General-Purpose AC Servo J2M Series SSCNET Compatible MODEL MR-J2M-P8B MR-J2M- DU MR-J2M-BU SERVO AMPLIFIER INSTRUCTION MANUAL G
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.
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.
. 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.
(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.
(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.
(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.
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.
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.
(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.
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-J2M- DU Interface unit :MR-J2M-P8B Base unit :MR-J2M-BU Servo motor :HC-KFS HC-MFS HC-UFS (2) Installation Install a fan of 100CFM (2.8m3/min)air flow 4 in (10.16 cm) above MELSERVO-J2M or provide cooling of at least equivalent capability.
CONTENTS 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.........................................................................................................
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.
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.
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.
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.
1. FUNCTIONS AND CONFIGURATION 1.
1. FUNCTIONS AND CONFIGURATION 1.
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 High-resolution encoder Auto tuning Adaptive vibration suppression control Low-pass filter Slight vibration suppression control Forced stop signal automatic ON Torque limit Description High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.
1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Drive unit (a) Rating plate SON ALM Rating plate MODEL Model Capacity Applicable power supply Rated output current Serial number MR-J2M-40DU POWER 400W INPUT DC270V-311V OUTPUT 170V 0-360Hz 2.
1. FUNCTIONS AND CONFIGURATION (3) Base unit (a) Rating plate Rating plate MITSUBISHI MODEL Model Applicable power supply Serial number MR-J2M-BU4 INPUT : 3PH 200-230 14A 50/60Hz SERIAL: N87B95046 BC336U246 MITSUBISHI ELECTRIC PASSED MADE IN JAPAN (b) Model code MR-J2M-BU Symbol Number of slots Maximum servo motor connection capacity [W] Continuous capacity [W] 4 6 8 4 6 8 1600 2400 3200 1280 1920 2560 1.
1. FUNCTIONS AND CONFIGURATION 1.7 Parts identification (1) Drive unit Mounting screw 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 Rating plate CN2 Encoder connector Connect the servo motor encoder CNP2 Servo motor connector For connection of servo motor power line cable (2) Interface unit Display Indicates operating status or alarm.
1. FUNCTIONS AND CONFIGURATION (3) Base unit The following shows the MR-J2M-BU4.
1. FUNCTIONS AND CONFIGURATION 1.8 Servo system with auxiliary equipment WARNING 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. 3-phase 200V to 230VAC (Note) 1-phase 200V to 230VAC power supply Options and auxiliary equipment Reference Section 12.2.2 Regenerative brake option Section 12.1.1 Magnetic contactor Section 12.2.2 Cables Section 12.2.
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2. INSTALLATION AND START UP 2. INSTALLATION AND START UP CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
2. INSTALLATION AND START UP 2.2 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between each unit and control box inside walls or other equipment. 40mm(1.57inch) or more 40mm(1.57inch) or more 40mm(1.57inch) or more (1) Installation of one MELSERVO-J2M 40mm(1.57inch) or more 40mm(1.57inch) or more Leave 100mm(3.94inch) or more clearance or install fan for forced air cooling. 40mm(1.
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.
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 Base unit Drive unit Wall 1) Catch Positioning hole 1) Hook the catch of the drive unit in the positioning hole of the base unit.
2. INSTALLATION AND START UP Sectional view 3) 3) Wall 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. 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.
2. INSTALLATION AND START UP 2.7 Start up WARNING 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 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. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g.
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.
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.
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3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING 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. 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.
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 (Note 5) (Note 5) 24VDC (Note 3 4 7) Forced stop CN3 8 VIN EM1 20 SG 3 (Note 10 13) Bus cable (Option) A A 7 MO3 11 LG Plate SD A 10k 10k 10k (Note 8) Analog monitor Max. 1mA Reading in both directions 2m(6.
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.
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.
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 CN1A Connector for bus cable from preceding axis. CN1B Connector for bus cable to next axis CN3 Communication connector (I/O signal connector) Function/Application Used for connection with the controller or preceding-axis servo amplifier.
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 24VDC VIN SON DI-1 .etc MBR RA SD .etc MO1 MO2 MO3 SG Analog monitor LG Base unit TXD RXD Drive unit RS-232 Servo motor encoder MR MRR LG SD Servo motor M E Extension IO unit LA.etc Differential line driver output 35mA max. LAR.
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 200mA or more VIN R: Approx. 4.7k For transistor EM1 Approx. 5mA Switch SG TR VCES 1.
3. SIGNALS AND WIRING 2) Lamp load Interface unit VIN R 24VDC 10% MBR SG (c) Analog output Output voltage : 4V Max. output current :0.
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 (Note 3) 24VDC (Note 4) (Note 2) CN4A VIN 11 36 SG 12 37 1 Approx. 4.7k 2 3 4 5 6 7 8 26 27 28 29 30 31 32 33 Approx. 4.
3. SIGNALS AND WIRING (Note 4) (Note 2) CN4B 1 Approx. 4.7k 2 3 4 5 6 7 8 26 27 28 29 30 31 32 33 Approx. 4.
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.
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. Connector Signal Symbol Encoder A-phase pulse 1 Encoder B-phase pulse 1 LA1 LAR1 LB1 LBR1 LZ1 CN4A-50 CN4A-25 CN4A-49 CN4A-24 CN4A-48 Encoder Z-phase pulse 1 Function/Applications pin No. As LA , LAR , LB and LBR , the pulses per servo motor revolution set in the DRU parameter No. 38 of the corresponding slots are output in the differential line driver system.
3. SIGNALS AND WIRING Signal 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 Symbol MBR1 Connector CN4A-9 MBR2 CN4A-10 MBR3 CN4A-34 MBR4 CN4A-35 MBR5 Function/Applications pin No.
3. SIGNALS AND WIRING 3.4 Signals and wiring for base unit CAUTION 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 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). 3.4.
3. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply (Note 1) Alarm RA1 Controller forced stop RA2 Forced OFF stop ON MC MC SK (Note 2) Power supply 1-phase 200 to 230VAC NFB MC CNP3 L1 1 L2 2 L3 3 MELSERVO-J2M CNP1B 24VDC L11 1 L21 2 CN3 VIN Forced stop EM1 SG Note 1. Configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 2.
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) 1 CNP1B (Y type) 1 Base unit N L11 2 2 P L21 3 3 C CNP3 3 L3 2 L2 1 L1 The connector frames are connected to the PE (earth) terminal of the base unit. Cable side connector Connector Model Maker Housing: 1-178128-3 (X type) CNP1A Contact: 917511-2 (max. sheath OD: 353717-2 (max. sheath OD: 2.8[mm]) 3.
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 1 L1 Connection target Description (Application) (1) When using a three-phase power supply Supply L1, L2 and L3 with three-phase, 200 to 230VAC, 50/60Hz CNP3 2 L2 3 L3 1 L11 2 L21 Main circuit power power. (2) When using a signal-phase power supply Supply L1 and L2 with signal-phase, 200 to 230VAC, 50/60Hz CNP1B power.
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: L1, L2, L3, 1-phase 200 to 230VAC: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
3. SIGNALS AND WIRING 3.5 Connection of drive unit and servo motor 3.5.1 Connection instructions CAUTION Connect the wires to the correct phase terminals (U, V, W) of the drive unit and 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.
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 20 19 P5 17 MRR 15 10 9 P5 18 BAT MR 5 MDR 6 4 3 12 LG CNP2 2 4 V 1 3 U W MD 14 13 11 8 7 P5 16 Drive unit 2 1 LG LG Cable side connector Connector LG CN2 CNP2 Model Maker 1. Soldering type Connector: 10120-3000VE Shell kit: 10320-52F0-008 2.
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 operation. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. 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.
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). Servo motor RA Circuit must be opened during forced stop (EM1).
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.
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.
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3. SIGNALS AND WIRING 3.8 Grounding Ground the base unit and servo motor securely. 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. 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.
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 Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath.
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4. OPERATION AND DISPLAY 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.
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 @ # Waiting for servo system controller power to switch ON Servo system controller power ON @ @ @ # # # @ # Initial data communication with servo system controller At interface unit alarm occurrence Ready OFF/servo OFF * * Ready ON When alarm occurs, alarm code appears.
4. OPERATION AND DISPLAY (1) Indication list (Note 1) Indication @ Ab# Status Description MELSERVO-J2M was switched on when power to the servo system controller Initializing 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. @ AA# set with IFU parameter No.11 to No.18.
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.
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.
4. OPERATION AND DISPLAY 4.2.3 Diagnostic mode of interface unit Name Display Description 2) External I/O signal display Output signal forced Shows the ON/OFF states of the external I/O signals and whether a forced stop command from the servo system controller 1) is present or not.
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).
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.
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.
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5. PARAMETERS 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.
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 Adjustment parameters Basic parameters ClassifiNo.
5. PARAMETERS ClassifiNo. cation (Note) Symbol Initial Unit Value 41 Expansion DRU parameters 2 Name 500 For manufacturer setting 42 0000 43 0111 44 20 45 50 46 0 47 0 48 0 49 *CDP Gain changing selection 0000 50 CDS Gain changing condition 10 51 CDT Gain changing time constant 1 ms 52 GD2B Ratio of load inertia moment to Servo motor inertia moment 2 7.
5. PARAMETERS (2) Details list Classification No. Symbol 1 *AMS Name and Function Amplifier setting Initial Value 0000 Used to select the absolute position detection. Unit Setting Range Refer to name and 0 0 0 function column. Absolute position detection selection 0: Invalid (Used in incremental system.) 1: Valid (Used in absolute position detection system.) 2 *REG Regenerative brake resistor 0000 name the drive units installed on the base unit should all be the same.
5. PARAMETERS Classification No. Symbol 7 *POL Initial Name and Function Value Rotation direction selection 0 Unit Setting Range Refer to Used to select the rotation direction of the servo motor. name 0: Forward rotation (CCW) with the increase of the positioning and address. function 1: Reverse rotation (CW) with the increase of the positioning column. address. CCW CW 8 ATU 0001 Auto tuning Basic DRU parameters Used to select the gain adjustment mode of auto tuning.
5. PARAMETERS Classification No. Symbol 9 RSP Name and Function Initial Value Unit 0005 Servo response Setting Range Refer to name Used to select the response level of auto tuning. and 0 0 0 function column.
5. PARAMETERS Classification No. Symbol 14 VG1 Initial Name and Function Value 177 Speed loop gain 1 Unit rad/s Setting Range 20 Normally this parameter setting need not be changed. Higher setting to increases the response level but is liable to generate vibration and/or 5000 noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. 15 PG2 35 Position loop gain 2 rad/s 1 to Used to set the gain of the position loop.
5. PARAMETERS Classification No. Symbol 20 INP Name and Function Initial Value 100 In-position range Unit Setting Range pulse 0 Used to set the droop pulse range in which the in-position (INP) will to be output to the controller. Make setting in the feedback pulse unit 50000 (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.
5. PARAMETERS Classification No. Symbol 25 LPF Name and Function Low-pass filter/adaptive vibration suppression control Initial Value Unit 0000 Setting Range Refer to Used to select the low-pass filter and adaptive vibration suppression name control. (Refer to Chapter 7.) and function 0 column. Adjustment DRU parameters Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid VG2 setting 10 When you choose "valid", 2 (1 GD2 setting 0.
5. PARAMETERS Classification No. Symbol 33 *OP6 Initial Name and Function Value Option function 6 Unit 0000 Setting Range Refer to Used to select the serial communication baudrate, serial name communication response delay time setting and encoder output and pulse setting. function 0 column. 0 0 Encoder output pulse setting selection (refer to parameter No.
5. PARAMETERS Classification No. Symbol 39 40 Initial Name and Function Value For manufacturer setting Do not change this value by any means. *BLK 0000 Operation from MR Operation 0000 (initial value) Reference 000A Reference 000C Reference Operation from Configurator (servo controller configuration Expansion DRU parameters software) Write Write DRU parameter No.1 to 39 DRU parameter No.1 to 11 40 DRU parameter No.1 to 39 DRU parameter No.40 DRU parameter No.
5. PARAMETERS Class No. Symbol Name and function For manufacturer setting Do not change this value by any means. 41 42 Initial value 44 20 45 50 46 0 47 0 48 0 Gain changing selection Used to select the gain changing condition. (Refer to Section 7.5.) range 0000 0111 *CDP Setting 500 43 49 Unit 0000 Refer to Name and 0 0 0 function Expansion DRU parameters 2 column Gain changing selection Gains are changed in accordance with the settings of parameters No.
5. PARAMETERS Class No. Symbol 60 *OPC Initial Name and function value Optional function C Use to select the encoder output pulse direction. 0 0000 Unit Setting range Refer to Name and 0 0 function column Encoder pulse output phase changing Changes the phases of A, B-phase encoder pulses output .
5. PARAMETERS Class No. 62 Expansion DRU parameters 2 63 Symbol Name and function For manufacturer setting Do not change this value by any means.
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.
5. PARAMETERS (2) Details list Classification No. Symbol 0 *BPS Name and Function Serial communication function selection, alarm history clear Used to select the serial communication baudrate, select various communication conditions, and clear the alarm history. Initial Value Unit Setting Range 0000 Refer to name and function column.
5. PARAMETERS Classification No. Symbol 3 *MD1 Name and Function Analog monitor 1 output Choose the signal to be output to analog monitor 1. Initial Value Unit Setting Range 0000 Refer to name and function column. 0000 Refer to name and function column. 0 0 Basic IFU parameters 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.
5. PARAMETERS Classification No. Symbol 5 *MD3 Name and Function Analog monitor 3 output Choose the signal to be output to analog monitor 3. Initial Value Unit 0000 Setting Range Refer to name and function column. 0 0 Basic IFU parameters 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.
5. PARAMETERS Classification No. Symbol 9 *SSC Name and Function SSCNET type selection Select the network type of the interface unit. Initial Value Setting Range 0200 Refer to name and function column. 0020 Refer to name and function column. 0 2 SSCNET type selection 00: SSCNET3.5ms 01: SSCNET1.7ms 02: SSCNET0.8ms 12: SSCNET Basic IFU parameters Unit POINT When using motion controller Q series, set the communication cycle according to the motion controller.
5. PARAMETERS Classifi- Basic IFU parameters cation Initial 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 set value 1 In the initial setting, the first axis is set to the first slot. 0000 0000 to 0007h 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.
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. PARAMETERS Setting 2 Output item Servo motor speed Data CW direction 4[V] Setting 9 CCW direction Output item Data Droop pulses ( 4V/32768pulse) 4[V] CCW direction 32768[pulse] 0 Max. speed 0 Max. speed 4[V] CW direction 3 Torque (Note) A Driving in CW direction 4[V] Driving in CCW direction Droop pulses ( 4V/131072pulse) 4[V] 32768[pulse] CCW direction 131072[pulse] 0 Max. torque 0 Max.
Command pulse Differential Speed command Droop pulse Position control Speed command Differential Servo motor speed Speed control Current command Torque Current control 5 - 23 Encoder M Servo Motor Position feedback Current feedback PWM Current encoder Bus voltage 5.
5. PARAMETERS 5.2.4 Test operation mode The test operation mode is designed for servo operation confirmation and not for 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.
5. PARAMETERS 1) Operation pattern Item Initial value Setting range 100000 0 to 9999999 Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 1 to 50000 Travel [pulse] 2) Operation method Operation Screen control Forward rotation start "Click Forward" button. Reverse rotation start "Click Reverse" button. Pause "Click Pause" button.
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.
6. GENERAL GAIN ADJUSTMENT 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 DRU parameter Estimation of load mode No.
6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Yes Used when you want to match the position gain 1 Interpolation mode No (PG1) between 2 or more axes. Normally not used for Operation Allows adjustment by Auto tuning mode 1 merely changing the response level setting. Operation Yes First use this mode to make No OK? other purposes. No adjustment.
6. GENERAL GAIN ADJUSTMENT 6.1.2 Adjustment using MR Configurator (servo configuration software) This section gives the functions and adjustment that may be performed by using MELSERVO-J2M with the MR Configurator (servo configuration software) which operates on a personal computer.
6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode MELSERVO-J2M has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of MELSERVO-J2M. (1) Auto tuning mode 1 MELSERVO-J2M is factory-set to the auto tuning mode 1.
6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Encoder Control gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Current feedback Set 0 or 1 to turn on. Load inertia moment ratio Switch estimation section Gain table DRU parameter No.8 DRU parameter No.9 Real-time auto tuning section Position/speed feedback Speed feedback DRU parameter No.
6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied.
6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (DRU parameter No.9) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three DRU parameters. 6.3.1 Operation of manual mode 1 In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and speed integral compensation (VIC) automatically sets the other gains to the optimum values according to these gains.
6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (DRU parameter No. 16) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate.
6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (DRU parameter No. 13) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.
6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position control gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the position control gain 1 and speed control gain 1 which determine command trackability are set manually and the other gain adjusting parameters are set automatically.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 6. If a mechanical system has a natural resonance level point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters Set the notch frequency and notch depth of the machine resonance suppression filter 1 (DRU parameter No. 18). DRU parameter No. 18 Notch frequency selection Setting Frequency Setting Frequency Setting Frequency Setting Frequency 00 Invalid 08 562.5 10 281.3 18 01 4500 09 500 11 264.7 19 180 02 2250 0A 450 12 250 1A 173.1 03 1500 0B 409.1 13 236.8 1B 166.7 04 1125 0C 375 14 225 1C 160.1 05 900 0D 346.2 15 214.
7. SPECIAL ADJUSTMENT FUNCTIONS 7.3 Adaptive vibration suppression control (1) Function Adaptive vibration suppression control is a function in which the drive unit detects machine resonance and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (DRU parameter No.25). DRU parameter No. 25 Adaptive vibration suppression control selection 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration. 2: Held Filter characteristics generated so far is held, and detection of machine resonance is stopped.
7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation. 7.5.1 Applications This function is used when: (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation. (2) You want to increase the gains during settling to shorten the stop settling time.
7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.3 Parameters 4 " in DRU parameter No.2 (auto tuning) to When using the gain changing function, always set " choose the manual mode 1 of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. DRU Parameter No. Abbrevi Name ation Unit Description 13 PG1 Position control gain 1 rad/s Position and speed gains of a model used to set the response 14 VG1 Speed control gain 1 rad/s level to a command. Always valid.
7. SPECIAL ADJUSTMENT FUNCTIONS (1) DRU Parameters No. 12 to 17 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain 2 and speed integral compensation to be changed. (2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: DRU parameter No. 52) Set the ratio of load inertia moment to servo motor inertia moment after changing.
7. SPECIAL ADJUSTMENT FUNCTIONS 7.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting DRU Parameter No. Abbreviation Name Setting Unit 13 PG1 Position control gain 1 100 rad/s 14 VG1 Speed control gain 1 1000 rad/s 4 0.
7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting DRU Parameter No. Abbreviation Setting Unit 13 PG1 Position control gain 1 Name 100 rad/s 14 VG1 Speed control gain 1 1000 rad/s 12 GD2 40 0.1 times Ratio of load inertia moment to servo motor inertia moment 15 PG2 Position control gain 2 120 rad/s 16 VG2 Speed control gain 2 3000 rad/s 17 VIC Speed integral compensation 20 ms 100 0.
7.
8. INSPECTION 8. INSPECTION WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
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9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Alarms and warning list POINT The alarm/warning whose indication is not given does not exist in that unit. When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.2 or 9.3 and take the appropriate action. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.
9. TROUBLESHOOTING Alarms Display A.10 A.12 A.13 A.14 A.15 A.16 A.17 A.19 A.1A A.1B A.1C A.1D A.1E A.20 A.24 A.25 A.30 A.31 A.32 A.33 A.34 A.35 A.36 Warnings A.37 A.38 A.45 A.46 A.50 A.51 A.52 A.53 A.54 A.78 A.79 A.8A A.8E A.88 A.92 A.96 A.9F A.E0 A.E1 A.E3 A.E4 A.E6 A.E7 A.
9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (A.25) occurred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.
9. TROUBLESHOOTING Display IFU DRU Name Definition @A.12# Memory error 1 RAM, memory fault @A.13# Clock error Printed board fault. @A.14# Watchdog CPU/parts fault @A.15# Memory error 2 EEP-ROM fault Cause Faulty parts in the drive unit. Change the drive unit. Checking method Alarm (any of A.12 to 15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. @A.16# Encoder error 1 Communication error 1.
9. TROUBLESHOOTING Display IFU DRU Name Definition Cause @A.20# Encoder error 2 Communication error 1. Encoder connector (CN2) occurred between Action Connect correctly. disconnected. encoder and drive 2. Encoder fault. Change the servo motor. unit. 3. Encoder cable faulty. Repair or change cable. (Wire breakage or shorted) @A.24# Main circuit error Ground fault occurred 1. Power input wires and servo motor at the servo motor outputs (U,V and W) of the drive unit. Connect correctly.
9. TROUBLESHOOTING Display IFU DRU Name @A.31# Overspeed Definition Speed has exceeded Cause Action 1. Small acceleration/deceleration time Increase acceleration/ the instantaneous constant caused overshoot to be permissible speed. large. 2. Servo system is instable to cause overshoot. deceleration time constant. 1. Reset servo gain to proper value. 2. If servo gain cannot be set to proper value: 1) Reduce load inertia moment ratio; or 2) Reexamine acceleration/ deceleration time constant. @A.
9. TROUBLESHOOTING Display IFU DRU Name Definition Cause FA.37 IFU parameter IFU parameter setting 1. Interface unit fault caused the IFU error is wrong. parameter setting to be rewritten. 2. There is a IFU parameter whose value was set to outside the setting range by the controller. 3. The number of write times to EEPROM exceeded 100,000 due to parameter write, etc @A.37# DRU parameter DRU parameter 1. Drive unit fault caused the DRU error setting is wrong. parameter setting to be rewritten. 2.
9. TROUBLESHOOTING Display IFU DRU Name @A.51# Overload 2 Definition Machine collision or Cause 1. Machine struck something. Action 1. Review operation pattern. the like caused max. 2. Install limit switches. output current to flow 2. Wrong connection of servo motor. successively for Drive unit's output U, V, W do not Connect correctly. several seconds. Servo motor locked: 0.3s or more match servo motor's input U, V, W. 3. Servo system is instable and hunting. During rotation: 1.
9. TROUBLESHOOTING Display IFU DRU FA.53 Name Definition Multiple axis Drive unit whose overload effective load factor is Cause 1. Drive unit having large load is adjacent. Action 1. Change the slot of the drive unit whose load is large. 85% or more is 2. Reduce the load. adjacent. 3. Reexamine the operation pattern. 4. Use a servo motor whose output is large. 2. Servo system is instable and hunting. 1. Repeat acceleration/ deceleration and perform auto tuning. 2.
9. TROUBLESHOOTING 9.3 Remedies for warnings POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation. Excessive regenerative warning (A.E0) Overload warning 1 (A.E1) If A.E6, A.E7 or A.E9 occurs, the servo off status is established.
10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 MELSERVO-J2M configuration example The following diagram shows the MR-J2M-BU8 base unit where one interface unit and eight drive units are installed. 158 (6.22) 130 (5.12) 28 (1.10) [Unit: mm] ([Unit: in]) 35 (1.38) 30 (1.12) 50 (1.67) 240 (9.45) 25 (0.98) 350 (13.78) 6 (0.24) 27 (1.06) 6 (0.24) SON SON ALM 86 (3.39) 27 (1.06) 140 (5.
10 OUTLINE DRAWINGS 10.2 Unit outline drawings 10.2.1 Base unit (MR-J2M-BU ) [Unit: mm] ([Unit: in]) Variable Dimensions B A MR-J2M-BU4 230 (9.06) 218 (8.58) MR-J2M-BU6 290 (11.42) 278 (10.95) MR-J2M-BU8 350 (13.78) 338 (13.307) Base Unit A B 6 (0.24) CNP1A, CNP1B CNP3 A B 3 L3 1 N L11 2 P L21 2 L2 3 C 1 L1 6 (0.24) 86 (3.39) 140 (5.51) NAME PLATE CC NN PP 11 AB 27 (1.06) C N P 3 1.1 (2.43) 1.3 (2.87) 1.5 (3.31) Connector layout 27 (1.06) 6 (0.
10 OUTLINE DRAWINGS 10.2.3 Drive unit (MR-J2M- DU) (1) MR-J2M-10DU to MR-J2M-40DU [Unit: mm] ([Unit: in]) Approx. 70 (2.76) 138.5 (5.45) 130 (4.72) 6.5 (0.26) 5 (0.20) Connector layout 4.5 ( 0.18) mounting hole CNP2 5 (0.20) (1 (0.04)) 30 (1.18) 2 4 V SON ALM MITSUBISHI 3 U W PLATE MITSUBISHI C N 2 120 (4.72) 1 NAME 130 (5.12) MELSERVO Mounting screw: M4 Tightening torque:1.5 [N m] (13.3 [lb in]) NAME PLATE C N P 2 Mass: 0.4kg (0.
10 OUTLINE DRAWINGS 10.2.4 Extension IO unit (MR-J2M-D01) [Unit: mm] ([Unit: in]) 138.5 (5.45) 130 (4.72) 6.5 (0.26) 5 (0.20) 25 (0.89) (1 (0.04)) Approx. 80 (3.15) 5 (0.20) 2- 4.5 ( 0.18) mounting hole Mounting screw: M4 Tightening torque:1.5 [N m] (13.3 [lb in]) 120 (4.72) 120 (4.72) 130 (5.12) C N 4 A C N 4 B 5 (0.20) NAME PLATE Mass: 0.2kg (1.10lb) 10.2.5 Battery unit (MR-J2M-BT) 130 (5.45) 5 (0.20) 2- 4.5 ( 0.18) mounting hole Mounting screw: M4 Tightening torque:1.5 [N m] (13.
10 OUTLINE DRAWINGS 10.3 Connector (1) CN1A CN1B CN2 CN3 connector <3M> (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Unit: mm] ([Unit: in]) 10.0 14.0 (0.55) 33.3 (1.31) 12.7 (0.50) Logo, etc. are indicated here. 23.8 (0.98) 39.0 (1.54) (b) Threaded type Model Connector Shell kit 22.0 (0.87) (0.39) 12.0 (0.47) : 10120-3000VE : 10320-52A0-008 Note. This is not available as option and should be user-prepared. [Unit: mm] ([Unit: in]) 10.0 39.0 (1.54) 5.7 (0.22) 23.
10 OUTLINE DRAWINGS (c) Insulation displacement type Model Connector : 10120-6000EL Shell kit : 10320-3210-000 [Unit: mm] ([Unit: in]) 11.5 20.9 (0.82) 33.0 (1.3) 42.0 (1.65) 2- 0.5 ( 0.02) 29.7 (1.17) 10 - 6 (0.45) 6.7 ( 0.26) Logo, etc. are indicated here.
10 OUTLINE DRAWINGS (2) CN4A CN4B connector <3M> (a) Soldered type Model Connector : 10150-3000VE Shell kit : 10350-52F0-008 [Unit: mm] ([Unit: in]) 14.0 (0.55) 17.0 (0.67) 39.0 (1.54) 18.0 (0.71) 46.5 (1.83) Logo, etc. are indicated here. 23.8 (0.94) 41.1 (1.62) 52.4 (2.06) (b) Threaded type Model Connector Shell kit 12.7 (0.50) : 10150-3000VE : 10350-52A0-008 Note. This is not available as option and should be user-prepared. [Unit: mm] ([Unit: in]) 14.0 (0.55) 17.0 (0.67) 39.0 (1.54) 5.
10 OUTLINE DRAWINGS (3) CNP1A CNP1B connector Model CNP1A housing : 1-178128-3 CNP1B housing : 2-178128-3 Contact : 917511-2 (max. sheath OD: 2.8 [mm]) 353717-2 (max. sheath OD: 3.4 [mm]) Applicable tool : 91560-1 (for 917511-2) 937315-1 (for 353717-2) [Unit: mm] ([Unit: in]) 5.08 (0.2) 7.15 (0.28) 29.7 (0.12) 2 3 0-3 AMP 16.3 (0.06) 22.8 (0.90) 1 X 19.24 (0.76) : 1-179958-3 : 316041-2 : 234171-1 [Unit: mm] ([Unit: in) 10.16 (0.4) 9.8 (0.39) 45.29 (1.79) 2 3 AMP Y 33.
10 OUTLINE DRAWINGS (5) CNP1 CNP2 CNP3 connector [Unit: mm] 0.6 (0.024) 0.6 (0.024) ([Unit: in]) 5 4 3 R0.3 1.2 Circuit number (0.047) 8.5 (0.335) 11.6 (0.457) 6 3.3 (0.13) 6.3 (0.248) 4.2 (0.165) 2.5 (0.098) 9.6 (0.378) 3 (0.118) 1.5 (0.059) 19.6 (0.772) 7 5.4 (0.213) Layout diagrams classified by the number of poles 10.7 (0.421) 9 1 5.4 (0.213) 10 2 3 (0.118) 1 2 3 4 4 poles 3.5 (0.138) Variable Dimensions Model 5557-04R A B 4.2 (0.165) 9.6 (0.378) 4.
10 OUTLINE DRAWINGS (6) Bus cable connector Honda Tsushin Industry HDR type Number of Pins Model HDR Connector Connector case (Note) Crimping terminal 14 HDR-E14MG1 HDR-E14LPA5 Wire straightening tool 26 HDR-E26MG1 HDR-E26LPA5 Insulation displacement tool : FHPT-0004C : FHAT-0029 Note. Not available from us and to be supplied by the customer. Model Connector : HDR-E14MG1 Connector case : HDR-E14LPA5 Model Connector : HDR-E26MG1 Connector case : HDR-E26LPA5 [Unit: mm] ([Unit: in]) 21.8 (0.
11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics 1000 1000 100 100 During rotation During rotation 10 Operation time [s] Operation time [s] An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from overloads. Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs. 13.1, or overload 2 alarm (A.
11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the drive unit Table 11.1 indicates drive unit's power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
11. CHARACTERISTICS (2) Heat dissipation area for enclosed drive unit The enclosed control box (hereafter called the control box) which will contain the drive unit should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1: P ..................................................................
11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.4) Forced stop(EM1) ON OFF Time constant V0 Machine speed te Time Fig. 11.3 Dynamic brake operation diagram Lmax Lmax Vo JM JL te JL V0 te 1 ..................
16 14 12 23 10 8 6 053 4 2 0 0 Time constant [s] Time constant [ms] 11. CHARACTERISTICS 73 43 13 500 1000 1500 2000 2500 3000 Speed [r/min] 0.02 0.018 0.016 0.014 0.012 0.01 0.008 0.006 0.004 0.002 0 0 a. HC-KFS series 23 43 053 73 13 500 1000 1500 2000 2500 3000 Speed [r/min] b. HC-MFS series 0.07 73 0.06 Time constant [s] 0.05 0.04 0.03 43 0.02 23 13 0.01 0 0 50 500 1000 1500 2000 2500 3000 Speed [r/min] c. HC-UFS3000r/min series Fig. 11.
11. CHARACTERISTICS 11.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 12.1 Options 12.1.
12. OPTIONS AND AUXILIARY EQUIPMENT Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be decelerated simultaneously, and find the maximum total of 3000r/min-equivalent inertia moments. Also find the sum total of permissible load inertia moments of the drive units installed on the same base unit. (Maximum total of 3000r/min-equivalent inertia moments) inertia moments of drive units) 1.42 (Sum total of permissible load Regenerative brake option is unnecessary.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) To make selection according to regenerative energy Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative brake option: 1) Regenerative energy calculation Use the following table to calculate the regenerative energy.
12.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection of the regenerative brake option POINT When using the MR-RB54, cooling by a fan is required. Please obtain a cooling fan at your discretion. Set DRU parameter No.2 according to the option to be used. The regenerative brake option will cause a temperature rise of 100 degrees relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc. before installing the option.
12. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline drawing (a) MR-RB032 MR-RB14 [Unit: mm (in)] LA TE1 Terminal block 5 (0.20) G3 G4 P C 6 (0.23) 12 (0.47) G3 G4 P C 6 (0.23) TE1 168 (6.61) 156 (6.14) MR-RB 144 (5.67) 12 (0.47) 6 (0.23) 6 (0.24) mounting hole LB Terminal screw: M3 1.6 (0.06) 20 (0.79) LD LC Regenerative brake option MR-RB032 MR-RB14 12 - 6 LA 30 (1.18) 40 (1.57) Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-RB34 [Unit: mm (in)] 8.5 (0.34) 10 (0.39) P C Terminal screw: M4 G3 Tightening torque: 1.2 [N m] (10.6 [lb in]) G4 142 (5.59) 150 (5.91) G4 G3 C P 125 (4.92) 8.5 (0.34) Terminal block Mounting screw Screw : M6 7 90 (3.54) Tightening torque: 5.4 [N m](47.79 [lb in]) 318 (12.52) 17 (0.67) 335 (13.19) 79 (7.05) 100 (3.94) Brake Option Mass [kg(lb)] MR-RB34 2.9 (6.393) Terminal block [Unit: mm (in)] Regenerative 200 (7.87) 223 (8.78) 17 (0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. The broken line areas in the diagram are not options.
12. OPTIONS AND AUXILIARY EQUIPMENT No. 1) 2) 3) 4) Product Model Description Application Standard encoder MR-JCCBL M-L Connector: 10120-3000VE cable Refer to (2) (a) in Shell kit: 10320-52F0-008 this section. (3M or equivalent) Long flexing life MR-JCCBL M-H encoder cable Refer to (2) (a) in this section. MR-JC4CBL M-H Refer to (2) (b) in this section.
12. OPTIONS AND AUXILIARY EQUIPMENT No. Product 15) Power supply Model MR-PWCNK3 connector Description Application Plug: 5557-04R-210 Servo motor Terminal: 5556PBT3L (for AWG16) (6 pcs.) power cable (Molex) 16) Base unit MR-J2MCNM For CNP1B Housing: 2-178128-3 (5 pcs.) connector set Contact: 917511-2 (max. sheath OD Y 2.8 [mm] 15 pcs.) (Tyco Electronics) For CNP1A Housing: 1-178128-3 (5 pcs.) Contact: 917511-2 (max. sheath OD X 2.8 [mm] 15 pcs.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable CAUTION If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. POINT The encoder cable is not oil resistant. Refer to Section 11.4 for the flexing life of the encoder cable. When the encoder cable is used, the sum of the resistance values of the cable used for P5 and the cable used for LG should be within 2.4 .
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JC4CBL M-H POINT When using this encoder cable, set " 1 " in DRU parameter No. 23. 1) Model explanation Model: MR-JC4CBL M-H Long flexing life Symbol 30 40 50 Cable Length [m(ft)] 30 (98.4) 40 (131.2) 50 (164.0) 2) Connection diagram The signal assignment of the encoder connector is as viewed from the pin side. For the pin assignment on the drive unit side, refer to Section 3.5.
12. OPTIONS AND AUXILIARY EQUIPMENT When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder cable of up to 50m (164.0ft) length. When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not required.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT This cable may not be used with some personal computers. After fully examining the signals of the RS-232C connector, refer to this section and fabricate the cable.
12. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable CAUTION When fabricating the bus cable, do not make incorrect connection. Doing so can cause misoperation or explosion. When fabricating this cable, use the recommended cable given in Section 12.2.1 and fabricate it in accordance with the connection diagram shown in this section. The overall distance of the bus cable on the same bus is 30m(98.4ft). (a) MR-J2HBUS M-A 1) Model definition Model:MR-J2HBUS M-A Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2HBUS M 1) Model definition Model:MR-J2HBUS M Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
12. OPTIONS AND AUXILIARY EQUIPMENT (c) Q172J2BCBL M(-B) When using the battery unit Q170BAT, use the Q172J2BCBL M-B. For the Q170BAT, refer to the Motion Controller Q Series User's Manual (IB(NA)0300021). 1) Model definition Model:Q172J2BCBL MSymbol Connection of Battery Unit No -B No Yes Symbol 05 1 5 Cable Length [m(ft)] 0.5 (1.64) 1 (3.28) 5 (16.
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12. OPTIONS AND AUXILIARY EQUIPMENT (5) Battery cable When fabricating, use the recommended wire given in Section 12.2.1 and fabricate as in the connection diagram shown in this section. (a) Definition of model Model: MR-J2MBTCBL M Symbol 03 1 Cable Length L [m(ft)] 0.3 (0.1) 1 (3.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and analog monitor are used at the same time.
12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing [Unit: mm] ([Unit: in]) CN3A CN3B CN3C A1 A6 B1 75(2.95) MR-J2CN3TM 2- 5.3(0.21)(mounting hole) B6 TE1 3(0.12) 88(3.47) 41.5(1.63) 100(3.94) Mass: 110g(0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 MR Configurator (servo configurations software) POINT Required to assign devices to the pins of CN4A and CN4B of the MRJ2M-D01 extension IO unit. The MR Configurator (servo configuration software) uses the communication function of the interface unit to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Description Communication signal Conforms to RS-232C.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliary equipment Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/CUL(CSA) Standard, use the products which conform to the corresponding standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.2 Wires for option cables Type Model MR-JCCBL M-L Encoder cable MR-JCCBL M-H MR-JC4CBL M-H Communication MR-CPCATCBL3M cable MR-J2HBUS M MR-J2HBUS M-A Bus cable Q172J2BCBL M Q173J2B CBL M Battery unit MR-J2MBATCBL M cable Length [m(ft)] 2 to 10 (6.56 to 32.8) 20 30 (65.6 98.4) 2 5 (6.56 16.4) 10 to 50 (32.8 to 164) 30 to 50 (98.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.3 Power factor improving reactors The input power factor is improved to be about 90%. Make selection as described below according to the sum of the outputs of the servo motors connected to one base unit. [Unit : mm] ([Unit : in.]) H 5(0.2) NFB MC 3-phase 200 to 230VAC R FR-BAL X S Y T Z NFB Installation screw D 5(0.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.4 Relays The following relays should be used with the interfaces: Interface Selection example Relay used for digital input signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less (Ex.) Omron : type MY 12.2.5 Surge absorbers A surge absorber is required for the electromagnetic brake.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Reduction techniques for external noises that cause MELSERVO-J2M to malfunction If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near MELSERVO-J2M and MELSERVO-J2M may malfunction, the following countermeasures are required. Provide surge absorbers on the noise sources to suppress noises. Attach data line filters to the signal cables.
12. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the MELSERVO-J2M or run near MELSERVO-J2M, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.
12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near MELSERVO-J2M is shown below. Use this product or equivalent. MC Surge suppressor Relay Surge suppressor Surge suppressor This distance should be short (within 20cm(0.79 in.)). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Outline drawing [Unit: mm] ([Unit: in.
12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole installation hole AERSBAN-DSET AERSBAN-ESET A B C 100 86 30 (3.94) (3.39) (1.18) 70 56 (2.76) (2.20) Accessory fittings Clamp fitting clamp A: 2pcs. A clamp B: 1pc. B 12 - 32 L 70 (2.76) 45 (1.77) (0.940) 0.3 0 24 Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type 10(0.39) A 35(1.38) 11(0.43) (0.24) C 22(0.
12. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of MELSERVO-J2M and also in suppressing high-frequency leakage current side (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] ([Unit: in.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the base unit, servo motor, etc. securely.
12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.8 EMC filter For compliance with the EMC directive of the EN standard, it is recommended to use the following filter: (1) Combination with the base unit Base unit Recommended filter Model Leakage current [mA] SF1253 57 Mass [kg(lb)] MR-J2M-BU4 MR-J2M-BU6 1.37 (3.02) MR-J2M-BU8 (2) Connection example EMC filter NFB LINE (Note 2) Power supply (Note 1) Base unit LOAD L1 L1 L1 L2 L2 L2 L3 L3 L3 L11 L21 Note 1.
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13. ABSOLUTE POSITION DETECTION SYSTEM 13. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase (A.25) or an absolute position counter warning (A.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. 13.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.2 Specifications (1) Specification list POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries.
13. ABSOLUTE POSITION DETECTION SYSTEM 13.3 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Click "Diagnostics" in the menu and click "Absolute Encoder Data" in the menu: (2) Clicking "Absolute Encoder Data" displays the following window. (3) Click the "Close" button to close the window.
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Command pulses PP, NP Command pulse frequency App - 1 Cumulative feedback pulses CMX CDV Electronic gear Cumulative command pulses Load inertia moment ratio Speed control Current control low Within-onerevolution position high Current position calculation Speed feedback Servo motor speed Differentiation Position control Auto tuning section Droop pulses Instantaneously occurring torque ABS counter Absolute position encoder Servo M motor Within-onerevolution position ABS counter PWM Pe
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Apr., 2001 SH(NA)030012-A First edition Jan., 2002 SH(NA)030012-B Addition of FOR MAXIMUM SAFETY CONFORMANCE WITH UL/C-UL STANDARD: Capacitor discharge time changed to 1[min] Addition of (6) Attachment of a servo motor Section 1.2: Addition of the case with 1-phase 200 to 230VAC power supply Section 1.
Print Data *Manual Number Jan., 2002 SH(NA)030012-B Revision Section 12.2.6 (2) (b): Diode mounting diagram modification Section 12.2.7 (1): Our leakage current breaker product model name changing Addition of MR-J2M-70DU to Table 12.4 Section 12.2.8 (2): Addition of the case with 1-phase 200 to 230VAC power supply Section 13.2 (1): Reexamination of table Sept., 2002 SH(NA)030012-C Safety Instructions: Addition of About wiring protection Addition of EEP-ROM life Section 1.
Print Data *Manual Number Apr., 2003 SH(NA)030012-D Revision Section 9.2: Reexamination of cause and action in FA. 12 to 15 Addition of cause and action to FA. 37 Reexamination of A.50# definition Addition of "During rotation: 2.5s or more" to A.51# Section 10.3 (3): Change to applicable tool 91560-1 Section 10.3 (6): Addition Section 12.1.2 (1): Reexamination of motion controller-compatible bus cable in Note Bus cable addition Section 12.1.2 (4): Reexamination of contents Section 12.2.
Print Data *Manual Number Oct., 2005 SH(NA)030012-G Revision Section 9.3: Reexamination of Cause 2 of DRU parameter No.@A. 92# Partial addition of the cause of IFU parameter No.FA. 9F Correction of the contents of IFU parameter No.FA. E9 Section 10.2: Addition of mounting screw and tightening torque Section 11.1: Reexamination of CAUTION sentence Chapter 12: WARNING sentence partial change Section 12.1.1 (4) (b): Reexamination of outline dimension drawing Section 12.1.
MODEL MODEL CODE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030012-G (0510) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.