Mitsubishi Electronics MR-J2M-P8B User Manual

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General-Purpose AC Servo

J2M Series

SSCNET Compatible

MODEL

MR-J2M-P8B 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.

A - 1

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.

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their masses.

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

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

Do not hold the front cover to transport 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 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

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)

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

[m/s2] 5.9 or less

] 19.4 or less

[ft/s

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.

A - 3

(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.

A - 4

(4) Usage

CAUTION

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

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

Before resetting an alarm, make sure that the run signal 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 (EM1).

Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR).

Servo motor

Electromagnetic brake

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

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

Circuit must be opened during forced stop (EM1).

EM1RA

24VDC

A - 5

(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.

A - 6

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

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.

A - 7

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.

(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.

Drive unit :MR-J2MInterface unit :MR-J2M-P8B Base 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

A - 8

(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).

A - 9

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. Drive unit :MR-J2MInterface unit :MR-J2M-P8B Base unit :MR-J2M-BU Servo motor :HC-KFS

HC-MFS HC-UFS

(2) Installation

Install a fan of 100CFM (2.8m

/min)air flow 4 in (10.16 cm) above MELSERVO-J2M or provide 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.

(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 3 MR-J2M-BU6 4 MR-J2M-BU8 5

(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.

<<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-P8B, MR-J2MMELSERVO Servo Motor Instruction Manual SH(NA)3181 EMC Installation Guidelines IB(NA)67310

BU 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

2.8 Control axis selection .............................................................................................................................. 2- 9

3. SIGNALS AND WIRING 3- 1 to 3-28

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

3.2 I/O signals of interface unit .................................................................................................................... 3- 4

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

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

3.2.3 Interfaces ...........................................................................................................................................3- 6

3.3 Signals and wiring for extension IO unit ..............................................................................................3- 9

3.3.1 Connection example ......................................................................................................................... 3- 9

3.3.2 Connectors and signal configurations ........................................................................................... 3-11

3.3.3 Output signal explanations ............................................................................................................3-12

3.4 Signals and wiring for base unit ........................................................................................................... 3-14

3.4.1 Connection example of power line circuit...................................................................................... 3-14

3.4.2 Connectors and signal configurations ........................................................................................... 3-16

3.4.3 Terminals.......................................................................................................................................... 3-17

3.4.4 Power-on sequence........................................................................................................................... 3-18

3.5 Connection of drive unit and servo motor ............................................................................................3-19

3.5.1 Connection instructions ..................................................................................................................3-19

3.5.2 Connection diagram ........................................................................................................................ 3-19

3.5.3 I/O terminals .................................................................................................................................... 3-20

3.6 Alarm occurrence timing chart .............................................................................................................3-21

3.7 Servo motor with electromagnetic brake ............................................................................................. 3-22

3.8 Grounding................................................................................................................................................ 3-26

3.9 Instructions for the 3M connector......................................................................................................... 3-27

4. OPERATION AND DISPLAY 4- 1 to 4-10

4.1 Normal indication.................................................................................................................................... 4- 1

4.1.1 Display sequence............................................................................................................................... 4- 2

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

4.2 Status display mode of interface unit.................................................................................................... 4- 4

4.2.1 Display flowchart.............................................................................................................................. 4- 4

4.2.2 Status display of interface unit .......................................................................................................4- 5

4.2.3 Diagnostic mode of interface unit ................................................................................................... 4- 6

4.2.4 Alarm mode of interface unit........................................................................................................... 4- 7

4.2.5 Interface unit parameter mode ....................................................................................................... 4- 8

4.2.6 Output signal (DO) forced output ................................................................................................... 4- 9

5. PARAMETERS 5- 1 to 5-26

5.1 Drive unit .................................................................................................................................................5- 1

5.1.1 Parameter write inhibit ...................................................................................................................5- 1

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

5.2 Interface unit ..........................................................................................................................................5-15

5.2.1 IFU parameter write inhibit........................................................................................................... 5-15

5.2.2 Lists...................................................................................................................................................5-15

5.2.3 Analog monitor................................................................................................................................. 5-21

5.2.4 Test operation mode ........................................................................................................................5-24

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

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- 3

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

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

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

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

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

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

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

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

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

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 9-10

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

9.2 Remedies for alarms................................................................................................................................ 9- 3

9.3 Remedies for warnings........................................................................................................................... 9-10

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-P8B) .....................................................................................................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 Connector .............................................................................................................................................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 Maintenance junction card (MR-J2CN3TM) ............................................................................12-21

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

12.2 Auxiliary equipment ..........................................................................................................................12-25

12.2.1 Recommended wires ....................................................................................................................12-25

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

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

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

13.3 Confirmation of absolute position detection data............................................................................. 13- 3

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. 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. Connected with a servo system controller or like by a serial bus (SSCNET), the equipment reads position data directly to perform operation. Data from a command unit are used to control the speeds and directions of servo motors and execute precision positioning. The MELSERVO-J2M series consists of an interface unit (abbreviated to the IFU) to be connected with a servo system controller, 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 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 axis 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. 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 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 input

Bus cable connections

Main circuit power input

Extension IO unit MR-J2M-D01

Encoder pulse output extension DIO (Axes 1 to 4)

Encoder cable

Encoder pulse output extension DIO (Axes 5 to 8

Servo motor power cable

Personal computer connection Analog monitor Forced stop input Electromagnetic brake interlock output

1 - 1

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

Base unit Interface unit

CNP1B

Power supply 3-phase 200 to

NFB MC

FR-BAL

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

Regenerative brake option

CNP1A

L11

CNP3

Regener-

ative TR

Inrush

I/F Control

Controller or Servo amplifier

Position command

I/F Control

CN1ACN1BCN3CNP2CN2CNP2CN2

Servo amplifier or termination connector

current

suppression

circuit

RS-232C

D/A

Personal computer

Analog monitor (3 channels)

Drive unit

Dynamic

Servo motor

brake

(Earth)

U V W

Encoder

Base amplifier

Actual position control

Position command input

Model position

Model position control

Overcurrent

protection

Actual speed control

Model speed

Model speed control

Current control

Model torque

Virtual servo motor

Current detector

Current

detection

Virtual encoder

Drive unit

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

Note. For 1-phase 200 to 230VAC, connect the power supply to L

1 - 2

Dynamic brake

Current

detection

Dynamic brake

Current

detection

, L2 and leave L3 open.

CNP2CN2

Servo motor

(Earth)

U V

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 6 8

(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, 50/60Hz Permissible frequency fluctuation Within 5% Maximum servo motor connection capacity [W] Continuous capacity [W] 1280 1920 2560 Inrush current 62.5A (15ms)

[kg] 1.1 1.3 1.5

[lb] 2.4 2.9 3.3

1600 2400 3200

Regenerative overvoltage shut-off, regenerative fault protection,

undervoltage /instantaneous power failure protection

(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-P8B

Control circuit power supply Power supply circuit for each unit(8 slots or less) Interface SSCNET interface 1channel RS-232C interface 1channel

DIO

AIO Analog monitor 3channel Structure Open (IP00)

Mass

[kg] 0.5

[lb] 1.10

Forced stop input(1 point), Electromagnetic brake sequence output

(1 point)

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

Adaptive vibration suppression control

Low-pass filter

Slight vibration suppression control Forced stop signal automatic ON

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

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

Forced stop (EM1) can be automatically switched on internally to invalidate it.

Chapter 6

Section 7.3

Section 7.4

DRU Parameter No.24 DRU Parameter No.23 DRU Parameters No.10, No.11

(2) Interface unit (Abbreviation IFU)

Function Description Reference

Forced stop signal input Disconnect forced stop (EM1) to bring the servo motor to a forced stop state, in

which the servo is switched off and the dynamic brake is operated.

In the servo-off or alarm status, this signal is disconnected. Electromagnetic brake output

Analog monitor Servo status is output in terms of voltage in real time. Section 5.2.3

When an alarm occurs, they are disconnected, independently of the base circuit

status.

It is possible to use it to excite an electromagnetic brake.

Section 3.2.2

(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. 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.

(5) Option unit

Function Description Reference

Absolute position detection system

Encoder pulse output

Merely setting a home position once makes home position return unnecessary at

every power-on.

Battery unit MR-J2M-BT is necessary.

The encoder feedback is output from enhancing IO unit MR-J2M-D01 by the

B Z phase pulse. The number of pulses output by the parameter can be

changed.

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Drive unit

(a) Rating plate

SON

MODEL

MR-J2M-40DU

POWER INPUT OUTPUT SERIAL TC300A***G51

MITSUBISHI ELECTRIC

(b) Model code

ALM

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

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

100 200 400 750

(2) Interface unit

(a) Rating plate

MITSUBISHI

MODEL

POWER : AC INPUT:

OUTPUT : SERIAL :A5*******

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

(b) Model code

AC SERVO

MR-J2M-P8B

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

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

TC3**AAAAG52

PASSED

MR-J2M-P8B

Model

Input capacity

Applicable power supply

Output voltage / current

Serial number

SSCNET compatible

1 - 5

Rating plate

1. FUNCTIONS AND CONFIGURATION

(3) Base unit

(a) Rating plate

Rating plate

MITSUBISHI

MODEL

MR-J2M-BU4

INPUT :

SERIAL:

N87B95046 BC336U246

MITSUBISHI ELECTRIC

MADE IN JAPAN

(b) Model code

MR-J2M-BU

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

CN1A Bus cable connector

For connection of servo system controller or preceding-axis servo amplifier.

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

Display Indicates operating status or alarm.

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

Mounting screw

Display/setting cover

CN1B Bus cable connector For connection of subsequent-axis servo

amplifier or MR-A-TM termination connector.

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

CNP1A Regenerative brake option connector

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

No-fuse breake (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

Servo system

controller

or Preceding axis servo amplifier

To CN1A To CN1B

Options and auxiliary equipment

Regenerative brake option

Cables

Power factor improving reactor

Subsequent axis

servo amplifier

Termination

connector

Reference

Section 12.1.1

Section 12.2.1

Section 12.2.3

Power factor improving reactor (FR-BAL)

Main circuit power supply

MR Configurator (servo configuration software)

P C

To CNP1A

To CNP1B

Encoder cable

To CNP3

To CN3

Personal computer

Power supply lead

Note. For 1-phase 200 to 230VAC, connect the power supply to L

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

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

axis servo amplifier or with the termination connector MR-A-TM. (j) Check that the encoder cable and servo motor power cable connected to the drive unit are connected

to the same servo motor properly.

(2) Axis number

(a) Check that the axis numbers of the servo system controller match the axis number settings of the

corresponding drive units. (b) When changing the factory setting of any axis number (axis number

IFU parameter No. 11 to 18 values are set without fail. (c) Check that the encoder cable and motor power cable of the servo motor are wired to the drive unit

mounted to the slot as in the axis setting.

(3) 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).

(4) Environment

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

(5) Machine

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

slot number), check that the

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

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

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

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

shock.

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

unexpected operation.

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

(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 - 7

2. INSTALLATION AND START UP

(2) Parameter setting

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

(3) Checking the axis number

On the interface unit display, check that the slot numbers and axis numbers are as set. Set the drive unit axis numbers in the IFU parameters No. 11 to 18.

For MR-J2M-BU4

First slot

Display

Axis number

Drive unit status

Slot number

Third slot

Second slot

Fourth slot

(4) Servo-on

Switch the servo-on in the following procedure:

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

2) The controller transmits the servo-on command. When placed in the servo-on status, MELSERVO-J2M is ready to operate and the servo motor is locked.

(5) Home position return

Always perform home position return before starting positioning operation.

(6) Stop

If any of the following situations occurs, MELSERVO-J2M suspends the running of the servo motor and brings it to a stop. When the servo motor is equipped with an electromagnetic brake, refer to Section 3.7.

Operation/command Stopping condition

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

Servo system controller

MELSERVO-J2M

Forced stop command

Alarm occurrence

Forced stop (EM1) OFF

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller forced stop (A.E7) occurs. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop (A.E6) occurs.

2 - 8

2. INSTALLATION AND START UP

2.8 Control axis selection

POINT

The control axis number set to the IFU parameter software should be the

same as the one set to the servo system controller.

Set the control axis numbers of the drive units in the IFU parameters No. 11 to 18. Setting the same control axis numbers in a single communication system will disable normal operation. Each control axis can be set independently of the slot number where the drive unit has been installed. The axis numbers of the drive units installed to the slots are factory-set as listed below.

IFU Parameter No. Name Initial Value (Note) Definition

11 1 slot axis number selection 0000 Axis 1 12 2 slot axis number selection 0001 Axis 2 13 3 slot axis number selection 0002 Axis 3 14 4 slot axis number selection 0003 Axis 4 15 5 slot axis number selection 0004 Axis 5 16 6 slot axis number selection 0005 Axis 6 17 7 slot axis number selection 0006 Axis 7 18 8 slot axis number selection 0007 Axis 8

Note. The axis number is represented as a set value 1.

2 - 9

2. INSTALLATION AND START UP

MEMO

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 15 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.

POINT

CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of

the connectors will lead to a failure. Connect them correctly.

3 - 1

3. SIGNALS AND WIRING

3.1 Connection example of control signal system

POINT

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

Section 3.5 for connection with the servo motor.

Interface unit

Servo system controller

(Note 9) MR Configurator

(servo configuration software)

(Note 3 4 7) Forced stop

(Note 10 13)

Cable clamp (Option)

(Note 4) Personal computer

24VDC

Bus cable (Option)

(Note 5) (Note 5)

CN3 CN3

VIN

EM1 20

SG 3

(Note 5) CN1A

(Note 5) CN3

Plate

(Note 5)

CN1B

13 MBR

4MO1

14 MO2

7MO3

11 LG

(Note 11 12 13) Termination connector (MR-A-TM)

Base unit

(Note 2 6)

2m(6.56ft) or less

Drive unit

CON3A

(Slot 1)

Drive unit

CON3B

(Slot 2)

10k

(Note 5)

CN2

(Note 5)

CN2

(Note 8) Analog monitor Max. 1mA Reading in both directions

15m(49.2ft) or less

(Note 14) Battery unit

MR-J2M-BT

MR-J2MBTCBL M

3 - 2

CON3H

(Slot 8)

CON4CON5

(Note 1)

Drive unit

(Note 5)

CN2

MR-J2M-D01

CN4A

CN4B

Encoder output pulses

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 interface unit will be faulty and will not output signals,

disabling the forced stop and other protective circuits.

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

4. When a personal computer is connected for use of the test operation mode, always use the maintenance junction card (MR-

J2CN3TM) to enable the use of the forced stop (EM1). (Refer to section 12.1.5)

5. CN1A, CN1B, CN2 and CN3 have the same shape. Wrong connection of the connectors will lead to a fault.

6. When using the electromagnetic brake interlock (MBR) or forced stop (EM1), always supply 24VDC between VIN and SG.

7. When starting operation, always connect the forced stop (EM1) and SG. (Normally closed contacts) By setting “0001” in DRU

parameter No.23 of the drive unit, the forced stop (EM1) can be made invalid.

8. When connecting the personal computer together with analog monitor 1

(Refer to Section 12.1.3.)

9. Use MRZJW3-SETUP151E.

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

cable clamp and data line filters (three or four filters connected in series) near the connector outlet.

11. Up to eight axes (n

bus.

12. Always insert the termination connector (MR-A-TM) into CN1B of the interface unit located at the termination.

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

the following table and choose the bus cable.

1 to 8) may be connected. The MR-J2S- B/MR-J2-03B5 servo amplifier may be connected on the same

2 3 use the maintenance junction card (MR-J2CN3TM).

MR-J2M-P8B MR-J2S-

QD75M MR-J2HBUS M

Motion controller

MR-J2M-P8B MR-J2S- B

MR-J2-03B5

Maintenance junction card

14. When using an absolute position detection system, connect the battery unit (MR-J2M-BT).

Q172CPU(N) Q172J2BCBL M(-B)

Q173CPU(N) Q173J2B CBL M

A motion MR-J2HBUS

MR-J2HBUS M

B MR-J2-03B5

M-A

3 - 3

3. SIGNALS AND WIRING

3.2 I/O signals of interface unit

3.2.1 Connectors and signal arrangements

POINT

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

connector wiring section.

CN1A CN1B

LG LG

EMG

RXD

MO1

EMG

LG LG

CN3

RD*

TD*TD

EMG*

Interface unit

The connector frames are connected with the PE (earth) terminal inside the base unit.

RD*

TD*TD

TXD

MO2

EMG*

MBR

Connector

CN1A CN1B

CN3

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

3 - 4

VIN

MO3

EM1

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 3.2.3.

(1) Connector applications

Connector Name Function/Application

CN1A Connector for bus cable from preceding axis.

CN1B Connector for bus cable to next axis

CN3

Communication connector (I/O signal connector)

(2) I/O signals

(a) Input signal

Signal Symbol

Forced stop EM1

Connector Pin

No.

CN3

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

Used for connection with the controller or preceding-axis servo amplifier. Used for connection with the next-axis servo amplifier or for connection of the termination connector. Used for connection with the personal computer. Serves as an I/O signal connector when the personal computer is not used.

Function/Application I/O Division

DI-1

(b) Output signals

Signal Symbol

Electromagnetic brake interlock

Analog monitor 1 MO1

Analog monitor 2 MO2

Analog monitor 3 MO3

MBR

Connector Pin

No.

CN3

MBR-SG are disconnected when a forced stop is made valid, an alarm occurs in the interface unit or drive unit, or the servo switches off. With IFU parameter No. 10, choose the axis number of the drive unit that will use this signal.

Used to output the data set in IFU parameter No.3 to across MO1-LG in terms of voltage. Resolution 10 bits Used to output the data set in IFU parameter No.4 to across MO2-LG in terms of voltage. Resolution 10 bits Used to output the data set in IFU parameter No.5 to across MO3-LG in terms of voltage. Resolution 10 bits

Function/Application I/O Division

VIN

Connector Pin

No.

CN3

Driver power input terminal for digital interface. Used to input 24VDC (200mA or more) for input interface. Common terminal to VIN. Pins are connected internally. Separated from LG. Common terminal to MO1, MO2 and MO3.

Signal Symbol

Power input for digital interface Common for digital interface

Control common LG

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

Function/Application

DO-1

Analog

output

Analog

output

Analog

output

3 - 5

3. SIGNALS AND WIRING

3.2.3 Interfaces

(1) Common line

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

Interface unit

INP .etc

DI-1

24VDC

VIN

SON .etc

MBR

MO1 MO2 MO3

Analog monitor

Base unit

Ground

Drive unit

Extension IO unit

TXD

RXD

MRR

LA.etc

LAR.etc

MBR

RS-232

Servo motor encoder

Servo motor

Differential line driver output 35mA max.

24VDC

3 - 6

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

For transistor

Approx. 5mA

VCES 1.0V

100 A

CE0

200mA or more

Switch

VIN

EM1

R: Approx. 4.7k

(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

Load

MBR

Opposite polarity of diode will fail interface unit.

24VDC

10%

3 - 7

3. SIGNALS AND WIRING

2) Lamp load

Output voltage : Max. output current :0.5mA Resolution :10bit

Interface unit

VIN

MBR

24VDC

10%

MO1

(MO2 M03)

10k

1mA meter which deflects

unidirectionally or bidirectionally

3 - 8

3. SIGNALS AND WIRING

3.3 Signals 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 SG

(Note 2)

CN4A 11 36 12 37

1 2 3 4 5 6 7

8 26 27 28 29 30 31 32 33

Approx. 4.7k

(Note 3) 24VDC

(Note 4)

CN4B-11

(Note 2)

CN4A

(Note 2)

CN4A

13 38

39 LZ4

14 LZR4

plate

MBR1

MBR2

MBR3

MBR4

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 - 9

3. SIGNALS AND WIRING

(Note 4)

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. 4.7k

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

MBR5

MBR6

MBR7

MBR8

(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).

4. These pins are unavailable when the MR-J2M-P8B is used as the interface unit.

3 - 10

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.

LB1

LA2

LZ2

LB3

LA4

LZ4

MBR4

CN4A

LA1

LZ1

LB2

LA3

LZ3

LB4

38 LG 36

VIN

MBR3

LBR1

LAR2

LZR2

LBR3

LAR4

LZR4

MBR2

LAR1

LZR1

LBR2

LAR3

LZR3

LBR4

13 LG 11

VIN

MBR1

LB5

LA6

LZ6

LB7

LA8

LZ8

MBR8

CN4B

LA5

LZ5

LB6

LA7

LZ7

LB8

VIN

MBR7

LBR5

LAR6

LZR6

LBR7

LAR8

LZR8

MBR6

LAR5

LZR5

LBR6

LAR7

LZR7

LBR8

VIN

MBR5

3 - 11

3. SIGNALS AND WIRING

3.3.3 Output signal explanations

For the IO interfaces (system in I/O column in the table), refer to section 3.2.3.

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

As LA in the DRU parameter No. 38 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. 33. 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

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

Encoder pulse outputs for slot 1

Signal Symbol

Encoder pulse outputs for slot 3

Signal Symbol

Encoder pulse outputs for slot 5

Signal Symbol

Encoder pulse outputs for slot 7

Signal Symbol

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

Function/Applications

are output in the differential line

LAR1

LZR1

LBR2

LAR3

LZR3

LBR4

LAR5

LZR5

LBR6

LAR7

LZR7

/2.

I/O

division

3 - 12

3. SIGNALS AND WIRING

Signal Symbol

Electromagnetic brake interlock 1 Electromagnetic brake interlock 2

Electromagnetic brake interlock 3

Electromagnetic brake interlock 4 Electromagnetic brake interlock 5 Electromagnetic brake interlock 6 Electromagnetic brake interlock 7 Electromagnetic brake interlock 8

Connector

pin No.

MBR1 CN4A-9

MBR2 CN4A-10

MBR3 CN4A-34

MBR4 CN4A-35

MBR5 CN4A-9

MBR6 CN4A-10

MBR7 CN4A-34

MBR8 CN4A-35

Function/Applications

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

MBR

-SG are disconnected when a forced stop is made valid, an alarm occurs in the interface unit or drive unit, or the servo switches off. At alarm occurrence, they are disconnected independently of the base circuit status.

I/O

division

DO-1

3 - 13

3. SIGNALS AND WIRING

3.4 Signals and wiring for base unit

When each unit has become faulty, switch power off on the base unit power side.

Continuous flow of a large current may cause a fire.

Switch power off at detection of an alarm. Otherwise, a regenerative brake

CAUTION

3.4.1 Connection example of power line circuit

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

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

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).

(Note) Alarm

RA1

Controller

forced stop

RA2

Forced

stop

OFF

MELSERVO-

NFB MC

Power supply 3-phase 200 to 230VAC

24VDC

Forced stop

Note. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller

side.

CNP3

L323

CNP1B

L212

CN3

VIN

EM1

J2M

3 - 14

3. SIGNALS AND WIRING

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

(Note 1)

Alarm

RA1

Controlle forced stop RA2

Forced stop

OFF

(Note 2) Power supply 1-phase 200 to 230VAC

NFB MC

MELSERVO-J2M

CNP3

1L1

L323

CNP1B

L212

24VDC

CN3

VIN

Forced stop

EM1

Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the

controller side.

2. For 1-phase 200 to 230VAC, connect the power supply to L

1, L2 and leave L3 open.

3 - 15

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)

CNP3

Base unit

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

CNP1B

Connector

Housing: 1-178128-3 (X type)

CNP1A

CNP1B

CNP3

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

Contact: 917511-2 (max. sheath OD: 2.8[mm]) 353717-2 (max. sheath OD: Housing: 2-178128-3 (Y type) Contact: 917511-2 (max. sheath OD: 2.8[mm]) 353717-2 (max. sheath OD: Housing: 1-179958-3 Contact: 316041-2

Cable side connector

Model Maker

3.4[mm]) (Note)

Tyco

Electronics

3 - 16

3. SIGNALS AND WIRING

3.4.3 Terminals

Refer to Section 10.2.1 for the layouts and signal configurations of the terminal blocks.

Connector Pin No. Code

Connection target

(Application)

Description

CNP3

CNP1B

CNP1A

1L 2L 3 1N 2P 3C

Main circuit power

Control circuit power

Regenerative brake option

Protective earth (PE)

(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. Keep N open. (Refer to Section 12.1.1)

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

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

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

and L

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

3 - 17

3. SIGNALS AND WIRING

3.4.4 Power-on sequence

(1) Power-on procedure

1) Always wire the power supply as shown in above Section 3.4.1 using the magnetic contactor with the main circuit power supply (3-phase 200V: L 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 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 MELSERVO-J2M will operate properly.

3) Each drive unit can accept the servo-on command within 4s the main circuit power supply is switched on. (Refer to paragraph (2) in this section.)

(2) Timing chart

SON accepted

(4s)

Main circuit Control circuit

Base circuit

Servo-on command (from controller)

power

OFF

1, L2, L3, 1-phase 200 to 230VAC: L1, L2). Configure

11, L21 simultaneously with the main circuit power

10ms100ms

100ms

(3) Forced stop

CAUTION

Install an emergency stop circuit externally to ensure that operation can be

stopped and power shut off immediately.

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

Interface unit

24VDC

VIN

Forced stop

EM1

3 - 18

3. SIGNALS AND WIRING

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

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.

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.

(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.

3.5.2 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

(Note 2) Electromagnetic brake

Encoder

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

Base unit Drive unit

(Note 1)

(Note 3)

CNP2

CN2

24VDC

EM1

To be shut off when servooff or alarm occurrence

Encoder cable

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 - 19

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

24 V 13

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

View b

Signal

1 2 3

U V W

(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)

3 - 20

Power supply connector 5557-06R-210

View b

Encoder connector signal arrangement

123

MRR BAT

456

MDR

789

LG SHD

View a

Signal

(Earth)

(Note)

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 each unit, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

(Note)

Main circuit Control circuit

Base circuit

Dynamic brake

Servo-on command (from controller)

Alarm

Reset command (from controller)

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

power

operation.

As soon as an alarm occurs, make the Servo off status and interrupt the main

circuit power.

OFF

Valid

Invalid

OFF

Alarm occurs.

Brake operation

YES

50ms or more 30ms or more

Remove cause of trouble.

Power off

Brake operation

YES

Power on

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A.32), overload 1 (A.50), overload 2 (A.51) or multi axis overload (A.53) alarm after its occurrence, without removing its cause, each unit 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.

3 - 21

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 (EM1).

Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR).

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.

POINT

Refer to the Servo Motor Instruction Manual for specifications such as the

power supply capacity and operation delay time of the electromagnetic brake.

Servo motor

Electromagnetic brake

Circuit must be opened during forced stop (EM1).

EM1RA

24VDC

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

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

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

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

4) Using the IFU parameter No.10, select the axis number of the drive unit which uses the electromagnetic brake interlock (MBR).

(1) Connection diagram

Interface unit

extension IO unit

MBR

24VDC

Forced

stop

Servo motor

(2) Setting

In DRU parameter No.21 (electromagnetic brake sequence output), set the delay time (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in (4) in this section.

3 - 22

3. SIGNALS AND WIRING

(3) Electromagnetic brake interlock signal

There are the following electromagnetic brake interlock signals. The MR-J2M-D01 is required to use MBR1 to MBR8. Load the MR-J2M-D01 to the option slot of the base unit.

Signal Symbol Connector Pin No. Description

Electromagnetic brake interlock Electromagnetic brake interlock 1 Electromagnetic brake interlock 2 Electromagnetic brake interlock 3 Electromagnetic brake interlock 4 Electromagnetic brake interlock 5 Electromagnetic brake interlock 6 Electromagnetic brake interlock 7 Electromagnetic brake interlock 8

MBR CN3-13

MBR1 CN4A-9 Electromagnetic brake interlock signal for axis 1

MBR2 CN4A-10 Electromagnetic brake interlock signal for axis 2

MBR3 CN4A-34 Electromagnetic brake interlock signal for axis 3

MBR4 CN4A-35 Electromagnetic brake interlock signal for axis 4

MBR5 CN4B-9 Electromagnetic brake interlock signal for axis 5

MBR6 CN4B-10 Electromagnetic brake interlock signal for axis 6

MBR7 CN4B-34 Electromagnetic brake interlock signal for axis 7

MBR8 CN4B-35 Electromagnetic brake interlock signal for axis 8

Electromagnetic brake interlock signal for all axes or the axis selected in parameter No. 10

(a) Electromagnetic brake interlock (MBR)

This signal is output from the CN3 connector of the interface unit. This signal allows you to select the axis number of the drive unit to be used with IFU parameter No. 10.

Electromagnetic brake interlock output axis number selection Choose the axis number of the drive unit that will use electromagnetic brake interlock output (MBR).

Setting

0 1 2 3 4 5 6 7 8

Selected Axis

All connected axes

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

1) When selecting the corresponding axis number

The timing chart of the corresponding axis is the same as in (4) of this section.

2) When using all axes

The timing chart in (4)(a) of this section changes as described below. When the base circuits of all connected axes turn on, electromagnetic brake interlock (MBR) turns on. If the servo on command timings differ between the axes, the axis whose servo on occurred first will result in overload alarm. Hence, the servo on command should be given to all axes at the same timing. The others are as shown in (4) of this section.

3 - 23

3. SIGNALS AND WIRING

(b) Electromagnetic brake interlock 1 to 8 (MBR1 to MBR8)

By adding an extension IO unit, you can use the electromagnetic brake interlock (MBR) for each axis. The timing chart is as shown in (4) of this section.

(4) Timing charts

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

Delay time (Tb) [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.

Servo motor speed

0 r/min

Coasting

Base circuit

Electromagnetic brake interlock (MBR MBR1 to MBR8)

Servo-on command (from controller)

OFF

Invalid(ON)

Valid(OFF)

OFF

(100ms)

(120ms)

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

Dynamic brake

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR MBR1 to MBR8) Forced stop

command(from controller) or

ced stop (EM1)

(10ms)

OFF

Invalid (ON)

Valid (OFF)

Invalid (ON)

Valid (OFF)

Electromagnetic brake

Electromagnetic brake operation delay time

(180ms)

Electromagnetic brake operation delay time

Electromagnetic brake release

3 - 24

3. SIGNALS AND WIRING

Servo motor speed

Base circuit

Electromagnetic brake interlock (MBR MBR1 to MBR8)

Trouble (ALM)

OFF

Invalid(ON)

Valid(OFF)

No(ON)

Yes(OFF)

(d) Both main and control circuit power supplies off

Servo motor speed

Base circuit

(10ms)

(Note)15 to 100ms

OFF

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Electromagnetic brake operation delay time

Dynamic brake

(10ms)

Dynamic brake

Electromagnetic brake

Electromagnetic brake interlock (MBR MBR1 to MBR8)

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 MBR1 to MBR8)

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 - 25

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 (Note 4) 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

FR-BAL

Line filter

L21

(Note 2)

Drive unit

CNP2

Drive unit

CN2

Servo motor

Encoder

(Earth)

(Note 3)

Servo motor

(Note 2)

Interface unit

(Note 1)

Protective earth(PE)

CNP2

CN1A

Servo system

Encoder

controller

(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

1 L2 and leave L3 open.

3 - 26

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 - 27

3. SIGNALS AND WIRING

MEMO

3 - 28

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 axis number, and diagnose a fault at occurrence of an alarm.

4.1 Normal indication

When powered on, the MELSERVO-J2M is placed in the automatic scroll mode in which the statuses of the 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-axis drive unit. If an alarm/warning occurs in the interface unit, the alarm/warning number of the interface unit appears. (Refer to Section 4.1.2)

Automatic scroll

button

UP DOWN

# ## ## ## ##

DRU status indication

(Slot 1)

Pressing the "MODE" button in the automatic scroll mode for more than 2s switches to the interfacerelated display mode in which the data of the interface unit appears. (Refer to Section 4.2)

DRU status indication

(Slot 2)

DRU status indication

(Slot 3)

DRU status indication

(Slot 7)

DRU status indication

(Slot 8)

4 - 1

4. OPERATION AND DISPLAY

4.1.1 Display sequence

@ in the diagram denotes the slot number of the base unit and # the axis number of the drive unit.

MELSERVO-J2M power ON

Servo system controller power ON

When alarm occurs, alarm code appears.

Waiting for servo system controller power to switch ON

@# @#

Initial data communication with servo system controller

Ready ON

Servo ON

Ordinary operation

Ready OFF/servo OFF

Ready ON/servo OFF

Ready ON/servo ON

At interface unit alarm occurrence

Interface unit current alarm indication

2s later

To drive unit status indication

Servo system controller power OFF

Servo system controller power ON

4 - 2

4. OPERATION AND DISPLAY

(1) Indication list

(Note 1) Indication Status Description

@ Ab# Initializing

@ AA# Initializing

@ AC# Initializing

@ Ad# Initializing The initial parameters from the servo system controller were received. @ AE# Initialize completion Initial data communication with the servo system controller was completed. @ b# Ready OFF The ready off signal from the servo system controller was received. @ C# Servo OFF The ready off signal from the servo system controller was received. @ d# Servo ON The ready off signal from the servo system controller was received.

(Note 2) @A**# Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to Section 9.1.)

@T b#. @T c#. @T d#.

Note 1. @ denotes the slot number of the base unit and # the axis number of the drive unit.

2. ** indicates the warning/alarm No.

(Note 3) Test operation mode

MELSERVO-J2M was switched on when power to the servo system controller is off.

Power to the servo system controller was switched off during power-on of MELSERVO-J2M. The axis No. set to the servo system controller does not match the axis No. set with IFU parameter No.11 to No.18. MELSERVO-J2M fault occurred or an error took place in communication with the servo system controller. In this case, the indication changes:

"AC" "Ad" "Ab"

"Ab"

The servo system controller is faulty. Communication started between the servo system controller and MELSERVOJ2M.

It is a state of the test operation mode with the MR Configurator (servo configuration software). JOG operation, positioning operation, programmed operation, DO forced output, motor-less operation.

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 axis 3 installed on slot 1. During alarm occurrence, the decimal points in the fifth and second digits flicker.

1. A 1 36.

Axis 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, the decimal points in the fifth and second digits flicker.

F. A 1 0.

Alarm/warning number

Denotes alarm/warning indication.

Denotes interface unit.

4 - 3

4. OPERATION AND DISPLAY

4.2 Status display mode of interface unit

4.2.1 Display flowchart

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 unit is in the automatic scroll mode at power-on. Press the "MODE" button for more than 2s to change the display before starting operation. Press the

"MODE" "UP" or "DOWN" button once to move to the next screen.

button

MODE

Regenerative load ratio [%]

Bus voltage [V]

Peak bus voltage [V]

Diagnosis Basic IFU parameters

External I/O signal display

Output signal forced output

Software version low

Software version high

Second alarm in past

Fourth alarm in past

AlarmStatus display

Current alarm

Last alarm

Third alarm in past

Fifth alarm in past

Sixth alarm in past

IFU parameter No. 0

IFU parameter No. 1

IFU parameter No. 18

IFU parameter No. 19

DOWN

Parameter error No.

4 - 4

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) Status display list

The following table lists the servo statuses that may be shown: Refer to Appendix 1 for the measurement point.

Name Symbol Unit Description

Regenerative load ratio

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

Peak bus voltage PnP V

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. If there is a difference of 40V or more between the bus voltage and peak bus voltage during normal operation, use the regenerative brake option.

Display

range

0 to 100

0 to 450

4 - 5

4. OPERATION AND DISPLAY

4.2.3 Diagnostic mode of interface unit

Name Display Description

External I/O signal display

Shows the ON/OFF states of the external I/O signals and whether a forced stop command from the servo system controller

1)2)

is present or not.

1) Forced stop command from servo system controller Absent: On Present: Off

2) Forced stop (EM1) ON: On OFF: Off

3) Electromagnetic brake interlock (MBR) ON: On OFF: Off

Output signal forced output

Software version low Indicates the version of the software.

Software version high Indicates the system number of the software.

The digital output signal can be forced on/off. For more information, refer to section 4.2.6.

4 - 6

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.

Current alarm

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

Indicates that the last alarm is Multiple axis overload (A.53).

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

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

Alarm history

Indicates that the fourth alarm in the past is overspeed (A.31).

Indicates that there is no fifth alarm in the past.

Indicates that there is no sixth alarm in the past.

Indicates no occurrence of parameter error.

Parameter error No.

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

Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation

area. At this time, the decimal point in the fourth digit remains flickering.

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

(a) Switch power OFF, then ON. (b) Press the "SET" button on the current alarm screen.

(c) Turn on the alarm reset (RES) methods (for clearable alarms, refer to Section 9.1). (4) Use IFU 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.

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

4 - 7

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 serial communication baudrate (IFU parameter No. 0) to 38400bps. Using the "MODE" button, show the basic parameter screen.

The parameter number is displayed.

Press or to change the number.

UP DOWN

Press SET twice.

The set value of the specified parameter number flickers.

Press UP once.

During flickering, the set value can be changed.

Use or .

UP DOWN

( 2: Baudrate 38400bps)

Press SET to enter.

To shift to the next parameter, press the

UP DOWN

button. When changing the parameter No. 0 setting, change its set value, then switch power off once and switch it on again to make the new value valid.

4 - 8

4. OPERATION AND DISPLAY

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

Press UP once.

Press SET 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 output signals of

CN3

the external I/O signal display. (On: ON, Off: OFF)

Pressing MODE once moves the lit LED to the left.

Press UP once.

The CN3-13 pin turns on. (There will be continuity across CN3-13 pin-SG.)

Press DOWN once.

The CN3-13 pin turns off.

Press SET for more than 2s.

4 - 9

4. OPERATION AND DISPLAY

MEMO

4 - 10

5. PARAMETERS

CAUTION

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

instable.

POINT

When MELSERVO-J2M is connected with the servo system controller, the

parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the MR Configurator (servo configuration software) invalid and the servo system controller values valid.

In the maker setting parameters, do not set any values other than the

initial values.

Setting may not be made to some parameters and ranges depending on the

model or version of the servo system controller. For details, refer to the servo system controller user's manual.

The IFU and DRU parameters can be set in the following methods.

Parameters Setting Method

IFU parameters

DRU parameters

Pushbuttons in interface unit operation section MR Configurator (servo configuration software) MR Configurator (servo configuration software) Servo system controller

5.1 Drive unit

5.1.1 Parameter write inhibit

POINT

When setting the parameter values from the servo system controller, the

DRU parameter No. 40 setting need not be changed.

In this drive unit, the parameters are classified into the basic DRU parameters (No. 1 to 11), adjustment DRU parameters (No. 12 to 26) and expansion DRU parameters (No. 27 to 40) according to their safety aspects and frequencies of use. The values of the basic DRU parameters may be set/changed by the customer, but those of the adjustment and expansion DRU parameters cannot. When in-depth adjustment such as gain adjustment is required, change the DRU parameter No. 40 value to make all parameters accessible. DRU parameter No. 40 is made valid by switching power off, then on after setting its value. The following table indicates the parameters which are enabled for reference and write by DRU parameter No. 40 setting.

Setting Operation

0000(initial value)

000A

000C

000E

100E

Operation from controller

Reference

Write

Reference

Write

Reference DRU parameter No.1 to 40

Write

Reference

Write

Reference DRU parameter No.1 to 40

Write

DRU parameter No.1 to 39

Operation from MR Configurator

(servo configuration software)

DRU parameter No.1 to 11 40

DRU parameter No.40

DRU parameter No.1 to 11

DRU parameter No.1 to 40

DRU parameter No.40

5 - 1

5. PARAMETERS

5.1.2 Lists

POINT

For any DRU parameter whose symbol is preceded by*, set the DRU

parameter value and switch power off once, then switch it on again to make that parameter setting valid. The parameter is set when communication between the servo system controller and servo amplifier is established (b* is displayed). After that, power the servo amplifier off once and then on again.

(1) Item list

Classifi-

cation

Note. Factory settings of the servo amplifier. Connecting it with the servo system controller and switching power on changes them to the

No. Symbol Name

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

Basic parameters

9 RSP Servo response 0005 10 TLP Forward rotation torque limit 300 % 11 TLN Reverse rotation torque limit 300 % 12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio) 7.0 times 13 PG1 Position control gain 1 35 rad/s 14 VG1 Speed control gain 1 177 rad/s 15 PG2 Position control gain 2 35 rad/s 16 VG2 Speed control gain 2 817 rad/s 17 VIC Speed integral compensation 48 ms 18 NCH Machine resonance suppression filter 1 (Notch filter) 0000 19 FFC Feed forward gain 0 % 20 INP In-position range 100 pulse 21 MBR Electromagnetic brake sequence output 0 ms 22 For manufacturer setting 0001

Adjustment parameters

23 *OP1 Optional function 1 0000 24 *OP2 Optional function 2 0000 25 LPF Low-pass filter/adaptive vibration suppression control 0000 26 0 27 0 28 0 29 30 ZSP Zero speed 50 r/min 31 ERZ Error excessive alarm level 80 0.1rev 32 OP5 Optional function 5 0000 33 *OP6 Optional function 6 0000 34 VPI PI-PID control switch-over position droop 0 pulse 35 For manufacturer setting 0 36 VDC Speed differential compensation 980

Expansion parameters

37 For manufacturer setting 0010 38 *ENR Encoder output pulses 4000 pulse/rev 39 For manufacturer setting 0 40 *BLK DRU parameter write inhibit 0000

settings of the servo system controller.

For automatic setting by servo system controller

For manufacturer setting

(Note)

Initial

Value

0001

Unit

Customer

setting

5 - 2

5. PARAMETERS

Classifi-

cation

Note. Depends on the DRU parameter No. 49 setting.

No. Symbol Name

41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 49 *CDP Gain changing selection 0000 50 CDS Gain changing condition 10 (Note) 51 CDT Gain changing time constant 1 ms 52 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 7.0 times 53 PG2B Position control gain 2 changing ratio 100 % 54 VG2B Speed control gain 2 changing ratio 100 % 55 VICB Speed integral compensation changing ratio 100 % 56 0000 57 0000 58 0000 59 60 *OPC Optional function C 0000 61 NH2 Machine resonance suppression filter 2 0000 62 0000

Expansion DRU parameters 2

63 400 64 100 65 1 66 1 67 0 68 0 69 0 70 0 71 0 72 0 73 0 74 0 75

For manufacturer setting

(Note)

Initial

Value

0000

Unit

Custome

r setting

5 - 3

5. PARAMETERS

)

(2) Details list

Classifi-

cation

No. Symbol Name and Function

1 *AMS Amplifier setting

Used to select the absolute position detection.

0 00

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

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

2 *REG 0000 Refer to

Regenerative brake resistor Used to select the regenerative brake option used. The values set to the drive units installed on the base unit should all be the same.

0 0

Regenerative selection brake option (The built-in regenerative brake resister is used.) 00: Not used 06: MR-RB34 07: MR-RB54 10: MR-RB032 11: MR-RB14

POINT

Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the drive unit, parameter error (A.37) occurs.

Basic DRU parameters

3 0080 4 0000 5 6*FBP 0 Refer to

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

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

Setting Number of feedback pulses

0 16384 1 8192 6 32768 7 131072

255 Depending on the number of motor resolution pulses.

name and function column.

POINT

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

5 - 4

5. PARAMETERS

Classifi-

cation

Basic DRU parameters

No. Symbol Name and Function

7 *POL Rotation direction selection

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

address.

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

address.

CCW

8 ATU Auto tuning

Used to select the gain adjustment mode of auto tuning.

0 00

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

Set

Gain adjustment

value

mode

Interpolation mode

Description

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

Initial

Value

0 Refer to

0001 Refer to

Unit

Setting

Range

name and function column.

Auto tuning mode 1 Auto tuning mode 2

4Simple manual

Manual mode 1

Manual mode 2

Ordinary auto tuning. Fixes the load inertia

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

adjustment.

Manual adjustment of all gains.

5 - 5

5. PARAMETERS

Classifi-

cation

Basic DRU parameters

No. Symbol Name and Function

9 RSP Servo response

Used to select the response level of auto tuning.

0 00

Auto tuning response level selection

Set

Response

value

1 2 3 4 5 6 7 8 9 A B

C D E F300Hz

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

level

Low

response

Middle

response

High

response

Machine resonance frequency guideline

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

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

Initial

Value

0005 Refer to

Unit

Setting

Range

name and function column.

10 TLP Forward rotation torque limit

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

11 TLN Reverse rotation torque limit

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

12 GD2

13 PG1 Position loop gain 1

Adjustment DRU parameters

Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1) In this case, it varies between 0 and 1000.

Used to set the gain of position loop 1. Increase the gain to improve trackability performance in response to the position command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used.

300 % 0

500

300 % 0

500

7.0 times 0.0 to

300.0

35 rad/s 4

2000

5 - 6

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

14 VG1 Speed loop gain 1

Normally this parameter setting need not be changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used.

15 PG2 Position loop gain 2

Used to set the gain of the position loop. Set this parameter to increase position response to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1

2, manual mode and interpolation mode

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

16 VG2 Speed loop gain 2

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

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

17 VIC Speed integral compensation

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

2 and interpolation mode is selected, the

result of auto tuning is automatically used.

18 NCH Machine resonance suppression filter 1 (Notch filter)

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

Initial

Value

Unit

Setting

Range

177 rad/s 20

35 rad/s 1

817 rad/s 20

20000

48 ms 1

0 Refer to

name and function column.

5000

1000

Adjustment DRU parameters

19 FFC

Notch frequency selection

Setting

00 01 02 03 04 05 06 07

Frequency

Invalid

4500 2250 1500 1125 900 750

642.9

Setting

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

Frequency

562.5 500 450

409.1 375

346.2

321.4 300

Setting

10 11 12 13 14 15 16 17

Frequency

281.3

264.7 250

236.8 225

214.3

204.5

195.7

Setting

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

Frequency

187.5 180

173.1

166.7

160.1

155.2 150

145.2

Notch depth selection

Setting

0 1 2 3

Depth Gain

Deep

Shallow

40dB 14dB

8dB 4dB

Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed.

0%0

100

5 - 7

5. PARAMETERS

)

(

)

Classifi-

cation

Adjustment DRU parameters

No. Symbol Name and Function

20 INP In-position range

Used to set the droop pulse range in which the in-position (INP) will be output to the controller. Make setting in the feedback pulse unit (parameter No. 6). For example, when you want to set

10 m in the conditions that the ballscrew is direct coupled, the lead is 10mm (0.39inch), and the feedback pulses are 8192 pulses/rev (parameter No. 6 : 1), set "8" as indicated by the following expression:

10 10 10 10

8192 8.192 8

21 MBR Electromagnetic brake sequence output

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

22 For manufacturer setting

Do not change this value by any means.

23 *OP1 Optional function 1

Used to make the servo forced stop function invalid.

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

Encoder cable selection 0: 2-wire type (when MR-JCCBL M-L/H is used) 1: 4-wire t

24 *OP2 Optional function 2

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

0 0

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

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

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

Refer to Section 5.2.4.

pe (when MR-JC4CBL M-H is used

Initial

Value

Unit

Setting

Range

100 pulse 0

50000

100 ms 0

1000

0001

0000 Refer to

name and function column.

0000 Refer to

name and function column.

5 - 8

5. PARAMETERS

Classifi-

cation

Adjustment DRU parameters

No. Symbol Name and Function

25 LPF Low-pass filter/adaptive vibration suppression control

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

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

1: Invalid

When you choose "valid",

bandwidth filter is set automatically.

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

Adaptive vibration suppression control sensitivity selection Used to select the sensitivity of machine resonance detection. 0: Normal 1: Large sensitivity

VG2 setting 10

2 (1 GD2 setting 0.1)

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

26 For manufacturer setting

Do not change this value by any means.

27 0 28 0 29 30 ZSP Zero speed

31 ERZ Error excessive alarm level

32 OP5 Optional function 5

Expansion DRU parameters

For manufacturer setting Do not change this value by any means.

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

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

Used to select PI-PID control switch-over.

0 00

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

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

2: PID control is always valid.

0001

50 r/min 0

10000

80 0.1rev 0

1000

0000 Refer to

name and function column.

5 - 9

5. PARAMETERS

Classifi-

cation

Expansion DRU parameters

No. Symbol Name and Function

33 *OP6 Option function 6

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

34 VPI PI-PID control switch-over position droop

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

35 For manufacturer setting

Do not change this value by any means.

36 VDC Speed differential compensation

Used to set the differential compensation.

37 For manufacturer setting 0010 38 *ENR

Encoder output pulses

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

4). Use this parameter within this range.

For output pulse designation Set "0 Set the number of pulses per servo motor revolution. Output pulse At the setting of 5600, for example, the actually output A-phase and B-phase pulses are as indicated below:

A-phase and B-phase output pulses

For output division ratio setting Set "1

The number of pulses per servo motor revolution is divided by the set value.

Output pulse

At the setting of 8, for example, the actually output A-phase and B-phase pulses are as indicated below:

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

POINT

The MR-J2M-D01 extension IO unit is required to output the

encoder pulses (A phase, B phase, Z phase).

" (initial value) in DRU parameter No.33.

set value [pulses/rev]

5600

1400[pulse]

" in DRU parameter No.33.

Resolution per servo motor revolution

Set value

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

13107241

[pulses/rev]

Initial

Value

0000 Refer to

980 0

4000 pulse/rev 1

Unit

0pulse0

Setting

Range

name and function column.

50000

1000

65535

5 - 10

5. PARAMETERS

Classifi-

cation

Expansion DRU parameters

No. Symbol Name and Function

39 For manufacturer setting

Do not change this value by any means.

40 *BLK 0000 Refer to

DRU Parameter blocks write inhibit

Setting Operation

Reference0000 (initial value)

000C

100E

Write

Reference000A

Write

Reference DRU parameter

Write

Reference000E

Write

Reference DRU parameter

Write

Operation from

controller

DRU parameter No.1 to 39

Operation from MR

Configurator (servo

configuration

software)

DRU parameter No.1 to 11

DRU parameter No.40

No.1 to 40 DRU parameter No.1 to 11 DRU parameter No.1 to 40

No.1 to 40 DRU parameter No.40

Initial

Value

Unit

Setting

Range

name and function column.

5 - 11

5. PARAMETERS

Class No. Symbol Name and function

41 500 42 0000 43 0111 44 20 45 50 46 0 47 0 48 49 *CDP Gain changing selection

For manufacturer setting Do not change this value by any means.

Used to select the gain changing condition. (Refer to Section 7.5.)

000

Gain changing selection

Gains are changed in accordance with the settings of parameters No. 52 to 55 under any of the following conditions: 0: Invalid 1: Control command from controller 2: Command frequency is equal to higher than parameter No. 50 setting 3: Droop pulse value is equal to higher than parameter No. 50 setting 4: Servo motor speed is equal to higher than parameter No. 50 setting

Initial

value

0000 Refer to

Unit

Setting

range

Name

and

function

column

50 CDS Gain changing condition

Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No. 49. The set value unit changes with the changing condition item. (Refer to Section 7.5.)

51 CDT Gain changing time constant

Expansion DRU parameters 2

52 GD2B Ratio of load inertia moment to servo motor inertia moment 2

53 PG2B Position control gain 2 changing ratio

54 VG2B Speed control gain 2 changing ratio

55 VICB Speed integral compensation changing ratio

56 0000 57 0000 58 0000 59

Used to set the time constant at which the gains will change in response to the conditions set in parameters No. 49 and 50.

(Refer to Section 7.5.)

Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.

Used to set the ratio of changing the position control gain 2 when gain changing is valid. Made valid when auto tuning is invalid.

Used to set the ratio of changing the speed control gain 2 when gain changing is valid. Made valid when auto tuning is invalid.

Used to set the ratio of changing the speed integral compensation when gain changing is valid. Made valid when auto tuning is

invalid. For manufacturer setting Do not change this value by any means.

10 kpps

pulse r/min

1ms 0

7.0 times 0

100 % 10

100 % 50

0000

9999

100

300.0

200

1000

5 - 12

5. PARAMETERS

Class No. Symbol Name and function

60 *OPC Optional function C

Use to select the encoder output pulse direction.

Encoder pulse output phase changing

Changes the phases of A, B-phase encoder pulses output .

Set value

A phase

B phase

A phase

B phase

Servo motor rotation direction

CCW CW

61 NH2 Machine resonance suppression filter 2

Used to selection the machine resonance suppression filter.

(Refer to Section 7.2.)

Notch frequency selection Set "00" when you have set adaptive vibration suppression control to be "valid" or "held" (parameter No. 25: 1 or 2 ).

Setting

Expansion DRU parameters 2

value

00 01 02 03 04 05 06 07

Frequency

Invalid

4500 2250 1500 1125

900 750

642.9

Frequency

Setting

value

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

Setting

value

562.5 500 450

409.1 375

346.2

321.4 300

Notch depth selection

Setting

value

0 1 2

Depth Gain

Deep

Shallow

10 11 12 13 14 15 16 17

40dB 14dB

8dB 4dB

A phase

B phase

A phase

B phase

Frequency

281.3

264.7 250

236.8 225

214.3

204.5

195.7

Setting

value

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

Frequency

187.5 180

173.1

166.7

160.1

155.2 150

145.2

Initial

value

Unit

Setting

range

0000 Refer to

Name

and

function

column

0000 Refer to

Name

and

function

column

5 - 13

5. PARAMETERS

Class No. Symbol Name and function

62 0000 63 400 64 100 65 1 66 1 67 0 68 0 69 0 70 0 71 0 72 0

Expansion DRU parameters 2

73 0 74 0 75

For manufacturer setting Do not change this value by any means.

Initial

value

Unit

Setting

range

5 - 14

5. PARAMETERS

5.2 Interface unit

5.2.1 IFU parameter write inhibit

POINT

Use the unit operation section pushbutton switches or MR Configurator

(servo configuration software) to set the IFU parameters of the interface unit. They cannot be set from the servo system controller.

Use the unit pushbutton switches or MR Configurator (servo configuration software) to set the interface unit parameters. The following table indicates the IFU parameters which are made valid for reference and write by setting the IFU parameter No. 19.

0000 (initial value)

5.2.2 Lists

(1) Item list

Classifi-

cation

No. Symbol Name

10 *OP2 Optional function 2 0020 11 *SL1 Slot 1 axis number selection 0000 12 *SL2 Slot 2 axis number selection 0001

Basic IFU parameters

13 *SL3 Slot 3 axis number selection 0002 14 *SL4 Slot 4 axis number selection 0003 15 *SL5 Slot 5 axis number selection 0004 16 *SL6 Slot 6 axis number selection 0005 17 *SL7 Slot 7 axis number selection 0006 18 *SL8 Slot 8 axis number selection 0007 19 *BLK IFU parameter write inhibit 0000

Setting Setting operation

Reference

Write

000A

Reference

Write

Operation from unit operation section or MR Configurator

(servo configuration software)

IFU parameter No. 1 to 19

IFU parameter No. 19

POINT

For any IFU parameter whose symbol is preceded by*, set the IFU

Initial

Value

0 *BPS Serial communication baudrate selection, alarm history clear 0000 1 SIC Serial communication time-out selection 0 2 *OP1 Function selection 1 0000 3 MD1 Analog monitor 1 output 0000 4 MD2 Analog monitor 2 output 0000 5 MD3 Analog monitor 3 output 0000 6 MO1 Analog monitor 1 offset 0 mV 7 MO2 Analog monitor 2 offset 0 mV 8 MO3 Analog monitor 3 offset 0 mV 9 *SSC SSCNET type selection 0200

Unit

Customer

setting

5 - 15

5. PARAMETERS

(2) Details list

Classifi-

cation

No. Symbol Name and Function

0 *BPS Serial communication function selection, alarm history clear

Basic IFU parameters

2 *OP1 Function selection 1

Used to select the serial communication baudrate, select various communication conditions, and clear the alarm history.

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

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

Serial communication response delay time 0: Invalid 1: Valid, reply sent after delay time of 800 s or more

Set the time-out period of the communication protocol in [s] unit. Setting "0" disables time-out check.

Used to select the protocol of serial communication.

Protocol checksum selection

0: Yes (checksum added) 1: No (checksum not added)

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

01 SIC Serial communication time-out selection

name and function column.

5 - 16

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

3 *MD1 Analog monitor 1 output

Choose the signal to be output to analog monitor 1.

Analog monitor 1 selection 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max. Torque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: Torque ( 4V/max. Torque) 4: Current command ( 4V/max. Current command) 5: Speed command ( 4V/max. Servo motor speed) 6: Droop pulses ( 4V/128pulse) 7: Droop pulses ( 4V/2048pulse) 8: Droop pulses ( 4V/8192pulse) 9: Droop pulses ( 4V/32768pulse) A: Droop pulses ( 4V/131072pulse) B: Bus voltage ( 4V/400V) C: In position ( 4V/ON) D: Ready ( 4V/ON) E: Trouble ( 4V/ON)

Axis number of channel 1 Choose the axis number output to analog monitor 1. Axis number set value. Selecting 0 disables output.

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

4 *MD2 Analog monitor 2 output

Choose the signal to be output to analog monitor 2.

Basic IFU parameters

Analog monitor 2 selection 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max. Torque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: Torque ( 4V/max. Torque) 4: Current command ( 4V/max. Current command) 5: Speed command ( 4V/max. Servo motor speed) 6: Droop pulses ( 4V/128pulse) 7: Droop pulses ( 4V/2048pulse) 8: Droop pulses ( 4V/8192pulse) 9: Droop pulses ( 4V/32768pulse) A: Droop pulses ( 4V/131072pulse) B: Bus voltage ( 4V/400V) C: In position ( 4V/ON) D: Ready ( 4V/ON) E: Trouble ( 4V/ON)

Axis number of channel 2 Choose the axis number output to analog monitor 2. Axis number set value. Selecting 0 disables output.

0000 Refer to

name and function column.

5 - 17

5. PARAMETERS

Classifi-

cation

Basic IFU parameters

No. Symbol Name and Function

5 *MD3 Analog monitor 3 output

Choose the signal to be output to analog monitor 3.

Analog monitor 3 selection 0: Servo motor speed ( 4V/max. Servo motor speed) 1: Torque ( 4V/max. Torque) 2: Servo motor speed ( 4V/max. Servo motor speed) 3: Torque ( 4V/max. Torque) 4: Current command ( 4V/max. Current command) 5: Speed command ( 4V/max. Servo motor speed) 6: Droop pulses ( 4V/128pulse) 7: Droop pulses ( 4V/2048pulse) 8: Droop pulses ( 4V/8192pulse) 9: Droop pulses ( 4V/32768pulse) A: Droop pulses ( 4V/131072pulse) B: Bus voltage ( 4V/400V) C: In position ( 4V/ON) D: Ready ( 4V/ON) E: Trouble ( 4V/ON)

Axis number of channel 3 Choose the axis number output to analog monitor 3. Axis number set value. Selecting 0 disables output.

Initial

Value

0000 Refer to

Unit

Setting

Range

name and function column.

MO1 Analog monitor 1 offset

Used to set the offset voltage of the analog monitor 1 (MO1).

MO2 Analog monitor 2 offset

Used to set the offset voltage of the analog monitor 2 (MO2).

MO3 Analog monitor 3 offset

Used to set the offset voltage of the analog monitor 3 (MO2).

0mV

999

5 - 18

5. PARAMETERS

Classifi-

cation

No. Symbol Name and Function

9 *SSC SSCNET type selection

Select the network type of the interface unit.

SSCNET type selection 00: SSCNET3.5ms 01: SSCNET1.7ms 02: SSCNET0.8ms 12: SSCNET

POINT

When using motion controller Q series, set the communication cycle according to the motion controller. The initial settings of communication cycle/number of control axes of motion controller Q series are as follows:

1. Q173CPU SV13: SSCNET0.8ms/1 to 8 axes, SSCNET1.7ms/9 to 16

axes, SSCNET3.5ms/17 to 32 axes

SV22: SSCNET0.8ms/1 to 4 axes, SSCNET1.7ms/5 to 12

axes, SSCNET3.5ms/13 to 32 axes

2. Q172CPU SV13: SSCNET0.8ms/1 to 8 axes SV22: SSCNET0.8ms/1 to 4 axes, SSCNET1.7ms/5 to 8

axes

The communication cycle of motion controller can be

changed using the parameter.

In the case of MR-J2M, initialization of servo amplifier MR-

J2M (LED indication "@ Ab#" or "@ AC#") will not be completed, if the communication cycle settings are different between the motion controller and servo amplifier MRJ2M.

Initial

Value

Unit

Setting

Range

0200 Refer to

name

and

function

column.

Basic IFU parameters

10 *OP2 Optional function 2

Choose the input signal filter and test operation.

Test operation selection 0: Invalid 1: Valid

Input signal filter 0: No 1: 1.777ms 2: 3.555ms

Electromagnetic brake interlock output axis number selection Choose the axis number of the drive unit which uses electromagnetic brake interlock output (MBR).

Setting Selected Axis

All connected axes

0 1 2 3 4 5 6 7 8

Seventh axis

First axis

Second axis

Third axis

Fourth axis

Fifth axis Sixth axis

Eighth axis

0020 Refer to

name and function column.

5 - 19

5. PARAMETERS

Classifi-

cation

Basic IFU parameters

No. Symbol Name and Function

11 *SL1 Slot 1 axis number selection

Choose the axis number of the drive unit connected to the first slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the first axis is set to the first slot.

12 *SL2 Slot 2 axis number selection

Choose the axis number of the drive unit connected to the second slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the second axis is set to the second slot.

13 *SL3 Slot 3 axis number selection

Choose the axis number of the drive unit connected to the third slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the third axis is set to the third slot.

14 *SL4 Slot 4 axis number selection

Choose the axis number of the drive unit connected to the fourth slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the fourth axis is set to the fourth slot.

15 *SL5 Slot 5 axis number selection

Choose the axis number of the drive unit connected to the fifth slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the fifth axis is set to the fifth slot.

16 *SL6 Slot 6 axis number selection

Choose the axis number of the drive unit connected to the sixth slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the sixth axis is set to the sixth slot.

17 *SL7 Slot 7 axis number selection

Choose the axis number of the drive unit connected to the seventh slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the seventh axis is set to the seventh slot.

18 *SL8 Slot 8 axis number selection

Choose the axis number of the drive unit connected to the eighth slot of the base unit. (Refer to Section 2.8) Axis number In the initial setting, the eighth axis is set to the eighth slot.

19 *BLK 0000 Refer to

IFU parameter write inhibit

Setting

(initial

value)

000A

set value 1

Setting

operation

Reference0000

Write

Reference

Write

Operation from unit operation section or

MR Configurator

(servo configuration software)

IFU parameter No. 1 to 19

IFU parameter No. 19

Initial

Value

0000 0000

0001 0000

0002 0000

0003 0000

0004 0000

0005 0000

0006 0000

0007 0000

Unit

Setting

Range

0007h

name and function column.

5 - 20

5. PARAMETERS

5.2.3 Analog monitor

The servo status can be output to 3 channels in terms of voltage. Using an ammeter enables monitoring the servo status.

(1) Setting

Change the following digits of IFU parameter No.3 to 5:

IFU parameter No. 3

Analog monitor 1 selection (Signal output to across MO1-LG)

Axis number of analog monitor 1

IFU parameter No. 4

Analog monitor 2 selection (Signal output to across MO2-LG)

Axis number of analog monitor 2

IFU parameter No. 5

Analog monitor 3 selection (Signal output to across MO3-LG)

Axis number of analog monitor 3

IFU parameters No.6 to 8 can be used to set the offset voltages to the analog output voltages. The setting range is between

IFU parameter No. Description Setting range [mV]

6 Used to set the offset voltage for the analog monitor 1. 7 Used to set the offset voltage for the analog monitor 2. 8 Used to set the offset voltage for the analog monitor 3.

999 and 999mV.

999 to 999

(2) Settings

The three channels are all factory-set to output servo motor speeds. By changing the IFU parameter No. 3 to 5 values, you can change the data as shown in the following tale. Refer to (3) for measurement points.

Setting Output item Data Setting Output item Data

4[V]

Driving in CCW direction

0 Servo motor speed

4[V]

CCW direction

1 Torque (Note)

Max. speed

CW direction

Max. speed

4[V]

5 - 21

Max. torque

Driving in CW direction

Max. torque

4[V]

5. PARAMETERS

Setting Output item Data Setting Output item Data

2 Servo motor speed

CW direction

4[V]

CCW direction

9 Droop pulses

4V/32768pulse)

(

4[V]

32768[pulse]

CCW direction

32768[pulse]

3 Torque (Note)

4 Current command

5 Speed command

6 Droop pulses

4V/128pulse)

(

Max. speed Max. speed

Driving in CW direction

Max. torque Max. torque

Max. current command

CW direction

Max. speed

CW direction

4[V]

Driving in CCW direction

CCW direction

Max. current command

4[V]

CCW direction

Max. speed

4[V]

CCW direction

A Droop pulses

4V/131072pulse)

(

B Bus voltage

CIn-position

DReady

CW direction

131072[pulse]

CW direction

4[V]

OFF

4[V]

CCW direction

131072[pulse]

4[V]

400[V]

128[pulse]

CW direction

7 Droop pulses

4V/2048pulse)

(

4[V]

2048[pulse]

CW direction

8 Droop pulses

4V/8192pulse)

(

8192[pulse]

CW direction

Note. 4V is outputted at the maximum torque.

4[V]

128[pulse]

4[V]

CCW direction

2048[pulse]

4[V]

CCW direction

8192[pulse]

4[V]

5 - 22

E Failure

4[V]

OFF

Alarm provided

Alarm not provided

5. PARAMETERS

(3) Analog monitor block diagram

Servo Motor

Bus voltage

Current

encoder

PWM M

Current

command

Speed

Encoder

Position feedback

Current feedback

control

Torque

control

ential

Differ-

speed

Servo motor

Droop pulse

Speed command

Speed

command

Position

ential

Differ-

ommand

control

pulse

5 - 23

5. PARAMETERS

5.2.4 Test operation mode

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

CAUTION

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

(1) Setting and indication

1) Set "

1" in the IFU parameter No. 10 to enable test operation. After setting, switch power off

once, then on again to make the IFU parameter No. 10 valid.

2) Switching power on changes the interface unit display as shown below. # in the figure below indicates the axis number of the drive unit.

machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop.

# ## ## ## ##

3) Perform test operation using the personal computer.

(2) Test operation mode

(a) Jog operation

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

1) Operation pattern

Item Initial value Setting range

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

2) Operation method

Operation Screen control

Forward rotation start "Click Forward" button. Reverse rotation start "Click Reverse" button. Stop "Click Stop" button.

(b) Positioning operation

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

5 - 24

5. PARAMETERS

1) Operation pattern

Item Initial value Setting range

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

2) Operation method

Operation Screen control

Forward rotation start "Click Forward" button. Reverse rotation start "Click Reverse" button. Pause "Click Pause" button.

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

Operation Screen Control

Start "Click Start" button.

Stop "Click Reset" button.

(d) Motorless operation

POINT

Motor-less operation may be used with the MR Configurator (servo

configuration software). Usually, however, use motor-less operation which is available by making the servo system controller parameter setting.

Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with MELSERVO-J2M connected to the servo system controller. Exercise control on the motor-less operation screen of the MR Configurator (servo configuration software).

1) Load conditions

Load Item Condition

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

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

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

5 - 25

5. PARAMETERS

(e) Output signal (DO) forced output

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

(3) Configuration

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

5 - 26

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a MELSERVO-J2M

The gain adjustment in this section can be made on MELSERVO-J2M. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual mode 1 and manual mode 2 in this order.

(1) Gain adjustment mode explanation

Gain adjustment

mode

Auto tuning mode 1 (initial value)

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

Manual mode 1 0004 VG1 (DRU parameter No. 14)

Manual mode 2 0002

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

DRU parameter

No. 8 setting

0001 Always estimated GD2 (DRU parameter No. 12)

Estimation of load

inertia moment ratio

Fixed to parameter No. 12 value

Automatically set parameters Manually set parameters

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

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

PG2 (DRU parameter No. 15)

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

RSP (DRU parameter No. 9)

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

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

6 - 1

Mitsubishi Electronics MR-J2M-P8B 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

2.8 Control axis selection

3. SIGNALS AND WIRING

3.1 Connection example of control signal system

3.2 I/O signals of interface unit

3.2.1 Connectors and signal arrangements

3.2.2 Signal explanations

3.2.3 Interfaces

3.3 Signals and wiring for extension IO unit

3.3.1 Connection example

3.3.2 Connectors and signal configurations

3.3.3 Output signal explanations

3.4 Signals and wiring for base unit

3.4.1 Connection example of 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 Normal indication

4.1.1 Display sequence

4.1.2 If alarm/warning occurs

4.2 Status display mode of interface unit

4.2.1 Display flowchart

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 Output signal (DO) forced output

5. PARAMETERS

5.1 Drive unit

5.1.1 Parameter write inhibit

5.1.2 Lists

5.2 Interface unit

5.2.1 IFU parameter write inhibit

5.2.2 Lists

5.2.3 Analog monitor

5.2.4 Test operation mode

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a MELSERVO-J2M