RES 8: Reset signal for slot 8 Disconnect RES Some alarms cannot be deactivated by the reset (RES Section 9.2. Shorting RES The base circuit is not shut off when " parameter No. 51 (Function selection 6).

-SG to switch on the base circuit and make the servo

-SG to shut off the base circuit and coast the servo

-SG for more than 50ms to reset the alarm.

-SG in an alarm-free status shuts off the base circuit. 1 " is set in DRU

. Refer to

)

DI-1

3 - 6

3. SIGNALS AND WIRING

Signal Symbol

Forward rotation stroke end 1 Forward rotation stroke end 2 Forward rotation stroke end 3 Forward rotation stroke end 4 Forward rotation stroke end 5 Forward rotation stroke end 6 Forward rotation stroke end 7 Forward rotation stroke end 8

Reverse rotation stroke end 1

Reverse rotation stroke end 2

stroke end 3

Reverse rotation stroke end 4

stroke end 5

stroke end 6

Reverse rotation stroke end 7

Reverse rotation stroke end 8

Forced stop A EMG_A CN5-20 EMG_A: Forced stop signal for slots 1 to 8 Forced stop B EMG_B CN5-19 EMG_B: Forced stop signal for slots 1 to 8

LSP 1 CN5-1

LSP 2 CN5-3

LSP 3 CN5-5

LSP 4 CN5-7

LSP 5 CN5-11

LSP 6 CN5-13

LSP 7 CN5-15

LSP 8 CN5-17

LSN 1 CN5-2

LSN 2 CN5-4

LSN 3 CN5-6

LSN 4 CN5-10

LSN 5 CN5-12

LSN 6 CN5-14

LSN 7 CN5-16

LSN 8 CN5-18

Connector

pin No.

Functions/Applications I/O division

LSP 1: Forward rotation stroke end signal for slot 1 LSP 2: Forward rotation stroke end signal for slot 2 LSP 3: Forward rotation stroke end signal for slot 3 LSP 4: Forward rotation stroke end signal for slot 4 LSP 5: Forward rotation stroke end signal for slot 5 LSP 6: Forward rotation stroke end signal for slot 6 LSP 7: Forward rotation stroke end signal for slot 7 LSP 8: Forward rotation stroke end signal for slot 8 LSN 1: Reverse rotation stroke end signal for slot 1 LSN 2: Reverse rotation stroke end signal for slot 2 LSN 3: Reverse rotation stroke end signal for slot 3 LSN 4: Reverse rotation stroke end signal for slot 4 LSN 5: Reverse rotation stroke end signal for slot 5 LSN 6: Reverse rotation stroke end signal for slot 6 LSN 7: Reverse rotation stroke end signal for slot 7 LSN 8: Reverse rotation stroke end signal for slot 8 To start operation, short LSP bring the motor to a sudden stop and make it servo-locked.

1" in parameter No. 22 (Function selection 4) to make a

Set " slow stop. (Refer to Section 5.1.2.)

(Note) Input signals OperationReverse rotation

LSP LSN CCW

directionCWdirection

11 01Reverse rotation 10 00Reverse rotation

Note. 0: LSP

1: LSP

Disconnect EMG_ which the servo is switched off and the dynamic brake is operated. Connect EMG_ When either of EMG-A and EMG-B is to be used, short the unused signal with SG.

/LSN -SG off (open)

/LSN -SG on (short)

-SG to bring the servo motor to forced stop state, in

-SG in the forced stop state to reset that state.

-SG and/or LSN -SG. Open them to

DI-1

3 - 7

3. SIGNALS AND WIRING

PP 1

PG 1

PP 2

PG 2

PP 3

PG 3

PP 4

PG 4

PP 5

PG 5

PP 6

PG 6

PP 7

PG 7

PP 8

PG 8

Connector

pin No.

CN1A-19 CN1A-20 CN1A-44 CN1A-45 CN1A-17 CN1A-18 CN1A-42 CN1A-43 CN1A-15 CN1A-16 CN1A-40 CN1A-41 CN1A-13 CN1A-14 CN1A-38 CN1A-39 CN1B-19 CN1B-20 CN1B-44 CN1B-45 CN1B-17 CN1B-18 CN1B-42 CN1B-43 CN1B-15 CN1B-16 CN1B-40 CN1B-41 CN1B-13 CN1B-14 CN1B-38 CN1B-39

Signal Symbol

Clear 1 CR 1 CN1A-12 Clear 2 CR 2 CN1A-34 Clear 3 CR 3 CN1A-7 Clear 4 CR 4 CN1A-29 Clear 5 CR 5 CN1B-12 Clear 6 CR 6 CN1B-34 Clear 7 CR 7 CN1B-7 Clear 8 CR 8 CN1B-29

Forward rotation pulse train 1 Reverse rotation

pulse train 1

Forward rotation pulse train 2 Reverse rotation

pulse train 2

Forward rotation pulse train 3 Reverse rotation

pulse train 3

Forward rotation pulse train 4 Reverse rotation

pulse train 4

Forward rotation pulse train 5 Reverse rotation

pulse train 5

Forward rotation pulse train 6 Reverse rotation

pulse train 6

Forward rotation pulse train 7 Reverse rotation

pulse train 7

Forward rotation pulse train 8 Reverse rotation

pulse train 8

NP 1

NG 1

NP 2

NG 2

NP 3

NG 3

NP 4

NG 4

NP 5

NG 5

NP 6

NG 6

NP 7

NG 7

NP 8

NG 8

Functions/Applications I/O division

CR 1: Clear signal for slot 1 CR 2: Clear signal for slot 2 CR 3: Clear signal for slot 3 CR 4: Clear signal for slot 4 CR 5: Clear signal for slot 5 CR 6: Clear signal for slot 6 CR 7: Clear signal for slot 7 CR 8: Clear signal for slot 8 Connect CR leading edge. The pulse width should be 10ms or more. When the DRU parameter No.42 (Input signal selection 1) setting is "

", the pulses are always cleared while CR -SG are connected.

PP 1 NP 1 PG 1 NG 1: Forward/reverse rotation pulse train for slot 1 PP 2 NP 2 PG 2 NG 2: Forward/reverse rotation pulse train for slot 2 PP 3 NP 3 PG 3 NG 3: Forward/reverse rotation pulse train for slot 3 PP 4 NP 4 PG 4 NG 4: Forward/reverse rotation pulse train for slot 4 PP 5 NP 5 PG 5 NG 5: Forward/reverse rotation pulse train for slot 5 PP 6 NP 6 PG 6 NG 6: Forward/reverse rotation pulse train for slot 6 PP 7 NP 7 PG 7 NG 7: Forward/reverse rotation pulse train for slot 7 PP 8 NP 8 PG 8 NG 8: Forward/reverse rotation pulse train for slot 8 Used to enter a command pulse train.

In the open collector system (max. input frequency 200kpps): Forward rotation pulse train across PP Reverse rotation pulse train across NP In the differential receiver system (max. input frequency 500kpps): Forward rotation pulse train across PG

Reverse rotation pulse train across NG -NP The command pulse train form can be changed using DRU parameter No. 21 (Function selection 3).

-SG to clear the position control counter droop pulses on its

-SG

-PP

DI-1

DI-2

3 - 8

3. SIGNALS AND WIRING

(2) Output signals

Signal Symbol

Trouble A ALM_A CN1A-27 Trouble B ALM_B CN1B-27

Ready 1 RD 1 CN1A-11 Ready 2 RD 2 CN1A-33 Ready 3 RD 3 CN1A-6 Ready 4 RD 4 CN1A-28 Ready 5 RD 5 CN1B-11 Ready 6 RD 6 CN1B-33 Ready 7 RD 7 CN1B-6 Ready 8 RD 8 CN1B-28

In position 1 INP 1 CN1A-35 In position 2 INP 2 CN1A-8 In position 3 INP 3 CN1A-30 In position 4 INP 4 CN1A-3 In position 5 INP 5 CN1B-35 In position 6 INP 6 CN1B-8 In position 7 INP 7 CN1B-30 In position 8 INP 8 CN1B-3

Encoder Z-phase pulse 1 Encoder Z-phase pulse 2 Encoder Z-phase pulse 3 Encoder Z-phase pulse 4 Encoder Z-phase pulse 5 Encoder Z-phase pulse 6 Encoder Z-phase pulse 7 Encoder Z-phase pulse 8 Analog monitor 1 MO1 CN3-4 Used to output the data set in IFU parameter No.3 (Analog monitor 1

Analog monitor 2 MO2 CN3-14 Used to output the data set in IFU parameter No.4 (Analog monitor 2

Analog monitor 3 MO3 CN3-7 Used to output the data set in IFU parameter No.5 (Analog monitor 3

OP 1 CN1A-25

OP 2 CN1A-24

OP 3 CN1A-23

OP 4 CN1A-22

OP 5 CN1B-25

OP 6 CN1B-24

OP 7 CN1B-23

OP 8 CN1B-22

Connector

pin No.

Functions/Applications I/O division

ALM_A: Alarm signal for slot 1 to 4 ALM_B: Alarm signal for slot 5 to 8

-SG are disconnected when power is switched off or the

ALM protective circuit is activated to shut off the base circuit. Without alarm, ALM RD 1: Ready signal for slot 1 RD 2: Ready signal for slot 2 RD 3: Ready signal for slot 3 RD 4: Ready signal for slot 4 RD 5: Ready signal for slot 5 RD 6: Ready signal for slot 6 RD 7: Ready signal for slot 7 RD 8: Ready signal for slot 8

-SG are connected when the servo is switched on and the servo

RD amplifier is ready to operate. INP 1: In position signal for slot 1 INP 2: In position signal for slot 2 INP 3: In position signal for slot 3 INP 4: In position signal for slot 4 INP 5: In position signal for slot 5 INP 6: In position signal for slot 6 INP 7: In position signal for slot 7 INP 8: In position signal for slot 8

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

INP preset in-position range. The in-position range can be changed using DRU parameter No. 5. When the in-position range is increased, INP connected during low-speed rotation. OP 1: Encoder Z-phase pulse signal for slot 1 OP 2: Encoder Z-phase pulse signal for slot 2 OP 3: Encoder Z-phase pulse signal for slot 3 OP 4: Encoder Z-phase pulse signal for slot 4 OP 5: Encoder Z-phase pulse signal for slot 5 OP 6: Encoder Z-phase pulse signal for slot 6 OP 7: Encoder Z-phase pulse signal for slot 7 OP 8: Encoder Z-phase pulse signal for slot 8 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP and LG are connected when the zero-point position is reached. (Negative logic) The minimum pulse width is about 400 using this pulse, set the creep speed to 100r/min. or less.

output) to across MO1-LG in terms of voltage. Resolution 10 bits

output) to across MO2-LG in terms of voltage. Resolution 10 bits

output) to across MO3-LG in terms of voltage. Resolution 10 bits

-SG are connected within about 3s after power on.

-SG may be kept

s. For home position return

DO-1

DO-2

Analog output Analog output Analog output

3 - 9

3. SIGNALS AND WIRING

(3) Communication

POINT

Refer to Chapter 13 for the communication function.

Signal Symbol

RS-422 I/F SDP

SDN RDP

RDN RS-422 termination

RS-232C I/F RXD

TRE CN3-10 Termination resistor connection terminal of RS-422 interface.

TXD

Connector

pin No.

CN3-9

CN3-19

CN3-5

CN3-15

CN3-2

CN3-12

Functions/Applications

RS-422 and RS-232C functions cannot be used together. Choose either one in IFU parameter No. 16.

When the servo amplifier is the termination axis, connect this terminal to RDN (CN3-15). RS-422 and RS-232C functions cannot be used together. Choose either one in IFU parameter No. 0.

(4) Power supply

Signal Symbol

Digital I/F power supply input

Digital I/F common

5V output P5 CN1A-49

Encoder Z-phase pulse power supply

Encoder Z-phase pulse common Control common LG CN1A-50

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

VIN CN1A-26

OP_VIN CN1A-47

OP_COM

Connector

pin No.

CN1B-26

SG CN1A-1

CN1B-1

CN5-8

CN1B-49

CN3-20

CN1B-47

CN1A-48 CN1B-48

CN1A-46 CN1A-21 CN1B-50 CN1B-46 CN1B-21

CN3-1

CN3-3 CN3-11 CN3-13

Functions/Applications

Driver power input terminal for digital interface. Input 24VDC (300mA or more) for input interface. 24VDC Common terminal of VIN. Pins are connected internally. Separated from LG.

Internal power supply for encoder Z-phase pulses. Connect P5-OP_VIN when using this power supply as an encoder Z-phase pulse common. 5VDC Power input for encoder Z-phase pulse common. Connect P5-OP_VIN when using the 5V output (P5) as an encoder Z-phase pulse common. Supply power to OP_VIN when using an external power supply as an encoder Z-phase pulse common. At this time, do not connect P5-OP_VIN. Common for encoder Z-phase pulses. Power input to OP_VIN is output from OP_COM. Common terminal for MO1, MO2 and MO3.

10%

3 - 10

3. SIGNALS AND WIRING

3.2.3 Detailed description of the signals

(1) Pulse train input

(a) Input pulse waveform selection

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

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

Pulse train form

Forward rotation pulse train Reverse rotation pulse train

Pulse train sign

Negative logic

A-phase pulse train B-phase pulse train

Forward rotation pulse train Reverse rotation pulse train

Pulse train sign

Positive logic

A-phase pulse train B-phase pulse train

Forward rotation

command

Reverse rotation

command

DRU parameter No. 21

(Command pulse train)

0010

0011

0012

0000

0001

0002

3 - 11

3. SIGNALS AND WIRING

(b) Connections and waveforms

1) Open collector system Connect as shown below:

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

24VDC

Servo amplifier

OPC

Approx. 1.2k

and NP based on SG. Their

Forward rotation pulse train (transistor)

Reverse rotation pulse train (transistor)

(OFF)

Forward rotation command Reverse rotation command

(ON)

(OFF)

(ON)

(OFF)(ON)

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

3 - 12

3. SIGNALS AND WIRING

2) Differential line driver system Connect as shown below:

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

Servo amplifier

, PG , NP and NG are based on that of the ground of the differential

Forward rotation pulse train

Reverse rotation pulse train

Forward rotation command Reverse rotation command

3 - 13

3. SIGNALS AND WIRING

(2) In-position (INP )

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

-SG may remain connected when low-speed operation

(3) Ready (RD )

Servo-on(SON )

larm

Droop pulses

In position(INP )

Servo-on(SON )

Alarm

Ready(RD )

OFF

Yes

OFF

Yes

OFF

In-position range

100ms less 10ms less 10ms less

3 - 14

3. SIGNALS AND WIRING

3.2.4 Internal connection diagram

(Note)

CN1A

symbol

VIN

SON

RES

OPC

(Note)

symbol

OPC

VIN

SON

RES

slot 2 slot 3 slot 4

slot 1

371210

Plate

slot 5 slot 6 slot 7 slot 8

371210

Plate

Approx.6.8k

Approx.100

Approx.6.8k

MR-J2M-P8A

Approx.1.2k

5VDC

slot 2 slot 3 slot 4

slot 1

113533

21, 46, 50

slot 6 slot 7 slot 8

slot 5

253524

21, 46, 50

47 48

Plate

47 48 49

Plate

CN1A

(Note)

symbol

ALM_A

INP

OP_VIN

OP_COM

(Note)

CN1BCN1B

symbol

OP_VIN

OP_COM

ALM_B

INP

CN5

symbol

EMG_A

EMG_B

CN5

(Note)

symbol

slot 1 slot 2 slot 3 slot 4

LSP

LSN

(Note)

CN5

symbol

slot 5 slot 6 slot 7 slot 8

LSP

LSN

slot 1 to 8

1357

24 10

11 13 15 17

12 14 16 18

Note. in Symbol indicates the slot number.

Approx.6.8k

3 - 15

CN3

Plate

MO1

MO2

MO3

TXD

RXD

SDP

SDN

RDP

RDN

3. SIGNALS AND WIRING

3.2.5 Interface

(1) Common line

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

Interface unit

INP , etc.

MO1 MO2 MO3

DI-1

24VDC

VIN

SON , etc.

Analog monitor output

(Note)

Base unit

OPC

PG NG

PG NP

Drive unit

Extension IO unit

SDP SDN RDP RDN

TXD

RXD

MRR

LG SD

LA, etc.

LAR, etc.

LG SD

RS-232C

Servo motor encoder

RS-422

Servo motor

Differential line driver outpu 35mA max.

Ground

DI-1

Note. Assumes a differential line driver pulse train input.

EM1

24VDC

3 - 16

MBR

VIN

3. SIGNALS AND WIRING

(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. (a) Digital input interface DI-1

Give a signal with a relay or open collector transistor.

Interface unit

24VDC 300mA or more

VIN

R: Approx. 4.7k

For transistor

Approx. 5mA

VCES 1.0V I

CE0 100 A

SON etc.

Switch

(b) Digital output interface DO-1

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

1) Inductive load

Interface unit

VIN

ALM_

Load

etc.

24VDC 10%

2) Lamp load

Interface unit

ALM_ etc.

VIN

Opposite polarity of diode will fail interface unit.

3 - 17

24VDC 10%

3. SIGNALS AND WIRING

Give a pulse train signal in an open collector or differential line driver system.

1) Open collector system

Interface unit

24VDC

2m(78.74in) or less

0.9

0.1

OPC

Max. input pulse frequency 200kpps

PP , NP

tHL

Approx.

1.2k

tLH tHL 0.2 s tc 2 s tF 3 s

2) Differential line driver system

10m (393.70in) or less

m26LS31 or equivalent

PP PG

0.9

0.1

tc tLH

Interface unit

Max. input pulse frequency 500kpps

PP (NP )

PG (NG )

tHL

About 100

tLH tHL 0.1 s tc 0.7 s tF 3 s

NP NG

3 - 18

3. SIGNALS AND WIRING

(d) Encoder pulse output DO-2

1) Open collector system Max. intake current 35mA

Interface unit Interface unit

2) Differential line driver system Max. output current 35mA

extension IO unit extension IO unit

(LB , LZ )

LAR

(LBR , LZR )

SD SD

Am26LS32 or equivalent

150

(LBR , LZR )

(LB , LZ )

LAR

5 to 24VDC

100

Photocoupler

High-speed photocouple

(e) Analog output

Output voltage:

4V Max. output current: 0.5mA Resolution: 10bit

Interface unit

Sarvo motor CCW rotation

LAR

LBR

LZ LZR

400 s or more

10k

Reading in one or both

directions 1mA meter.

3 - 19

3. SIGNALS AND WIRING

3.3 Signal and wiring for extension IO unit

3.3.1 Connection example

POINT

The pins without symbols can be assigned any devices using the MR Configurator (servo configuration software).

MR-J2M-D01

VIN

(Note 2)

CN4A 11, 36 12, 37

1 2 3 4 5 6 7

8 26 27 28 29 30 31 32 33

Approx. 6.8k

(Note 3) 24VDC

CN4B-11

(Note 2)

CN4A

(Note 2)

CN4A

13, 38

39 LZ4

14 LZR4

plate

LA1

LAR1

LB1

LBR1

LZ1

LZR1

LA2

LAR2

LB2

LBR2

LZ2

LZR2

LA3

LAR3

LB3

LBR3

LZ3

LZR3

LA4

LAR4

LB4

LBR4

(Note 1)

RA19

RA2

RA3

RA4

Encoder A-phase pulse 1 (Differential line driver system)

Encoder B-phase pulse 1 (Differential line driver system)

Encoder Z-phase pulse 1 (Differential line driver system)

Encoder A-phase pulse 2 (Differential line driver system)

Encoder B-phase pulse 2 (Differential line driver system)

Encoder Z-phase pulse 2 (Differential line driver system)

Encoder A-phase pulse 3 (Differential line driver system)

Encoder B-phase pulse 3 (Differential line driver system)

Encoder Z-phase pulse 3 (Differential line driver system)

Encoder A-phase pulse 4 (Differential line driver system)

Encoder B-phase pulse 4 (Differential line driver system)

Encoder Z-phase pulse 4 (Differential line driver system)

3 - 20

3. SIGNALS AND WIRING

VIN

(Note 2) CN4B

1 2 3 4 5 6 7 8

26 27 28 29 30 31 32 33

12, 37

11, 36

Approx. 6.8k

CN4A-11

(Note 2)

CN4B

13, 38

50 LA5

25 LAR5

49 LB5

24 LBR5

48 LZ5

23 LZR5

47 LA6

22 LAR6

46 LB6

21 LBR6

45 LZ6

20 LZR6

44 LA7

19 LAR7

43 LB7

18 LBR7

42 LZ7

17 LZR7

41 LA8

16 LAR8

40 LB8

15 LBR8

39 LZ8

14 LZR8

plate

Encoder A-phase pulse 5 (Differential line driver system)

Encoder B-phase pulse 5 (Differential line driver system)

Encoder Z-phase pulse 5 (Differential line driver system)

Encoder A-phase pulse 6 (Differential line driver system)

Encoder B-phase pulse 6 (Differential line driver system)

Encoder Z-phase pulse 6 (Differential line driver system)

Encoder A-phase pulse 7 (Differential line driver system)

Encoder B-phase pulse 7 (Differential line driver system)

Encoder Z-phase pulse 7 (Differential line driver system)

Encoder A-phase pulse 8 (Differential line driver system)

Encoder B-phase pulse 8 (Differential line driver system)

Encoder Z-phase pulse 8 (Differential line driver system)

(Note 2)

CN4B

(Note 1)

RA7

RA8

RA9

RA10

MR-J2M-D01

Note 1. Connect the diodes in the correct orientation. Opposite connection may cause the servo amplifier to be faulty and disable the signals from being output, making the forced stop and other protective circuits inoperative.

2. The signals having the same name are connected to the inside of the servo amplifier.

3. Always connect 24VDC (200mA).

3 - 21

3. SIGNALS AND WIRING

3.3.2 Connectors and signal configurations

(1) Signal configurations

POINT

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

The pins without symbols can be assigned any devices using the MR Configurator (servo configuration software).

LB1

LA2

LZ2

LB3

LA4

LZ4

LA1

LZ1

LB2

LA3

LZ3

LB4

VIN

CN4A

LBR1

LAR2

LZR2

LBR3

LAR4

LZR4

12 SG 10

LAR1

LZR1

LBR2

LAR3

LZR3

LBR4

VIN

LB5

LA6

LZ6

LB7

LA8

LZ8

LA5

LZ5

LB6

LA7

LZ7

LB8

38 LG 36

VIN

CN4B

LBR5

LAR6

LZR6

LBR7

LAR8

LZR8

LAR5

LZR5

LBR6

LAR7

LZR7

LBR8

VIN

3 - 22

3. SIGNALS AND WIRING

3.3.3 Signal explanations

For the IO interfaces (system in I/O column in the table), refer to section 3.2.5.

(1) Input signal

Signal Symbol

Connector

pin No.

CN4A-1 CN4A-2 CN4A-3 CN4A-4

CN4A-5 CN4A-6 CN4A-7

CN4A-8 CN4A-26 CN4A-27 CN4A-28 CN4A-29 CN4A-30 CN4A-31 CN4A-32 CN4A-33

CN4B-1

CN4B-2

CN4B-3

CN4B-4

CN4B-5

CN4B-6

CN4B-7

CN4B-8 CN4B-26 CN4B-27 CN4B-28 CN4B-29 CN4B-30 CN4B-31 CN4B-32 CN4B-33

Functions/Applications

No signals are factory-assigned to these pins. Using the MR Configurator (servo configuration software), you can assign the input devices for corresponding slots as signals. Refer to Section 3.3.4 for assignable devices.

Device Name Symbol Device Name Symbol

Servo-on SON Forward rotation stroke end LSP

Reset RES Reverse rotation stroke end LSN

Proportion control PC Clear CR

Internal torque limit selection TL1 (Note) External torque limit TL

Electronic gear selection 1 CM1 (Note) Speed selection 1 SP1

Electronic gear selection 2 CM2 (Note) Speed selection 2 SP2

Gain switching selection CDP (Note) Speed selection 3 SP3

Note. You cannot select these devices when using the MR-J2M-P8A interface

unit.

I/O

division

DI-1

(2) Output signal

Signal Symbol

Connector

pin No.

CN4A-9 CN4A-10 CN4A-34 CN4A-35

CN4B-9 CN4B-10 CN4B-34 CN4B-35

Functions/Applications

Device Name Symbol Device Name Symbol

Ready Electromagnetic brake interlock MBR In position INP Trouble ALM_ (Note) Up to speed Zero speed detection ZSP Battery warning BWNG

Limiting torque TLC (Note) Limiting speed

Warning WNG

VLC

Note. You cannot select these devices when using the MR-J2M-P8A interface

unit.

3 - 23

I/O

division

DO-1

3. SIGNALS AND WIRING

Signal Symbol

pulse 1 LAR1 CN4A-25

pulse 1 LBR1 CN4A-24 Encoder Z-phase

pulse 1

Encoder A-phase pulse 2

pulse 2

Encoder Z-phase pulse 2

Encoder A-phase pulse 3

Encoder B-phase pulse 3

Encoder Z-phase pulse 3

Encoder A-phase pulse 4

Encoder B-phase pulse 4

Encoder Z-phase pulse 4

Encoder A-phase pulse 5

Encoder B-phase pulse 5

Encoder Z-phase pulse 5

Encoder A-phase pulse 6

Encoder B-phase pulse 6

Encoder Z-phase pulse 6

Encoder A-phase pulse 7

Encoder B-phase pulse 7

Encoder Z-phase pulse 7

Encoder A-phase pulse 8

Encoder B-phase pulse 8

Encoder Z-phase pulse 8

LZR1 CN4A-23

LAR2 CN4A-22

LBR2 CN4A-21

LZR2 CN4A-20

LAR3 CN4A-19 Encoder A-phase pulse 1 LA1

LBR3 CN4A-18 Encoder Z-phase pulse 1 LZ1

LZR3 CN4A-17

LAR4 CN4A-16 Encoder B-phase pulse 2 LB2

LBR4 CN4A-15

LZR4 CN4A-14 Encoder A-phase pulse 3 LA3

LAR5 CN4B-25 Encoder Z-phase pulse 3 LZ3

LBR5 CN4B-24

LZR5 CN4B-23 Encoder B-phase pulse 4 LB4

LAR6 CN4B-22

LBR6 CN4B-21 Encoder A-phase pulse 5 LA5

LZR6 CN4B-20 Encoder Z-phase pulse 5 LZ5

LAR7 CN4B-19

LBR7 CN4B-18 Encoder B-phase pulse 6 LB6

LZR7 CN4B-17

LAR8 CN4B-16 Encoder A-phase pulse 7 LA7

LBR8 CN4B-15 Encoder Z-phase pulse 7 LZ7

LZR8 CN4B-14

Connector

pin No.

LA1 CN4A-50 DO-2Encoder A-phase

LB1 CN4A-49Encoder B-phase

LZ1 CN4A-48

LA2 CN4A-47

LB2 CN4A-46Encoder B-phase

LZ2 CN4A-45

LA3 CN4A-44

LB3 CN4A-43 Encoder B-phase pulse 1 LB1 LBR1

LZ3 CN4A-42 Encoder pulse outputs for slot 2

LA4 CN4A-41 Encoder A-phase pulse 2 LA2 LAR2

LB4 CN4A-40 Encoder Z-phase pulse 2 LZ2 LZR2

LZ4 CN4A-39

LA5 CN4B-50 Encoder B-phase pulse 3 LB3 LBR3

LB5 CN4B-49 Encoder pulse outputs for slot 4

LZ5 CN4B-48 Encoder A-phase pulse 4 LA4 LAR4

LA6 CN4B-47 Encoder Z-phase pulse 4 LZ4 LZR4

LB6 CN4B-46

LZ6 CN4B-45 Encoder B-phase pulse 5 LB5 LBR5

LA7 CN4B-44 Encoder pulse outputs for slot 6

LB7 CN4B-43 Encoder A-phase pulse 6 LA6 LAR6

LZ7 CN4B-42 Encoder Z-phase pulse 6 LZ6 LZR6

LA8 CN4B-41

LB8 CN4B-40 Encoder B-phase pulse 7 LB7 LBR7

LZ8 CN4B-39 Encoder pulse outputs for slot 8

Functions/Applications

As LA in the DRU parameter No. 27 (Encoder output pulses) of the corresponding slots are output in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of The relationships between rotation direction and phase difference of the Aand B-phase pulses can be changed using DRU parameter No. 54 (Function selection 9). As LZ corresponding slots are output. One pulse is output per servo motor revolution. The same signals as OP driver system.

, LAR , LB and LBR , the pulses per servo motor revolution set

/2.

and LZR the zero-point signals of the encoders of the

are output in the differential line

Encoder pulse outputs for slot 1

Signal Symbol

LAR1

LZR1

Signal Symbol

LBR2

Encoder pulse outputs for slot 3

Signal Symbol

LAR3

LZR3

Signal Symbol

LBR4

Encoder pulse outputs for slot 5

Signal Symbol

LAR5

LZR5

Signal Symbol

LBR6

Encoder pulse outputs for slot 7

Signal Symbol

LAR7

LZR7

Signal Symbol

Encoder A-phase pulse 8 LA8 LAR8 Encoder B-phase pulse 8 LB8 LBR8 Encoder Z-phase pulse 8 LZ8 LZR8

I/O

division

3 - 24

3. SIGNALS AND WIRING

(3) Power supply

Signal Symbol

Power input for digital interface

Common for digital interface

Control common LG CN4A-13

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

Connector

pin No.

VIN CN4A-11

CN4A-36 CN4B-11 CN4B-36

SG CN4A-12

CN4A-37 CN4B-12 CN4B-37

CN4A-38 CN4B-13 CN4B-38

Functions/Applications

Driver power input terminal for digital interface. Used to input 24VDC (200mA or more) for input interface. 24VDC Not connected to VIN of the interface unit. Common terminal to VIN. Pins are connected internally. Separated from LG. Not connected to SG of the interface unit.

Common terminal to MO1, MO2 and MO3.

10%

3 - 25

3. SIGNALS AND WIRING

3.3.4 Device explanations

(1) Input device

Using the MR Configurator (servo configuration software), you can assign the devices given in this section to the pins of connectors CN4A and CN4B of the MR-J2M-D01 extension IO unit.

Device name Symbol Functions/Applications

Internal torque limit selection 1 TL11 Internal torque limit selection 2 TL12 Internal torque limit selection 3 TL13 Internal torque limit selection 4 TL14 Internal torque limit selection 5 TL15 Internal torque limit selection 6 TL16 Internal torque limit selection 7 TL17 Internal torque limit selection 8

Proportion control 1 PC1 Proportion control 2 PC2 Proportion control 3 PC3 Proportion control 4 PC4 Proportion control 5 PC5 Proportion control 6 PC6 Proportion control 7 PC7 Proportion control 8 PC8

TL18

TL11: Internal torque limit selection device for slot 1 TL12: Internal torque limit selection device for slot 2 TL13: Internal torque limit selection device for slot 3 TL14: Internal torque limit selection device for slot 4 TL15: Internal torque limit selection device for slot 5 TL16: Internal torque limit selection device for slot 6 TL17: Internal torque limit selection device for slot 7 TL18: Internal torque limit selection device for slot 8 Refer to Section 3.3.5 (2) for details. PC1: Proportion control device for slot 1 PC2: Proportion control device for slot 2 PC3: Proportion control device for slot 3 PC4: Proportion control device for slot 4 PC5: Proportion control device for slot 5 PC6: Proportion control device for slot 6 PC7: Proportion control device for slot 7 PC8: Proportion control device for slot 8 Short PC type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control (PC suppress the unnecessary torque generated to compensate for a position shift.

-SG to switch the speed amplifier from the proportional integral

) upon positioning completion will

3 - 26

3. SIGNALS AND WIRING

Device name Symbol Functions/Applications

Electronic gear selection 11 CM11 Electronic gear selection 12 CM12 Electronic gear selection 13 CM13 Electronic gear selection 14 CM14 Electronic gear selection 15 CM15 Electronic gear selection 16 CM16 Electronic gear selection 17 CM17 Electronic gear selection 18 CM18 Electronic gear selection 21 CM21 Electronic gear selection 22 CM22 Electronic gear selection 23 CM23 Electronic gear selection 24 CM24 Electronic gear selection 25 CM25 Electronic gear selection 26 CM26 Electronic gear selection 27 CM27 Electronic gear selection 28 CM28

Gain switching 1 CDP1 Gain switching 2 CDP2 Gain switching 3 CDP3 Gain switching 4 CDP4 Gain switching 5 CDP5 Gain switching 6 CDP6 Gain switching 7 CDP7 Gain switching 8 CDP8

CM11: Electronic gear selection 1 device for slot 1 CM12: Electronic gear selection 1 device for slot 2 CM13: Electronic gear selection 1 device for slot 3 CM14: Electronic gear selection 1 device for slot 4 CM15: Electronic gear selection 1 device for slot 5 CM16: Electronic gear selection 1 device for slot 6 CM17: Electronic gear selection 1 device for slot 7 CM18: Electronic gear selection 1 device for slot 8 CM21: Electronic gear selection 2 device for slot 1 CM22: Electronic gear selection 2 device for slot 2 CM23: Electronic gear selection 2 device for slot 3 CM24: Electronic gear selection 2 device for slot 4 CM25: Electronic gear selection 2 device for slot 5 CM26: Electronic gear selection 2 device for slot 6 CM27: Electronic gear selection 2 device for slot 7 CM28: Electronic gear selection 2 device for slot 8 The combination of CM1 different electronic gear numerators set in the DRU parameters.

and CM2 cannot be used in the absolute position detection system.

CM1

(Note) Input signal

CM2 CM1

0 0 DRU parameter No.3 0 1 DRU parameter No.69 1 0 DRU parameter No.70 1 1 DRU parameter No.71

Note. 0: Off across terminal-SG (open)

1: On across terminal-SG (shorted)

CDP1: Gain switching device for slot 1 CDP2: Gain switching device for slot 2 CDP3: Gain switching device for slot 3 CDP4: Gain switching device for slot 4 CDP5: Gain switching device for slot 5 CDP6: Gain switching device for slot 6 CDP7: Gain switching device for slot 7 CDP8: Gain switching device for slot 8 Connect CDP parameter No. 61 setting and the gain values into the values multiplied by the DRU parameter No. 62 to 64 settings.

-SG to change the load inertia moment ratio into the DRU

-SG and CM2 -SG gives you a choice of four

Electronic gear numerator

3 - 27

3. SIGNALS AND WIRING

(2) Output device

Device name Symbol Functions/Applications

Ready 1 RD1 Ready 2 RD2 Ready 3 RD3 Ready 4 RD4 Ready 5 RD5 Ready 6 RD6 Ready 7 RD7 Ready 8 RD8

In position 1 INP1 In position 2 INP2 In position 3 INP3 In position 4 INP4 In position 5 INP5 In position 6 INP6 In position 7 INP7 In position 8 INP8

Limiting torque 1 TLC1 Limiting torque 2 TLC2 Limiting torque 3 TLC3 Limiting torque 4 TLC4 Limiting torque 5 TLC5 Limiting torque 6 TLC6 Limiting torque 7 TLC7 Limiting torque 8 TLC8

Zero speed detection 1 ZSP1 Zero speed detection 2 ZSP2 Zero speed detection 3 ZSP3 Zero speed detection 4 ZSP4 Zero speed detection 5 ZSP5 Zero speed detection 6 ZSP6 Zero speed detection 7 ZSP7 Zero speed detection 8 ZSP8

Electromagnetic brake interlock 1 MBR1 Electromagnetic brake interlock 2 MBR2 Electromagnetic brake interlock 3 MBR3 Electromagnetic brake interlock 4 MBR4 Electromagnetic brake interlock 5 MBR5 Electromagnetic brake interlock 6 MBR6 Electromagnetic brake interlock 7 MBR7 Electromagnetic brake interlock 8 MBR8

RD1: Ready device for slot 1 RD2: Ready device for slot 2 RD3: Ready device for slot 3 RD4: Ready device for slot 4 RD5: Ready device for slot 5 RD6: Ready device for slot 6 RD7: Ready device for slot 7 RD8: Ready device for slot 8

-SG are connected when the servo is switched on and the servo amplifier

RD is ready to operate. INP1: In position device for slot 1 INP2: In position device for slot 2 INP3: In position device for slot 3 INP4: In position device for slot 4 INP5: In position device for slot 5 INP6: In position device for slot 6 INP7: In position device for slot 7 INP8: In position device for slot 8

-SG are connected when the number of droop pulses is in the preset in-

INP position range. The in-position range can be changed using DRU parameter No. 5. When the in-position range is increased, INP during low-speed rotation. TLC1: Limiting torque device for slot 1 TLC2: Limiting torque device for slot 2 TLC3: Limiting torque device for slot 3 TLC4: Limiting torque device for slot 4 TLC5: Limiting torque device for slot 5 TLC6: Limiting torque device for slot 6 TLC7: Limiting torque device for slot 7 TLC8: Limiting torque device for slot 8

-SG are connected when the torque generated reaches the value set to

TLC the internal torque limit 1 (DRU parameter No. 28) or internal torque limit 2(DRU parameter No. 76). ZSP1: Zero speed detection device for slot 1 ZSP2: Zero speed detection device for slot 2 ZSP3: Zero speed detection device for slot 3 ZSP4: Zero speed detection device for slot 4 ZSP5: Zero speed detection device for slot 5 ZSP6: Zero speed detection device for slot 6 ZSP7: Zero speed detection device for slot 7 ZSP8: Zero speed detection device for slot 8

-SG are connected when the servo motor speed is zero speed (50r/min)

ZSP or less. Zero speed can be changed using DRU parameter No. 24. MBR1: Electromagnetic brake interlock device for slot 1 MBR2: Electromagnetic brake interlock device for slot 2 MBR3: Electromagnetic brake interlock device for slot 3 MBR4: Electromagnetic brake interlock device for slot 4 MBR5: Electromagnetic brake interlock device for slot 5 MBR6: Electromagnetic brake interlock device for slot 6 MBR7: Electromagnetic brake interlock device for slot 7 MBR8: Electromagnetic brake interlock device for slot 8 In the servo-off or alarm status, MBR

-SG may be kept connected

-SG are disconnected.

3 - 28

3. SIGNALS AND WIRING

Device name Symbol Functions/Applications

Warning 1 WNG1 Warning 2 WNG2 Warning 3 WNG3 Warning 4 WNG4 Warning 5 WNG5 Warning 6 WNG6 Warning 7 WNG7 Warning 8 WNG8

Battery warning 1 BWNG1 Battery warning 2 BWNG2 Battery warning 3 BWNG3 Battery warning 4 BWNG4 Battery warning 5 BWNG5 Battery warning 6 BWNG6 Battery warning 7 BWNG7 Battery warning 8 BWNG8

WNG1: Warning device for slot 1 WNG2: Warning device for slot 2 WNG3: Warning device for slot 3 WNG4: Warning device for slot 4 WNG5: Warning device for slot 5 WNG6: Warning device for slot 6 WNG7: Warning device for slot 7 WNG8: Warning device for slot 8 When warning has occurred, WNG When there is no warning, WNG after power-on. BWNG1: Battery warning device for slot 1 BWNG2: Battery warning device for slot 2 BWNG3: Battery warning device for slot 3 BWNG4: Battery warning device for slot 4 BWNG5: Battery warning device for slot 5 BWNG6: Battery warning device for slot 6 BWNG7: Battery warning device for slot 7 BWNG8: Battery warning device for slot 8 BWNG battery warning (A.9F) has occurred. When there is no battery warning, BWNG about 3 second after power-on

-SG are connected when battery cable breakage warning (A.92) or

-SG are connected.

-SG are disconnected within about 3 second

-SG are disconnected within

3 - 29

3. SIGNALS AND WIRING

3.3.5 Detailed description of the device

(1) Electronic gear switching

The combination of CM1 numerators set in the DRU parameters. As soon as Electronic gear selection (CM1 OFF, the denominator of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (DRU parameter No. 7) to relieve shock.

(Note) External input signal

CM2 CM1

0 0 DRU parameter No. 3 0 1 DRU parameter No. 69 1 0 DRU parameter No. 70 1 1 DRU parameter No. 71

Note. 0: CM1 /CM2 -SG off(open)

1: CM1

/CM2 -SG on(short)

(2) Torque limit

-SG and CM2 -SG gives you a choice of four different electronic gear

/ Electronic gear selection 2 (CM2) is turned ON or

)

Electronic gear numerator

CAUTION

Releasing the torque limit during servo lock may cause the servo motor to

suddenly rotate according to the position deviation from the instructed position.

(a) Torque limit and torque

By setting DRU parameter No. 28 (internal torque limit 1), and DRU parameter No. 76 (internal torque limit 2), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

Max. torque

Generated torque

0 100

Torque limit value [%]

(b) Torque limit value selection

By making internal torque limit selection (TL1

) usable, you can select the torque limit value as

indicated below.

(Note 1) External input signals

TL1

0 Internal torque limit 1 (DRU parameter No. 28)

Note 1. 0: TL1 -SG off (open)

1: TL1

2. Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position

deviation from the instructed position.

-SG on (short)

DRU parameter No. 76 DRU parameter No. 76

(Note 2) Torque limit value made valid

DRU parameter No. 28: DRU parameter No. 28 DRU parameter No. 28: DRU parameter No. 76

TLC-SG are connected when the torque by the servo motor reaches the torque set to internal torque limit 1 or internal torque limit 2.

3 - 30

3. SIGNALS AND WIRING

3.3.6 Device assignment method

POINT

When using the device setting, preset "000E" in IFU parameter No. 19.

(1) How to open the setting screen

Click "Parameters" on the menu bar and click "Device setting" in the menu.

Making selection displays the following window.

Click "Yes" button reads and displays the function assigned to each pin from the interface unit and extension IO unit. Click "No" button displays the initial status of the interface unit and extension IO unit. Click "Cancel" button terminates the processing. Click "Yes" button or "No" button displays the following two windows.

3 - 31

3. SIGNALS AND WIRING

(2) Screen explanation

(a) DIDO device setting window screen

This is the device assignment screen of the interface unit/option unit. In Dev. selection, choose the IFU (interface unit) or D01 (extension IO unit). Making selection displays the pin assignment status per unit.

1) Read of function assignment ( a)) Click the "Read" button reads and displays all functions assigned to the pins from the interface unit and extension IO unit.

2) Write of function assignment ( b)) Click the "Write" button writes all pins that are assigned the functions to the interface unit and extension IO unit.

3) Verify of function assignment ( c)) Click the "Verify" button verifies the function assignment in the interface unit and extension IO unit with the device information on the screen.

4) Initial setting of function assignment ( d)) Click the "Set to Default" button initializes the function assignment.

3 - 32

3. SIGNALS AND WIRING

(b) DIDO function display window screen

This screen is used to select the slot numbers and functions assigned to the pins. Choose the slot numbers in Input device slot selection and Output device slot selection. The functions displayed below Input device function and Output device function are assignable.

In the DIDO function display window, choose the slot numbers where you want to assign the functions. Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.

1) Assignment check/auto ON setting ( a)) Press this button to display the screen that shows the slot-by-slot assignment list and enables auto ON setting. Refer to this section (4) for more information.

2) Quitting Click "Close" button to exit from the window. ( b))

3 - 33

3. SIGNALS AND WIRING

Click the "Function device assignment check/auto ON setting" button in the DIDO function display window displays the following window.

The assigned functions are indicated by . The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.

1) Auto ON read of function assignment ( a)) Click "Auto ON read" button reads the functions set for auto ON from the interface unit and extension IO unit.

2) Auto ON write of function assignment ( b)) Click "Auto ON write" button writes the functions currently set for auto ON to the interface unit and extension IO unit.

3) Auto ON verify of function assignment ( c)) Click "Auto ON verify" button verifies the current auto ON setting in the interface unit and extension IO unit with the auto ON setting on the screen.

4) Auto ON initial setting of function assignment ( d)) Click "Auto ON initial setting" button initializes the auto ON setting.

5) Quitting the function device assignment checking/auto ON setting window ( e)) Click "Close" button exits from the window.

3 - 34

3. SIGNALS AND WIRING

3.4 Signals and wiring for base unit

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

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

Use the trouble (ALM_

CAUTION

3.4.1 Connection example for power line circuit

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

Fabricate the cables noting the shapes of the CNP1A housing (X type) and CNP1B

housing (Y type).

to switch power off. Otherwise, a regenerative brake

)

Wire the power supply and main circuit as shown below so that the servo-on (SON alarm occurrence, or a servo forced stop is made valid is detected and power is shut off. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

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

Power supply 3-phase

200 to 230VAC

Trouble A

RA1

NFB

Forced stop A

Forced stop B

Trouble B

RA2

Forced

stop A

Forced stop B

CNP3

CNP1B

L11

CN5

EMG_A

EMG_B2019

OFF

MELSERVO-J2M

3L3

CN1A

CN1B

ALM_A

VIN

ALM_B

VIN

turns off as soon as

)

RA1

RA2

Trouble

Trouble B

24VDC

3 - 35

3. SIGNALS AND WIRING

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

(Note) Power supply 1-phase

200 to 230VAC

Trouble A

NFB

Forced stop A

Forced stop B

Trouble B

RA2RA1

Forced

stop A

Forced stop B

EMG_A

EMG_B

OFF

MELSERVO-J2M

CNP3

CNP1B

CN5

CN1A

CN1B

ALM_A

VIN

ALM_B

VIN

RA1

RA2

Trouble A

Trouble B

Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.

24VDC

3 - 36

3. SIGNALS AND WIRING

3.4.2 Connectors and signal configurations

POINT

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

CNP1A (X type) (Y type)

Base unit

CNP3

The connector frames are connected to the PE (earth) terminal of the base unit.

Cable side connector

Model Maker

Connector

Housing: 1-178128-3 (X type)

CNP1A

Contact: 917511-2 (max. sheath OD: 2.8[mm] ( 0.11[in])) 353717-2 (max. sheath OD:

3.4[mm] ( 0.13[in])) (Note)

Housing: 2-178128-3 (Y type)

CNP1B

CNP3

Contact: 917511-2 (max. sheath OD: 2.8[mm] ( 0.11[in])) 353717-2 (max. sheath OD:

3.4[mm] ( 0.13[in])) (Note) Housing: 1-179958-3 Contact: 316041-2

Note. This contact is not included in the option (MR-J2MCNM).

CNP1B

Tyco

Electronics

3 - 37

3. SIGNALS AND WIRING

3.4.3 Terminals

Refer to Section 10.2 for the layouts and signal configurations of the terminal blocks.

Connector Pin No. Code

CNP3

CNP1B

CNP1A

1L 2L 3 1N 2P 3C

(Earth)

Connection target

(Application)

Main circuit power

Control circuit power

Regenerative brake option

Protective earth (PE)

Description

(1) When using a three -phase power supply Supply L

power. (2) When using a signal -phase power supply Supply L

power.

Supply L power.

Connect the regenerative brake option across P-C. Accidental connection of the regenerative brake option to P-N may cause burning (Refer to Section 12.1.1)

Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding.

, L2 and L3 with three-phase, 200 to 230VAC, 50/60Hz

and L2 with signal-phase, 200 to 230VAC, 50/60Hz

and L

with single-phase, 200 to 230VAC, 50/60Hz

3.4.4 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L

1, L2, L3). Configure up an external sequence to

switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L

, L21 simultaneously with the main circuit power

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

3) The servo amplifier can accept the servo-on (SON switched on. Therefore, when SON

is switched on simultaneously with the main circuit power

supply, the base circuit will switch on in about 1 to 2s, and the ready (RD

) about 3s after the main circuit power supply is

) will switch on in further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

4) When the reset (RES

) is switched on, the base circuit is shut off and the servo motor shaft coasts.

(2) Timing chart

SON accepted

(3s)

10ms

10ms20ms

100ms

10ms

10ms20ms

100ms

20ms 10ms

Main circui control circuit

Base circuit

Servo-on (SON )

Reset (RES )

Ready (RD )

power

ON OFF

3 - 38

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.

Make up a circuit which shuts off main circuit power as soon as EMG_ -SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG_ EMG_

-SG, the dynamic brake is operated to bring the servo motor to a stop. At this time, the

-SG. By disconnecting

display shows the servo forced stop warning (A.E6). During ordinary operation, do not use forced stop (EMG_

) to alternate stop and run. The service life

of each drive unit may be shortened.

Interface unit

24VDC

VIN

EMG_A

EMG_B

3.5 Connection of drive unit and servo motor

3.5.1 Connection instructions

Connect the wires to the correct phase terminals (U, V, W) of the drive unit and

CAUTION

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

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

may occur.

POINT

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.

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

(1) The protective earth of the servo motor joins to the base unit via the drive unit mounting screw.

Connect the protective earth terminal of the base unit to the protective earth of the control box to discharge electricity to the earth.

(2) The power supply for the electromagnetic brake should not be used as the 24VDC power supply for

interface. Always use the power supply for electromagnetic brake only.

3 - 39

3. SIGNALS AND WIRING

3.5.2 Connection diagram

The following table lists wiring methods according to the servo motor types. Use the connection diagram which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For encoder cable connection, refer to Section 12.1.2. For the signal layouts of the connectors, refer to Section

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

Servo motor Connection diagram

U (Red)

V (White)

W (Black)

(Green)

Servo motor

Motor

Base unit Drive unit

(Note 1)

(Note 3)

CNP2

(Earth)

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

EM1

To be shut off when servoon (SON ) switches off or by trouble (ALM_ )

CN2

Encoder cable

24VDC

(Note 2) Electromagnetic brake

Encoder

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

unit to the protective earth (PE) of the control box.

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

3. The protective earth of the servo motor is connected to the base unit via the drive unit

mounting screw.

3 - 40

3. SIGNALS AND WIRING

3.5.3 I/O terminals

(1) Drive unit

POINT

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

CN2

MRR

MDR

14 4

BAT

Drive unit

CNP2

Connector

(2) Servo motor (HC-KFS HC-MFS HC-UFS3000r/min series)

CN2

CNP2

Cable side connector

Model Maker

1. Soldering type Connector: 10120-3000VE Shell kit: 10320-52F0-008

2. Insulation displacement type Connector: 10120-6000EL Shell kit: 10320-3210-000

Housing: 5557-04R-210 Terminal: 5556PBT3L

molex

Encoder cable 0.3m(0.98ft) With connector 1-172169-9 (Tyco Electronics)

Power supply connector 5557-04R-210

1 2 3

Signal

U V

(Earth)

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

Power supply connector (molex) Without electromagnetic brake 5557-04R-210 (receptacle) 5556PBTL (Female terminal) With electromagnetic brake 5557-06R-210 (receptacle) 5556PBTL (Female terminal)

Power supply connector 5557-06R-210

3 - 41

Encoder connector signal arrangement

123

MRR BAT

456

MDR

789

LG SHD

Signal

2 3

(Note) 5

(Note) 6

(Earth)

B1 B2

Note. Supply electromagnetic brake power (24VDC). There is no polarity.

3. SIGNALS AND WIRING

3.6 Alarm occurrence timing chart

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

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

CAUTION

When an alarm occurs in the MELSERVO-J2M, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply from off to on, or turn the reset (RES the alarm cannot be reset unless its cause is removed.

(Note) Main circuit control circuit power supply

Base circuit

Dynamic brake

Servo-on (SON )

Ready (RD )

Trouble (ALM_ )

Reset (RES )

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

Invalid

operation.

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

circuit.

) from off to on. However,

ON OFF

Valid

ON OFF

Brake operation

50ms or more

Alarm occurs.

Remove cause of trouble.

Power off Power on

Brake operation

30ms or more

(1) Overcurrent, overload 1 or overload 2

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

(2) Regenerative alarm

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

(3) Instantaneous power failure

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

A power failure of the control circuit power supply continues for 30ms or longer and the control

circuit is not completely off.

The bus voltage dropped to 200VDC or less.

(4) Incremental

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

3 - 42

3. SIGNALS AND WIRING

3.7 Servo motor with electromagnetic brake

Configure the electromagnetic brake operation circuit so that it is activated not only

by the interface unit signals but also by an external forced stop (EMG_

CAUTION

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

for ordinary braking.

Before performing the operation, be sure to confirm that the electromagnetic brake

operates properly.

Contacts must be open when servo-on (SON ) is off, when an trouble (ALM_ ) is present and when an electromagnetic brake interlock (MBR ).

Servo motor

Electromagnetic brake

Circuit must be opened during forced stop (EMG_ ).

EMG_

24VDC

POINT

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

Note the following when the servo motor equipped with electromagnetic brake is used:

1) Using the MR Configurator (servo configuration software), make the electromagnetic brake interlock (MBR

) valid.

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

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

4) While the reset (RES vertical shaft, use the electromagnetic brake interlock (MBR

5) Switch off the servo-on (SON

is on, the base circuit is shut off. When using the servo motor with a

)

command after the servo motor has stopped.

)

(1) Connection diagram

Interface unit

extension IO unit

MBR

24VDC

Forced stop A

Forced stop B

Servo motor

(2) Setting

1) Using the MR Configurator (servo configuration software), make the electromagnetic brake

2) In DRU parameter No.33 (electromagnetic brake sequence output), set the delay time (Tb) from

interlock (MBR

) valid.

electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (3) in this section.

3 - 43

3. SIGNALS AND WIRING

(

)

(3) Timing charts

(a) Servo-on (SON

Tb [ms] after the servo-on (SON 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 delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.

command (from controller) ON/OFF

)

) is switched off, the servo lock is released and the servo motor

Servo motor speed

Base circuit

Electromagnetic brake(MBR )

Servo-on(SON )

0 r/min

OFF

Invalid(ON)

Valid(OFF)

OFF

(b) Forced stop (EMG_ ) ON/OFF

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR )

Forced stop (EMG_ )

OFF

Invalid (ON)

Valid (OFF)

Invalid (ON)

OFF

Valid

(10ms)

(100ms)

(120ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

Coasting

Electromagnetic brake operation delay time

Electromagnetic brake release

(180ms)

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR )

Trouble (ALM_ )

(10ms)

OFF

Invalid(ON)

Valid(OFF)

No(ON)

Yes(OFF)

Electromagnetic brake

operation delay time

3 - 44

3. SIGNALS AND WIRING

(d) Both main and control circuit power supplies off

Servo motor speed

(Note)15 to 100ms

Base circuit

OFF

(10ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake interlock(MBR )

Trouble (ALM_ )

Main circuit Control circuit

Note. Changes with the operating status.

power

Invalid(ON)

Valid(OFF)

No(ON)

Yes(OFF)

OFF

Electromagnetic brake operation delay time

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

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake interlock

(MBR )

Trouble (ALM_ )

(10ms)

(Note 1)15ms or more

OFF

Invalid(ON)

Valid(OFF)

No(ON)

Yes(OFF)

Electromagnetic brake

Electromagnetic brake operation delay time (Note 2)

Main circuit power supply

Note 1. Changes with the operating status.

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

OFF

3 - 45

3. SIGNALS AND WIRING

3.8 Grounding

Ground the base unit and servo motor securely.

WARNING

The base unit switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, MELSERVO-J2M may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

Power supply 3-phase 200 to 230VAC (Note4) 1-phase 200 to 230VAC

NFB

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

the base unit with the protective earth (PE) of the control box.

Control box

Base unit

Servo motor

Encoder

(Earth)

(Note 3)

Servo motor

Line filter

FR-BAL

(Note 2)

Drive unit

CNP2

Drive unit

CN2

(Note2)

Interface unit

(Note 1)

Protective earth(PE)

CNP2

CN1A

Programmable

controller

Encoder

(Earth)

(Note 3)

Note 1. 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.

2. The mounting screw of the drive unit is also used for PE connection of the servo motor.

3. Ensure to connect it to PE terminal of the drive unit. Do not connect it directly to the protective earth of the control panel.

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

L2 and leave L3 open.

3 - 46

3. SIGNALS AND WIRING

3.9 Instructions for the 3M connector

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

External conductor Sheath

Strip the sheath.

Ground plate

External conductor

SheathCore

Pull back the external conductor to cover the sheath

Screw

Cable

Screw

3 - 47

3. SIGNALS AND WIRING

MEMO

3 - 48

4. OPERATION AND DISPLAY

On the interface unit display (5-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the slot number, and diagnose a fault at occurrence of an alarm.

4.1 Display flowchart

When powered on, the MELSERVO-J2M is placed in the automatic scroll mode in which the statuses of the interface unit/drive units installed on the base unit appear at intervals of 2 seconds in due order. At this time, open slot numbers do not appear. In the initial status, the indication is in the automatic scroll mode. Pressing the "SET" button switches the automatic scroll mode to the fixed mode. In the fixed mode, pressing the "UP" or "DOWN" button displays the status of the subsequent-slot drive unit. If an alarm/warning occurs in the interface unit/drive units, the alarm/warning number of the interface unit/drive unit appears. (Refer to Section 4.1.2)

Automatic scroll

button

DOWN

IFU status indication

DRU status indication DRU status indication DRU status indication DRU status indication

(Slot 1)

(Slot 2)

(Slot 7)

(Slot 8)

In the automatic scroll mode, pressing the "MODE" button for 2s or more switches between the normal indication and the corresponding unit-related display screen. (Refer to Section 4.2/ Section 4.3.)

4 - 1

4. OPERATION AND DISPLAY

4.1.1 Normal indication

The normal indication shows the interface unit status or the slot number and current status (during servo ON or during servo OFF) of the corresponding drive unit to allow you to diagnose faults at alarm occurrence. The following are the drive unit status display data in the normal indication.

(Note 1)Indication Status Description

@ C@ Servo off Servo off status. @ d@ Servo-on Servo on status.

(Note 2) @A**@ Alarm/Warning The encountered alarm/warning number is displayed.

(Refer to Section 9.1.)

@T d@.

@T C@.

Note 1. @ denotes the slot number of the base unit.

2. ** indicates the warning/alarm No.

Test operation mode Test operation mode status using the MR Configurator

(servo configuration software). Displayed for JOG operation, positioning operation, motor-less operation or D0 forced output. The indication varies with the current condition.

(1) When the drive unit is during servo off

1. C 1

(2) When the drive unit is during servo on

(3) When the interface unit is normal

Slot number

Indicates servo OFF.

Slot number

Indicates servo ON.

Slot number

Indicates the interface unit.

4 - 2

4. OPERATION AND DISPLAY

4.1.2 If alarm/warning occurs

(1) If alarm/warning occurs in drive unit

An alarm/warning which occurred in the drive unit is represented by the following indication. The following indication example assumes that an encoder error (A.16) occurred in the drive unit of installed on slot 1. During alarm occurrence digits flicker.

1. A 1 6. 1

Slot number

Alarm/warning number

Denotes alarm/warning indication.

Slot number

(2) If alarm/warning occurs in interface unit

An alarm/warning which occurred in the interface unit is represented by the following indication. The following indication example assumes that interface unit undervoltage (A.10) occurred. During alarm occurrence digits flicker.

F. A 1 0.

Alarm/warning number

Denotes alarm/warning indication.

Denotes interface unit.

4 - 3

4. OPERATION AND DISPLAY

4.1.3 If test operation

POINT

Test operation can be performed using the MR Configurator (servo configuration software).

(1) When test operation is being performed

Test operation being performed is indicated as follows.

Indication Current Status

@T C@. Servo off status

@T d@. Servo on status

Slot number. Test operation being performed is indicated as follows.

Indicates the current status. Refer to the following table for below.

Denotes test operation indication.

Slot number

(2) When alarm occurs during test operation

Any alarm that occurred during test operation is indicated as follows.

Slot number. The decimal point is lit during test operation.

Alarm display

Slot number

4 - 4

4. OPERATION AND DISPLAY

4.2 Interface unit display

4.2.1 Display flowchart of interface unit

Use the display (5-digit, 7-segment LED) on the front panel of the interface unit for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. The automatic scroll mode is selected at power-on. Before starting use, therefore, press the "UP" or "DOWN" button to change the fifth digit to "F" and press the "MODE" button for 2s or more to change the indication. Press the "MODE" "UP" or "DOWN" button once to move to the next screen.

button

MODE

Status display Diagnosis

Alarm

Basic IFU parameters

Expansion IFU parameters

Regenerative load ratio [%]

Bus voltage [V]

Peak bus voltage [V]

Interface unit external input signa

Interface unit external output signa

Interface unit output signa

l (DO) forced output

Software version Low

Software version High

Current alarm

Last alarm

Second alarm in past

Third alarm in past

Fourth alarm in past

Fifth alarm in past

Sixth alarm in past

Parameter error No.

IFU parameter No. 0

IFU parameter No. 1

IFU parameter No. 18

IFU parameter No. 19

IFU parameter No. 20

IFU parameter No. 21

DOWN

IFU parameter No. 28

IFU parameter No. 29

Note. The parameter display range varies with the parameter write inhibit.

4 - 5

4. OPERATION AND DISPLAY

4.2.2 Status display of interface unit

MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data.

(1) Display examples

The following table lists display examples:

Item Status

Regenerative load ratio 60%

Bus voltage 270V

Displayed data

Interface unit display

Peak bus voltage 350V

(2) Interface unit status display list

The following table indicates the MELSERVO-J2M statuses that can be shown. After it has been selected, each status display changes to a symbol display. Press the "SET" button to show the definition of the status display. Refer to Appendix 1 for the measurement point. Pressing the "MODE" button during a status definition display returns to a symbol display.

Name Symbol Unit Description

Regenerative load ratio

Bus voltage F.Pn V The voltage (across P-N) of the main circuit converter is displayed. 0 to 450

Peak bus voltage F.PnP V

F.L %

The ratio of regenerative power to permissible regenerative power is displayed in %.

Shows the maximum voltage of the main circuit converter (across P-N). The maximum value during past 15s is displayed.

Display

range

0 to 100

0 to 450

4 - 6

4. OPERATION AND DISPLAY

4.2.3 Diagnostic mode of interface unit

Name Display Description

Interface unit external input signal

Interface unit external output signal

2) 1)

Interface unit output signal (DO) forced output

Software version Low Indicates the version of the software.

Shows the ON/OFF states of the external input signals.

1) Forced stop A (EMG_A) ON: On OFF: Off

2) Forced stop B (EMG_B) ON: On OFF: Off

Shows the ON/OFF states of the external output signals.

1) Trouble A (ALM_A) ON: On OFF: Off

2) Trouble B (ALM_B) ON: On OFF: Off

The digital output signal can be forced on/off. For more information, refer to section 4.2.6. During output signal (DO) forced output, the decimal point in the first digit is lit.

Software version High Indicates the system number of the software.

4 - 7

4. OPERATION AND DISPLAY

4.2.4 Alarm mode of interface unit

The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below.

Name Display Description

Indicates no occurrence of an alarm in the interface unit.

Current alarm

Indicates the occurrence of overvoltage (A.10) in the interface unit. Flickers at occurrence of the alarm.

Indicates that the last alarm is base unit error (A.1C) in the interface unit.

Indicates that the second alarm in the past is overvoltage (A.33) in the interface unit.

Indicates that the third alarm in the past is undervoltage (A.10) in the interface unit.

Alarm history

Indicates that the fourth alarm in the past is over regenerative (A.30) in the interface unit.

Indicates that there is no fifth alarm in the past of the interface unit.

Indicates that there is no sixth alarm in the past of the interface unit.

Indicates no occurrence of parameter error (A.37) of the interface unit.

Parameter error No.

Indicates that the data of parameter No. 1 is faulty of the interface unit.

Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth

digit flickers.

(3) For any alarm, remove its cause and clear it in any of the following: (for clearable alarms, refer to

Section 9.2) (a) Switch power OFF, then ON.

(b) Press the "SET" button on the current alarm screen. (4) Use IFU parameter No. 0 to clear the alarm history. (5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed

information display screen. Note that this is provided for maintenance by the manufacturer.

(6) Press "UP" or "DOWN" button to move to the next history. (7) Pressing the "MODE" button on the alarm detail display screen returns to the alarm history display.

4 - 8

4. OPERATION AND DISPLAY

4.2.5 Interface unit parameter mode

The parameters whose abbreviations are marked* are made valid by changing the setting and then switching power off once and switching it on again. Refer to Section 5.2.2.

The following example shows the operation procedure performed after power-on to change the regenerative brake resistor (IFU parameter No. 1) to 0005 (MR-RB15). Using the "MODE" button, show the basic parameter screen.

The parameter number is displayed.

Press or button to change the number.

UP DOWN

Press SET twice.

The set value of the specified parameter number flickers.

Press UP fifth.

During flickering, the set value can be changed.

Use or button .

UP DOWN

( 5: regenerative brake option MR-RB14)

Press SET to enter.

Pressing the "MODE" button during a parameter setting display or setting change display cancels the processing and returns to a parameter number display. To shift to the next parameter, press the "UP" or "DOWN" button.

4 - 9

4. OPERATION AND DISPLAY

4.2.6 Interface unit output signal (DO) forced output

POINT

This function is available during test operation.

The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state (SON

Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.

Press UP button twice.

Press SET button for more than 2s.

Turns on/off the signal under the lit LED.

Always lit.

Indicates whether the output signal is ON or OFF. The signals are the same as the external output

ALM_A ALM_B

signals. (On: ON, Off: OFF)

off).

Pressing MODE button once moves the lit LED to the left.

Press UP button once.

The ALM_A turns on. (There will be continuity across ALM_A-SG.)

Press DOWN button once.

The ALM_A turns off.

Press SET button for more than 2s.

4 - 10

4. OPERATION AND DISPLAY

4.3 Drive unit display

4.3.1 Drive unit display sequence

Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. The automatic scroll mode is selected at power-on. Before starting use, therefore, press the "UP" or "DOWN" button to change the fifth digit to the necessary slot number "1" to "8" and press the "MODE" button for 2s or more to change the indication. Press the "MODE" "UP" or "DOWN" button once to move to the next screen. To refer to or set the expansion parameters, make them valid with DRU parameter No. 19 (parameter write disable).

button

Status display

Diagnosis

Alarm

MODE

Basic DRU parameters

Expansion DRU parameters 1

Expansion DRU parameters 2

Cumulative feedback pulses [pulse]

(Note)

Motor speed [r/min]

Droop pulses [pulse]

Cumulative comma nd pulses [pulse]

Command pulse frequency [kpps]

Effective load ratio [%]

Peak load ratio [%]

Instantaneous torque [%]

Within one-revolution position low [pulse]

Within one-revolution position, high [100 pulses]

ABS counter [rev]

Load inertia moment ratio [times]

Drive unit external input signal

Drive unit external output signal

Drive unit output signal (DO) forced output

Software version Low

Software version High

Motor series ID

Motor type ID

Encoder ID

Current alarm

Last alarm

Second alarm in past

Third alarm in past

Fourth alarm in past

Fifth alarm in past

Sixth alarm in past

Parameter error No.

DRU parameter No. 0

DRU parameter No. 1

DRU parameter No. 18

DRU parameter No. 19

DRU parameter No. 20

DRU parameter No. 21

DRU parameter No. 48

DRU parameter No. 49

DRU parameter No. 50

DRU parameter No. 51

DRU parameter No. 83

DRU parameter No. 84

DOWN

Note 1. @ indicates the slot number.

2. The parameter display range varies with the parameter write inhibit.

4 - 11

4. OPERATION AND DISPLAY

4.3.2 Status display of drive unit

The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data.

(1) Display examples

The following table lists display examples:

Item Status

Forward rotation at 3000r/min

Motor speed

Reverse rotation at 3000r/min

Reverse rotation is indicated by " ".

Displayed data

Servo amplifier display

Multirevolution counter

Load inertia moment

11252pulse

12566pulse

Lit

Negative value is indicated by the lit decimal points in the upper four digits.

15.5 times

4 - 12

4. OPERATION AND DISPLAY

(2) Drive unit status display list

The following table lists the servo statuses that may be shown:

Refer to Appendix 2 for the measurement point.

Name Symbol Unit Description

Cumulative feedback pulses

Servo motor speed @.r r/min The servo motor speed is displayed.

Droop pulses @.E pulse The number of droop pulses in the deviation counter is displayed.

Cumulative command pulses

Command pulse frequency

Effective load ratio @.J % The continuous effective load torque is displayed.

Peak load ratio @.b % The maximum torque generated during acceleration/deceleration, etc.

Instantaneous torque @.T % Torque that occurred instantaneously is displayed.

Within one-revolution position Low

Within one-revolution position High

ABS counter @.LS rev Travel value from the home position in the absolute position

Load inertia moment ratio

@.C pulse Feedback pulses from the servo motor encoder are counted and

displayed. The value in excess of interface display is five digits, it shows the lower five digits of the actual value. Press the zero. Reverse rotation is indicated by the lit decimal points in the upper four digits.

The value rounded off is displayed in

When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit. Since the servo amplifier display is five digits, it shows the lower five digits of the actual value. The number of pulses displayed is not yet multiplied by the electronic gear.

@.P pulse The position command input pulses are counted and displayed.

As the value displayed is not yet multiplied by the electronic gear (CMX/CDV), it may not match the indication of the cumulative feedback pulses. The value in excess of display is five digits, it shows the lower five digits of the actual value. Press the "SET" button to reset the display value to zero. When the servo motor is rotating in the reverse direction, the decimal points in the upper four digits are lit.

@.n kpps The frequency of the position command input pulses is displayed.

The value displayed is not multiplied by the electronic gear (CMX/CDV).

The effective value in the past 15 seconds is displayed relative to the rated torque of 100%.

The highest value in the past 15 seconds is displayed relative to the rated torque of 100%.

The value of the torque that occurred is displayed in real time relative to the rate torque of 100%.

@.CY1 pulse Position within one revolution is displayed in encoder pulses.

The value returns to pulses. The value is incremented in the

@.CY2 100

pulse

@.dC 0.1

Times

The within one-revolution position is displayed in 100 pulse increments of the encoder. The value returns to pulses. The value is incremented in the

detection systems is displayed in terms of the absolute position detectors counter value. The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed.

"SET" button to reset the display value to

99999 is counted, but since the interface

"0" when it exceeds the maximum number of

99999 is counted, bus since the

0.1r/min.

"CCW" direction of rotation.

Display

range

99999

5400

99999

800

300

400

99999

13107

32768

0.0 to

300.0

4 - 13

4. OPERATION AND DISPLAY

4.3.3 Diagnostic mode of drive unit

Name (Note) Display Description

Drive unit external input signal

Drive unit external output signal

Drive unit output signal (DO) forced output

Refer to section 4.3.6.

Shows the ON/OFF statuses of the external input signals. Each signal corresponds to the function assignment. (The corresponding segment is lit when the function-assigned signal turns on.) Shows the ON/OFF statuses of the external output signals. When the corresponding segment is lit, the output is provided to the assigned signal.

The digital output signal can be forced on/off. For more information, refer to section 4.3.8.

Software version Low

Software version High

Motor series ID

Motor type ID

Encoder ID

Note. @ indicates the slot number.

Indicates the version of the drive unit software.

Indicates the system number of the drive unit software.

Press the "SET" button to show the motor series ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Press the "SET" button to show the motor type ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Press the "SET" button to show the encoder ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual.

4 - 14

4. OPERATION AND DISPLAY

4.3.4 Alarm mode of drive unit

Name (Note) Display Description

Current alarm

Alarm history

Indicates no occurrence of an alarm in the drive unit.

Indicates the occurrence of overvoltage (A.33) in the drive unit. Flickers at occurrence of the alarm.

Indicates that the last alarm is overload 1 (A.50) in the drive unit.

Indicates that the second alarm in the past is overvoltage (A.33) in the drive unit.

Indicates that the third alarm in the past is undervoltage (A.52) in the drive unit.

Indicates that the fourth alarm in the past is encoder error (A.20) in the drive unit.

Indicates that there is no fifth alarm in the past in the drive unit.

Indicates that there is no sixth alarm in the past in the drive unit.

Parameter error No.

Note. @ indicates the slot number.

Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth

digit flickers.

(3) For any alarm, remove its cause and clear it in any of the following methods: (for clearable alarms,

refer to Section 9.2) (a) Switch power OFF, then ON.

(b) Turn on the reset (RES (4) Use DRU parameter No. 16 to clear the alarm history. (5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed

information display screen. Note that this is provided for maintenance by the manufacturer.

Indicates no occurrence of parameter error (A.37) in the drive unit.

Indicates that the data of parameter No. 1 is faulty in the drive unit.

(6) Press "UP" or "DOWN" button to move to the next history.

4 - 15

Mitsubishi Electronics MR-J2M-P8A User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

About processing of waste

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Overview

1.2 Function block diagram

1.3 Unit standard specifications

1.4 Function list

1.5 Model code definition

1.6 Combination with servo motor

1.7 Parts identification

1.8 Servo system with auxiliary equipment

2. INSTALLATION AND START UP

2.1 Environmental conditions

2.2 Installation direction and clearances

2.3 Keep out foreign materials

2.4 Cable stress

2.5 Mounting method

2.6 When switching power on for the first time

2.7 Start up

3. SIGNALS AND WIRING

3.1 Control signal line connection example

3.2 I/O signals of interface unit

3.2.1 Connectors and signal arrangements

3.2.2 Signal explanations

3.2.3 Detailed description of the signals

3.2.4 Internal connection diagram

3.2.5 Interface

3.3 Signal and wiring for extension IO unit

3.3.1 Connection example

3.3.2 Connectors and signal configurations

3.3.3 Signal explanations

3.3.4 Device explanations

3.3.5 Detailed description of the device

3.3.6 Device assignment method

3.4 Signals and wiring for base unit

3.4.1 Connection example for power line circuit

3.4.2 Connectors and signal configurations

3.4.3 Terminals

3.4.4 Power-on sequence

3.5 Connection of drive unit and servo motor

3.5.1 Connection instructions

3.5.2 Connection diagram

3.5.3 I/O terminals

3.6 Alarm occurrence timing chart

3.7 Servo motor with electromagnetic brake

3.8 Grounding

3.9 Instructions for the 3M connector

4. OPERATION AND DISPLAY

4.1 Display flowchart

4.1.1 Normal indication

4.1.2 If alarm/warning occurs

4.1.3 If test operation

4.2 Interface unit display

4.2.1 Display flowchart of interface unit

4.2.2 Status display of interface unit

4.2.3 Diagnostic mode of interface unit

4.2.4 Alarm mode of interface unit

4.2.5 Interface unit parameter mode

4.2.6 Interface unit output signal (DO) forced output

4.3 Drive unit display

4.3.1 Drive unit display sequence

4.3.2 Status display of drive unit

4.3.3 Diagnostic mode of drive unit

4.3.4 Alarm mode of drive unit