Instruction manual

ManualsBrandsMitsubishi ManualsAmplifierMelservo-J2-SUPER series

General-Purpose AC Servo

J2-Super Series

SH (NA) 030017-G (0709) MEE Printed in Japan Specifications subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

MR-J2S- CP

SERVO AMPLIFIER

INSTRUCTION MANUAL

Built-In Positioning Function

MR-J2S- CP Servo Amplifier Instruction Manual

MODEL

CODE

J2-Super Series

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

Summary of content (357 pages)

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General-Purpose AC Servo J2-Super Series Built-In Positioning Function J2-Super Series MODEL MR-J2S- CP SERVO AMPLIFIER INSTRUCTION MANUAL MR-J2S- CP Servo Amplifier Instruction Manual G MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030017-G (0709) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
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Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
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1. To prevent electric shock, note the following: WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and servo motor to ground.
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. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
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CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take 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.
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(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. (4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work.
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(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier 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 Specifications and Instruction Manual may have been drawn without covers and safety guards.
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COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
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(4) Power supply (a) Operate the servo amplifier 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.
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CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier series :MR-J2S-10CP to MR-J2S-700CP MR-J2S-10CP1 to MR-J2S-40CP1 Servo motor series :HC-KFS HC-MFS HC-SFS HC-RFS HC-UFS HA-LFS HC-LFS (2) Installation Install a cooling fan of 100CFM (2.8m3/min) air flow 4 [in] (10.16 [cm]) above the servo amplifier or provide cooling of at least equivalent capability.
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MEMO A - 10
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CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-26 1.1 Introduction.............................................................................................................................................. 1- 1 1.1.1 Function block diagram ................................................................................................................... 1- 1 1.1.2 System configuration....................................................................................................................
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3.10 Grounding ............................................................................................................................................. 3-37 3.11 Servo amplifier terminal block (TE2) wiring method ....................................................................... 3-38 3.11.1 For the servo amplifier produced later than Jan. 2006 ............................................................. 3-38 3.11.2 For the servo amplifier produced earlier than Dec. 2005...........................
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5.2.5 Changing the stop pattern using a limit switch ........................................................................... 5-24 5.2.6 Alarm history clear.......................................................................................................................... 5-24 5.2.7 Rough match output ........................................................................................................................ 5-24 5.2.8 Software limit......................................................
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7.10.2 Position data setting method........................................................................................................ 7-25 8. GENERAL GAIN ADJUSTMENT 8- 1 to 8-12 8.1 Different adjustment methods ............................................................................................................... 8- 1 8.1.1 Adjustment on a single servo amplifier.......................................................................................... 8- 1 8.1.
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13. CHARACTERISTICS 13- 1 to 13- 8 13.1 Overload protection characteristics ................................................................................................... 13- 1 13.2 Power supply equipment capacity and generated loss .................................................................... 13- 2 13.3 Dynamic brake characteristics........................................................................................................... 13- 4 13.3.1 Dynamic brake operation...................
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15.11 Command and data No. list............................................................................................................. 15-11 15.11.1 Read commands ......................................................................................................................... 15-11 15.11.2 Write commands ........................................................................................................................ 15-14 15.12 Detailed explanations of commands..........................
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Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo Amplifier Instruction Manual. 1. INTRODUCTION 2. INSTALLATION 3. CONNECTORS USED FOR SERVO MOTOR WIRING 4. INSPECTION 5. SPECIFICATIONS 6. CHARACTERISTICS 7. OUTLINE DIMENSION DRAWINGS 8.
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MEMO 8
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J2S-CP AC servo amplifier with built-in positioning functions is the MR-J2S-A general-purpose AC servo amplifier which incorporate single-axis positioning functions. These functions perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in parameters.
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1.
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1.
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1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration This section describes operations using this servo. You can arrange any configurations from a single-axis to max. 32-axis systems. Further, the connector pins in the interface section allow you to assign the optimum signals to respective systems. (Refer to sections 1.1.3 and 3.3.2.) The MR Configurator (servo configuration software) (refer to chapter 6) and personal computer are required to change or assign devices.
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1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communication can be used to change the point table data, choose the point table, change parameter values, and confirm monitor data, for example. Enter a forward rotation start (ST1) or reverse rotation start (ST2) through the external I/O. Use this system when position data/speed setting or the host personal computer or the like is used to change the parameter values, for example.
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1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system.
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1. FUNCTIONS AND CONFIGURATION (3) Operation using communication (a) Description Analog input, forced stop (EMG) and other signals are controlled by external I/O signals and the other devices controlled through communication. Also, you can set each point table, choose the point table, and change or set parameter values, for example. Up to 32 axes may be controlled. (b) Configuration 1) One servo amplifier is connected with the personal computer by RS-232C.
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1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo amplifiers are connected with the personal computer by RS-422. Use parameter No. 16 to change the communication system.
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1. FUNCTIONS AND CONFIGURATION 1.1.3 I/O devices This servo amplifier allows devices to be allocated to the pins of connector CN1A/CN1B as desired. The following devices can be allocated. For device details, refer to section 3.3.2.
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1. FUNCTIONS AND CONFIGURATION 1.
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1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J2S10CP 20CP 40CP 60CP 70CP 100CP 200CP 350CP 500CP 700CP 10CP1 20CP1 40CP1 Item Operation mode Home position ignorance (Servo-on position as home position) Manual home position return mode Dog type rear end reference Count type front end reference Dog cradle type Automatic positioning to home position Position where servo-on (SON) is switched on is defined as home position. Home position address may be set.
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1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Positioning by automatic operation Select the required ones from among 31 preset point tables and perform operation in accordance with the set values. Use the external input signal or communication function to choose the point tables. Section 4.
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1. FUNCTIONS AND CONFIGURATION Function Description Reference Analog monitor The servo status is output in terms of voltage in real time. Alarm history By using the MR Configurator (servo configuration software), the current alarm and five past alarm numbers are stored and displayed. Section 6.8 I/O signal selection (Device setting) By using the MR Configurator (servo configuration software), any devices can be assigned to 9 input, 5 output and 1 I/O pins. Section 6.
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1. FUNCTIONS AND CONFIGURATION (2) Model MR–J2S– CP MR–J2S–100CP or less Series MR–J2S–200CP 350CP Power Supply Symbol Power supply None 3-phase 200 to 230VAC (Note 1) 1-phase 230VAC (Note 2) 1-phase 100V to 120VAC 1 Rating plate Note 1. 1-phase 230V is supported by 750W or less. 2. 1-phase 100V to 120V is supported by 400W or less.
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1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Part names (1) MR-J2S-100CP or less Name/Application Reference Battery holder Contains the battery for absolute position data backup. Section4.5 Battery connector (CON1) Used to connect the battery for absolute position data backup. Section4.5 Display The 5-digit, seven-segment LED shows the servo status and alarm number. Chapter7 Operation section Used to perform status display, diagnostic, alarm, parameter and point table setting operations.
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1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CP MR-J2S-350CP POINT This servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. MODE UP DOWN SET Name/Application Reference Battery holder Contains the battery for absolute position data backup. Section4.5 Battery connector (CON1) Used to connect the battery for absolute position data backup. Section4.5 Display The 5-digit, seven-segment LED shows the servo status and alarm number.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CP POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Battery connector (CON1) Used to connect the battery for absolute position data backup. Battery holder Contains the battery for absolute position data backup. Display The 5-digit, seven-segment LED shows the servo status and alarm number. MODE UP DOWN Reference Section4.5 Section4.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CP POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to next page. Name/Application MODE UP DOWN SET Reference Battery connector (CON1) Used to connect the battery for absolute position data backup. Section4.5 Battery holder Contains the battery for absolute position data backup. Section4.5 Display The 5-digit, seven-segment LED shows the servo status and alarm number.
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1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
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1. FUNCTIONS AND CONFIGURATION (3) For MR-J2S-700CP Reinstallation of the front cover Removal of the front cover Front cover hook (2 places) A) B) 2) 2) 1) A) 1) Front cover socket (2 places) 1) Push the removing knob A) or B), and put you finger into the front hole of the front cover. 2) Pull the front cover toward you. 1) Insert the two front cover hooks at the bottom into the sockets of the servo amplifier. 2) Press the front cover against the servo amplifier until the removing knob clicks.
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1. FUNCTIONS AND CONFIGURATION 1.7 Servo system with auxiliary equipment To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. WARNING (1) MR-J2S-100CP or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC (Note 2) Power supply Options and auxiliary equipment Options and auxiliary equipment Reference Circuit breaker Section 14.2.2 Cables Section 14.2.
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1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC (Note 2) Power supply Options and auxiliary equipment Options and auxiliary equipment Reference Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 External digital display Section 14.1.7 MR Configurator (Servo configuration software) Circuit breaker (NFB) or fuse Reference Circuit breaker Regenerative option Chapter 6 Section 14.1.
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1. FUNCTIONS AND CONFIGURATION (2) MR-J2S-200CP MR-J2S-350CP (Note) Power supply Circuit breaker (NFB) or fuse Options and auxiliary equipment Options and auxiliary equipment Reference Reference Circuit breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 External digital display Section 14.1.7 MR Configurator (Servo configuration software) Regenerative option Chapter 6 Power factor improving reactor Section 14.2.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J2S-500CP (Note 2) Power supply Options and auxiliary equipment Circuit breaker (NFB) or fuse Reference Options and auxiliary equipment Reference Circuit breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 External digital display Section 14.1.7 MR Configurator (Servo configuration software) Regenerative option Chapter 6 Section 14.1.1 Power factor improving reactor Section 14.2.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J2S-700CP Options and auxiliary equipment (Note 2) Power supply Reference Options and auxiliary equipment Reference Circuit breaker Section 14.2.2 Cables Section 14.2.1 Magnetic contactor Section 14.2.2 Manual pulse generator Section 14.1.8 External digital display Section 14.1.7 MR Configurator (Servo configuration software) Regenerative option Chapter 6 Section 14.1.1 Power factor improving reactor Section 14.2.
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1.
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2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead 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.
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2. INSTALLATION 2.2 Installation direction and clearances CAUTION Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop. The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) Installation of one servo amplifier Control box Control box 40mm (1.6 in.) or more Servo amplifier Wiring clearance 70mm (2.8 in.) Up 10mm (0.4 in.
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2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. Control box 10mm (0.4 in.) or more 100mm (4.0 in.) or more 30mm (1.2 in.) or more 30mm (1.2 in.) or more 40mm (1.6 in.
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2. INSTALLATION 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) supplied with the servo motor, and flex the optional encoder cable or the power supply and brake wiring cables. Use the optional encoder cable within the flexing life range.
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3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. WARNING Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
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3. SIGNALS AND WIRING 3.1 Standard connection example Servo amplifier (Note 3, 7) (Note 3, 7) CN1A CN1A DOG 8 9 COM Proximity dog 10m (32.79ft.) or less 10 18 Forward rotation stroke end Reverse rotation stroke end Automatic/manual selection Point table No. selection 1 Point table No.
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3. SIGNALS AND WIRING 3.2 Internal connection diagram of servo amplifier This section gives the internal connection diagram where the signal assignment is in the initial status. Servo amplifier CN1B VDD 3 COM 13 24VDC CN1A CN1A COM 18 9 ZP Approx. 4.7k DOG 8 SG 10, 20 CN1B CN1B DI0 5 4 CPO 6 MEND 18 ALM 19 RD Approx. 4.7k MD0 7 Approx. 4.7k ST1 8 Approx. 4.7k ST2 9 DI1 14 SON 15 LSP 16 Approx. 4.7k Approx. 4.7k LSN 17 SG 10, 20 Approx. 4.7k CN1A Approx. 4.
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3. SIGNALS AND WIRING 3.3 I/O signals 3.3.1 Connectors and signal arrangements POINT The connector pin-outs shown above are viewed from the cable connector wiring section side.
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3. SIGNALS AND WIRING 3.3.2 Signal (devices) explanations (1) I/O devices POINT The devices not indicated in the Connector Pin No. field of the I/O devices can be assigned to the connector CN1A/CN1B using the MR Configurator (servo configuration software). (a) Pins whose devices can be changed Refer to section 3.6.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Pin type Connector pin No. Input-only pins I/O division Point table No.
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3. SIGNALS AND WIRING Device name Forward rotation stroke end Devices Connector symbol pin No. LSP CN1B 16 Functions/Applications To start operation, short LSP-SG and/or LSN-SG. Open them to bring the motor to a sudden stop and make it servo-locked. Set " 1" in parameter No. 22 to make a slow stop. (Refer to section 5.2.5.) (Note) Input signal LSP Reverse rotation stroke end LSN CN1B 17 LSN 1 1 0 1 1 0 0 0 Operation CCW direction CW direction Note.
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3. SIGNALS AND WIRING Device name Devices Connector symbol pin No. Point table No. selection 1 DI0 CN1B 5 Point table No. selection 2 DI1 CN1B 14 Point table No. selection 3 DI2 Point table No. selection 4 DI3 Point table No. selection 5 DI4 Functions/Applications The following table lists the point table numbers that may be chosen by the combinations of DI0, DI1, DI2, DI3 and DI4.
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3. SIGNALS AND WIRING Device name Temporary stop/Restart Manual pulse generator multiplication 1 Manual pulse generator multiplication 2 Devices Connector Functions/Applications symbol pin No. STP Short STP-SG during automatic operation to make a temporary stop. Short STPSG again to make a restart. Shorting the forward rotation start (ST1) or reverse rotation start (ST2) during a temporary stop is ignored.
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3. SIGNALS AND WIRING (c) Output devices Devices Connector Functions/Applications symbol pin No. Trouble ALM CN1B ALM-SG are disconnected when power is switched off or the protective circuit is 18 activated to shut off the base circuit. Without alarm, ALM-SG are connected within about 1s after power-on. Ready RD CN1B RD-SG are connected when the servo is switched on and the servo amplifier is 19 ready to operate.
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3. SIGNALS AND WIRING Device name Devices Connector symbol pin No. Point table No. output 1 PT0 Point table No. output 2 PT1 Point table No. output 3 Functions/Applications As soon as Movement finish (MEND) turns on, the point table No. is output as a 5bit code. Point table No. PT3 PT2 PT1 0 0 0 0 0 1 0 0 0 0 1 2 0 0 0 1 0 3 0 0 0 1 1 4 0 0 1 0 0 5 0 0 1 0 1 6 0 0 1 1 0 7 0 0 1 1 1 8 0 1 0 0 0 PT2 Point table No.
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3. SIGNALS AND WIRING (2) Input signal For the input interfaces (symbols in I/O column in the table), refer to section 3.6.2. Signal Signal symbol Functions/Applications Manual pulse generator NP CN1A-3 Used to connect the manual pulse generator (MR-HDP01). CN1A-2 For details, refer to section 14.1.8. Override VC CN1B-2 TLA CN1B 12 Analog torque limit PP Connector pin No. I/O division 10 to 10V is applied to across VC-LG to limit the servo motor speed.
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3. SIGNALS AND WIRING (4) Communication POINT Refer to chapter 15 for the communication function. Signal RS-422 I/F Signal symbol Connector pin No. SDP CN3 9 CN3 19 CN3 5 CN3 15 RS-422 and RS-232C functions cannot be used together. Choose either one in parameter No. 16. SDN RDP RDN Functions/Applications RS-422 termination TRE CN3 10 Termination resistor connection terminal of RS-422 interface. When the servo amplifier is the termination axis, connect this terminal to RDN (CN3-15).
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3. SIGNALS AND WIRING 3.4 Detailed description of signals (devices) 3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart (1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD).
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3. SIGNALS AND WIRING 3.4.2 Movement finish Rough match In position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement finish (MEND), Rough-match, (CPO) and In position (INP) are turned on. To resume operation, confirm the current position and the selected point table No. for preventing unexpected operation.
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3. SIGNALS AND WIRING (3) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No. 6 (in-position range). INP-SG are connected in the servo-on status.
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3. SIGNALS AND WIRING 3.4.3 Override POINT When using the override (VC), make the override selection (OVR) device available. The override (VC) may be used to change the servo motor speed. The following table lists the signals and parameter related to the override. Item Name Analog input signal Override (VC) Contact input signal Override selection (OVR) Parameter No.25 override offset Remarks MR Configurator (servo configuration software) setting required.
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3. SIGNALS AND WIRING 3.4.4 Torque limit POINT To use the torque limit, make the external torque limit selection (TL) and internal torque limit selection (TL2) available. The following table lists the signals and parameters related to the torque limit. Item Name Analog input signal Remarks Analog torque limit (TLA) External torque limit selection (TL) Internal torque limit selection (TL2) Limiting torque (TLC) No.28 (internal torque limit 1) No.29 (internal torque limit 2) No.
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3. SIGNALS AND WIRING (3) External torque limit selection (TL), internal torque limit selection (TL2) To use the external torque limit selection (TL) and internal torque limit selection (TL2), make them available using the MR Configurator (servo configuration software) (refer to chapter 6). These input signals may be used to choose the torque limit values made valid. (Note) External input signals TL2 0 TL 0 0 1 1 0 1 1 Torque limit value made valid Internal torque limit value 1 (parameter No.
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3. SIGNALS AND WIRING 3.5 Alarm occurrence timing chart CAUTION 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, turn off Servo-on (SON) and power off. When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
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3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. CN1A CN1B CN1A CN1B 24VDC VDD ALM,etc COM DO-1 SON,etc. Dl-1 RA SG OPC Manual pulse generator MR-HDP01 5V PP(NP) A(B) SG 0V SG 5V OP LG 15VDC 10% 30mA P15R LA,etc Differential line driver output 35mA or less LAR,etc LG SD TLA VC, etc. Analog input ( 10V/max.
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3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in sections 3.3.2. Refer to this section and connect the interfaces with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Source input is also possible. Refer to (6) of this section.
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3. SIGNALS AND WIRING (b) Lamp load For use of internal power supply For use of external power supply Servo amplifier 24VDC Servo amplifier 24VDC VDD Do not connect VDD-COM. VDD COM COM R R ALM, etc ALM, etc SG SG (Note) 24VDC 10% Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source. (3) Encoder pulse output DO-2 (a) Open collector system Interface Max.
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3. SIGNALS AND WIRING 2) Output pulse Servo motor CCW rotation LA LAR The time cycle (T) is determined by the setting of the parameter No. 27 and 58. T LB LBR /2 LZ LZR 400 s or more OP (4) Analog input Input impedance 10k to 12k Servo amplifier 15VDC P15R 2k Upper limit setting 2k VC‚ etc LG SD Approx. 10k (5) Analog output Output voltage 10V Max.1mA Max.
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3. SIGNALS AND WIRING (6) Source input interface When using the input interface of source type, all Dl-1 input signals are of source type. Source output cannot be provided. For use of internal power supply For use of external power supply Servo amplifier Servo amplifier SG COM (Note) For a transistor Approx. 5mA SG R: Approx. 4.7k SON, etc. Switch Switch VDD TR R: Approx. 4.7k COM SON,etc. 24VDC 24VDC 200mA or more VCES 1.0V ICEO 100 A Note.
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3. SIGNALS AND WIRING 3.7 Input power supply circuit CAUTION Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. Use the trouble signal to switch power off.
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3. SIGNALS AND WIRING (2) For 1-phase 100 to 120VAC or 1-phase 230VAC power supply Forced RA stop OFF ON MC MC SK Power supply 1-phase 100 to 120VAC or 1-phase 230VAC NFB MC L1 Servo amplifier L2 L3 (Note) L11 L21 EMG Forced stop Servo-on SON SG VDD COM ALM Note : Not provided for 1-phase 100 to 120VAC.
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3. SIGNALS AND WIRING 3.7.2 Terminals The positions and signal arrangements of the terminal blocks change with the capacity of the servo amplifier. Refer to section 12.1. Symbol Connection Target (Application) Description Supply L1, L2 and L3 with the following power. For 1-phase 230VAC, connect the power supply to L1/L2 and leave L3 open.
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3. SIGNALS AND WIRING 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.7.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V single-phase 100V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
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3. SIGNALS AND WIRING 3.8 Connection of servo amplifier and servo motor 3.8.1 Connection instructions WARNING CAUTION Insulate the connections of the power supply terminals to prevent an electric shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier 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.
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3. SIGNALS AND WIRING Servo motor Connection diagram Servo motor Servo amplifier U (Red) U V W V (White) W (Black) Motor (Green) (Note 1) 24VDC B1 HC-KFS053 (B) to 73 (B) HC-MFS053 (B) to 73 (B) HC-UFS13 (B) to 73 (B) B2 EMG To be shut off when servo-on (SON) switches off or by Trouble (ALM) (Note 2) Electromagnetic brake CN2 Encoder Encoder cable Note 1.
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3. SIGNALS AND WIRING 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series Encoder connector signal arrangement Power supply lead 4-AWG19 0.3m (0.98ft.) a Encoder cable 0.3m (0.98ft.
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3. SIGNALS AND WIRING (2) HC-SFS HC-RFS HC-UFS2000 r/min series Servo motor side connectors Servo motor For power supply For encoder HC-SFS81(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502 (B) HC-SFS203(B) 353(B) HC-RFS103(B) to 203 (B) Encoder connector HC-RFS353(B) b Brake connector c HC-UFS72(B) Power supply connector shared.
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3. SIGNALS AND WIRING 3.9 Servo motor with electromagnetic brake Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external forced stop (EMG). Contacts must be open when servo-on (SON) is off or when a trouble (ALM) is present when a electromagnetic brake interlock (MBR). Servo motor Circuit must be opened during forced stop (EMG).
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3. SIGNALS AND WIRING (3) Timing charts (a) Servo-on (SON) command (from controller) ON/OFF Tb (ms) after servo-on (SON) is switched off, 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. For use in vertical lift and similar applications, therefore, set delay time (Tb) to the time which is about equal to the electromagnetic brake operation delay time and during which the load will not drop.
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3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake Servo motor speed Forward rotation 0r/min Dynamic brake Electromagnetic brake Electromagnetic brake (10ms) ON Base circuit OFF Electromagnetic brake interlock (MBR) Trouble (ALM) (Note) ON Electromagnetic brake operation delay time OFF No (ON) Yes (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
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3. SIGNALS AND WIRING (e) Only main circuit power supply off (control circuit power supply remains on) Servo motor speed Base circuit Electromagnetic brake interlock (MBR) Trouble (ALM) Main circuit power supply Forward rotation 0r/min (10ms) (Note 1) 15 or more Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake ON OFF (Note 3) ON OFF Electromagnetic brake operation delay time (Note 2) No (ON) Yes (OFF) ON OFF Note 1. Changes with the operating status. 2.
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3. SIGNALS AND WIRING 3.10 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
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3. SIGNALS AND WIRING 3.11 Servo amplifier terminal block (TE2) wiring method POINT Refer to Table 14.1 in section 14.2.1 for the wire sizes used for wiring. 3.11.1 For the servo amplifier produced later than Jan. 2006 (1) Termination of the cables (a) Solid wire After the sheath has been stripped, the cable can be used as it is. Sheath Core Approx. 10mm (b) Twisted wire 1) When the wire is inserted directly Use the cable after stripping the sheath and twisting the core.
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3. SIGNALS AND WIRING (2) Termination of the cables (a) When the wire is inserted directly Insert the wire to the end pressing the button with a small flat blade screwdriver or the like. Button Small flat blade screwdriver or the like When removing the short-circuit bar from across P-D, press the buttons of P and D alternately pulling the short-circuit bar. For the installation, insert the bar straight to the end.
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3. SIGNALS AND WIRING 3.11.2 For the servo amplifier produced earlier than Dec. 2005 1) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Approx. 10mm (0.39inch) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault.
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3. SIGNALS AND WIRING Flat-blade screwdriver Tip thickness 0.4 to 0.6mm (0.016 to 0.024in.) Overall width 2.5 to 3.5mm (0.098 to 0.138in.) To loosen. To tighten. Cable Opening Control circuit terminal block Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The following table indicates the recommended products of the torque screwdriver for tightening torque management and the flat-blade bit for torque screwdriver.
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3. SIGNALS AND WIRING 3.12 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 4. OPERATION 4.1 When switching power on for the first time 4.1.1 Pre-operation checks Before starting operation, check the following. (1) Wiring (a) A correct power supply is connected to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier. (b) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor.
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4. OPERATION 4.1.2 Startup WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc.since they may be hot while power is on or for some time after power-off.
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4. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo-on (SON). 2) When main circuit power/control circuit power is switched on, "PoS" (Current position) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (AL.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.
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4. OPERATION (f) Home position return Perform home position return as required. Refer to section 4.4 for home position return types. A parameter setting example for dog type home position return is given here. Parameter Name Setting Description 000 Dog type home position return is selected. Home position return is started in address incremented direction. Proximity dog (DOG) is valid when DOGSG are opened. No.8 Home position return type No.9 No.10 No.
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4. OPERATION 4.2 Automatic operation mode 4.2.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (ST1) or reverse rotation start (ST2). Automatic operation has the absolute value command system, incremental value command system and absolute value command/incremental value command specifying system.
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4. OPERATION (2) Point table (a) Point table setting Up to 15 point tables may be set. To use point table No.s 4 to 31, however, the point table No. selection 3 (DI2), point table No. selection 4 (DI3) and point table No. selection 5 (DI4) should be made valid in "I/O Devices" on the MR Configurator (servo configuration software). Set the point tables using the MR Configurator (servo configuration software) or the servo amplifier operation section. The following table lists what to set. Refer to section 4.
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4. OPERATION (Note 2) Input signals Selected point table No.
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4. OPERATION 4.2.2 Absolute value command system (1) Point table Set the point table values using the MR Configurator (servo configuration software) or from the operating section. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. The following table gives a setting example.
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4. OPERATION (b) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on. Parameter No. 1 setting Servo motor rotation direction when forward rotation start (ST1) is switched on 0 CCW rotation with position data CW rotation with position data 1 CW rotation with position data CCW rotation with position data CCW CW (c) Feed length multiplication selection (parameter No.
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4. OPERATION 4.2.3 Incremental value command system (1) Point table Set the point table values using the MR Configurator (servo configuration software) or from the operating section. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. The following table gives a setting example. Name Setting range Unit Description Position data 0 to 999999 10STM m Set the moving distance. The teaching function is unusable.
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4. OPERATION (b) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on. Parameter No.
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4. OPERATION 4.2.4 Absolute value command/incremental value command specifying system This system is an auxiliary function for point tables to use them by specifying the absolute value command and incremental value command. (1) Point table Set each value of point tables by using MR Configurator (Setup software) or operation section. Set to point tables the following, "Position data", "Servo motor speed", "Acceleration time constant", "Deceleration time constant", "Dwell time" and "Auxiliary function".
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4. OPERATION (2) Parameter setting Set the following parameters to perform automatic operation. (a) Command mode selection (parameter No.0) Choose the absolute value command/incremental value command specifying system. Parameter No. 0 2 Absolute value command/incremental value command specifying system (b) ST1 coordinate system selection (parameter No.1) Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on.
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4. OPERATION 4.2.5 Automatic operation timing chart The timing chart is shown below. Automatic/manual selection (MD0) Servo-on (SON) Forward rotation start (ST1) Reverse rotation start (ST2) (Note 1) ON OF ON OF ON OF ON OF (Note 2) 3ms or more 5ms or more 3ms or more 5ms or more 1 Point table No. 2 3ms or less Forward rotation Servo motor speed 0r/min Reverse rotation In position (INP) Rough match (CPO) Movement finish (MEND) Point table No. 1 Point table No. 2 ON OF ON OF ON OF Point No.
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4. OPERATION 4.2.6 Automatic continuous operation (1) What is automatic continuous operation? By merely choosing one point table and making a start (ST1 or ST2), operation can be performed in accordance with the point tables having consecutive numbers. Automatic operation is available in two types: varied speed operation and automatic continuous positioning operation. Either type may be selected as follows.
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4. OPERATION (a) Absolute value command system 1) Positioning in single direction The position data (addresses) of the midway point tables are not used for positioning and speed is changed continuously to move to the set address in the last point table. The operation example given below assumes that the set values are as indicated in the following table. Point table No. Position data [ 10STM m] Servo motor speed [r/min] 1 5.00 3000 100 150 0 1 2 10.00 2000 Invalid Invalid 0 1 3 15.
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4. OPERATION 2) Positioning that reverses the direction midway The position data (addresses) of the midway point tables are used for positioning and the direction is reversed to reach the positioning address set in the last point table. The operation example given below assumes that the set values are as indicated in the following table. Point table No. Position data [ 10STM m] Servo motor speed [r/min] 1 10.00 3000 100 150 0 1 2 5.
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4. OPERATION (b) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table. Point table No. Position data [ 10STM m] Servo motor speed [r/min] 1 5.00 3000 100 150 0 1 2 6.00 2000 Invalid Invalid 0 1 3 3.
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4. OPERATION (c) Absolute value command/incremental value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. 1) Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No.
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4. OPERATION 2) Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2 the incremental value command system, and the point table No. 3 the absolute value system. Point table No. Position data [ 10STM m] Servo motor speed [r/min] 1 5.00 3000 100 150 0 1 2 7.00 2000 Invalid Invalid 0 1 3 8.
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4. OPERATION (4) Temporary stop/restart When STP-SG are connected during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When STP-SG are connected again, the remaining distance is executed. If the forward/reverse rotation start signal is ignored if it is switched on during a temporary stop.
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4. OPERATION 4.3 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 4.3.1 Jog operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 5 (DI0 to DI4) are invalid. Item Setting method Manual operation mode selection Description Automatic/manual selection (MD0) Open MD0-SG (OFF).
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4.
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4. OPERATION 4.3.2 Manual pulse generator operation (1) Setting Set the input signal and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 5 (DI0 to DI4) are invalid. Item Setting method Manual operation mode selection Description Automatic/manual selection (MD0) Open MD0-SG (OFF). Manual pulse generator multiplication Parameter No.1 Set the multiplication ratio of servo motor rotation to the pulses generated by the manual pulse generator.
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4. OPERATION (b) Using the input signals for setting Set the pulse generator multiplication 1 (TP0) and pulse generator multiplication 2 (TP1) to the input signals in "Device setting" on the MR Configurator (servo configuration software) (refer to chapter 6). (Note) Pulse generator multiplication 1 (across TP0) Multiplication ratio of servo motor rotation to manual pulse generator rotation 0 0 Parameter No.
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4. OPERATION 4.4 Manual home position return mode 4.4.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
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4. OPERATION (2) Home position return parameter When performing home position return, set parameter No.8 as follows. Parameter No.
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4. OPERATION 4.4.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. (1) Signals, parameters Set the input signals and parameters as follows.
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4. OPERATION (3) Timing chart Movement finish (MEND) ON OFF Rough match (CPO) ON OFF Home position return ON completion (ZP) OFF Point table No. 1 Acceleration time constant Servo motor speed Point table No. 1 Home position return speed Parameter No. 9 Deceleration time constant Creep speed Parameter No.
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4. OPERATION 4.4.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.43 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Zphase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length.
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4. OPERATION 4.4.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation, manual pulse generator operation or like can be used for movement. (1) Signals, parameters Set the input signals and parameters as follows. Item Device/Parameter used Automatic/manual selection (MD0) Manual home position return mode selection Description Short MD0-SG (ON). Point table No.
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4. OPERATION 4.4.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation, manual pulse generator operation or the like to make a home position return and that position is defined as a home position. (1) Signals, parameters Set the input signals and parameters as follows. Item Device/Parameter used Automatic/manual selection (MD0) Manual home position return Point table No.
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4. OPERATION (2) Timing chart Automatic/manual selection (MD0) ON Movement finish (MEND) ON Rough match (CPO) ON Home position return completion (ZP) ON OFF OFF OFF OFF Point table No.1 Acceleration time constant Home position return speed Parameter No.9 Home position address Parameter No. 42 Servo motor speed 3ms or less Forward rotation start (ST1) ON Forward rotation start (ST2) ON Limiting torque (TLC) Stopper 5ms or more OFF OFF Stopper time Parameter No. 44 ON OFF Parameter No.
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4. OPERATION 4.4.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Signals, parameter Set the input signals and parameter as follows. Item Device/Parameter used Home position ignorance Parameter No.8 Home position return position data Description 4 : Home position ignorance is selected. Use to set the current position on completion of home position return. Parameter No.
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4. OPERATION 4.4.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 200 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.
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4. OPERATION 4.4.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 200 pulses will occur in the home position. The error of the home position is larger as the home position return speed is higher.
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4. OPERATION 4.4.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Signals, parameters Set the input signals and parameters as indicated below. Item Device/Parameter used Description Automatic/manual selection (MD0) Manual home position return mode Point table No. selection 1 (DI0) selection Point table No. selection 2 (DI1) Dog cradle type home position return Parameter No.
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4. OPERATION 4.4.10 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made. (1) When the current position is at the proximity dog When the current position is at the proximity dog, an automatic return is made before home position return.
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4. OPERATION 4.4.11 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.
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4. OPERATION 4.5 Absolute position detection system CAUTION If an absolute position erase alarm (AL.25) or an absolute position counter warning (AL.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. POINT When the following parameters are changed, the home position is lost when turning on the power after the change. Execute the home position return again when turning on the power. First digit of parameter No.1 (ST1 coordinate system selection) Parameter No.
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4. OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-BAT or A6BAT Use a standard model. Encoder cable When fabricating, refer to (2), section 14.1.4. (4) Outline of absolute position detection data communication 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.
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4. OPERATION 1) Open the operation window. (When the model used is the MR-J2S-200CP MR-J2S-350CP or more, also remove the front cover.) 2) Install the battery in the battery holder. 3) Install the battery connector into CON1 until it clicks.
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4. OPERATION 4.6 Serial communication operation The RS-422 or RS-232C communication function may be used to operate the servo amplifier from a command device (controller) such as a personal computer. Positioning operation can be performed with the positioning operation/position specified by selection of the point tables. Note that the RS-422 and RS232C communication functions cannot be used at the same time. This section provides a data transfer procedure.
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4. OPERATION 4.6.2 Positioning operation Positioning operation can be performed by changing the point table settings and making a start. For example, positioning operation can be performed by writing the data of point table No.1, then specifying point table No.1, and making a start. For transmission data details, refer to chapter 15. 5ms or more Transmission data 1) 2) 3) 4) 5) 6) Servo motor speed 7) 8) 3ms Values set with transmission data 1) to 5) are used for operation. No.
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4. OPERATION 4.6.4 Group designation When using several servo amplifiers, command-driven parameter settings, etc. can be made on a group basis. You can set up to six groups, a to f. Set the group to each station using the communication command.
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4. OPERATION (2) Timing chart In the following timing chart, operation is performed group-by-group in accordance with the values set in point table No.1.
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5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. 5.1 Parameter list 5.1.1 Parameter write inhibit POINT Set "000E" when using the MR Configurator (servo configuration software) to make device setting. After setting the parameter No.19 value, switch power off, then on to make that setting valid. In the servo amplifier, its parameters are classified into the basic parameters (No.0 to 19), expansion parameters 1 (No.
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5. PARAMETERS 5.1.2 List POINT The parameters marked * before their symbols are made valid by switching power off once and then switching it on again after parameter setting. Refer to the corresponding reference items for details of the parameters. (1) Item list Basic parameters Class No.
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5. PARAMETERS Class No.
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5. PARAMETERS Class No.
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5. PARAMETERS (2) Detail list Class No. Symbol 0 *STY Name and Function Command system, regenerative option selection Used to select the command system and regenerative option. 0 Initial value Basic parameters *FTY Refer to Name and function column. 0000 Refer to Name and function column. 0 Feeding function selection Used to set the feed length multiplication factor and manual pulse generator multiplication factor. ST1 coordinate system selection (Refer to section 4.2.2 to 4.2.
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5. PARAMETERS Class No. Symbol 2 *OP1 Name and Function Function selection 1 Used to select the input filter and absolute position detection system. Initial value Unit Setting range 0002 Refer to Name and function column. 0105 Refer to Name and function column. 0 0 Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.88[ms] 2: 1.77[ms] 3: 2.66[ms] 4: 3.55[ms] 5: 4.
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5. PARAMETERS Class No. Symbol Name and Function Initial value Unit Setting range 4 *CMX Electronic gear numerator Set the value of electronic gear numerator. Setting "0" automatically sets the resolution of the servo motor connected. (Refer to section 5.2.1) 1 0 to 65535 5 *CDV Electronic gear denominator Set the value of electronic gear denominator. (Refer to section 5.2.1) 1 1 to 65535 6 INP In-position range Used to set the droop pulse range when the in-position (INP) is output.
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5. PARAMETERS Class No. Symbol 16 *BPS Name and Function Serial communication function selection, alarm history clear Used to select the serial communication baud rate, select various communication conditions, and clear the alarm history. Initial value 0000 Unit Setting range Refer to Name and function column. Serial baud rate selection (Refer to section 15.2.2) 0: 9600 [bps] 1: 19200[bps] 2: 38400[bps] 3: 57600[bps] 4: 4800[bps] (For MR-DP60) Alarm history clear (Refer to section 5.2.
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5. PARAMETERS Class No. Symbol 18 Name and Function *DMD Status display selection Used to select the status display shown at power-on. (Refer to section 7.2) Initial value 0000 Unit Setting range Refer to Name and Basic parameters function Status display on servo amplifier display at power-on 00: Current position (initial value) 01: Command position 02: Command remaining distance 03: Point table No.
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5. PARAMETERS Class No. Symbol 19 *BLK Parameter write inhibit Used to select the reference and write ranges of the parameters. Operation can be performed for the parameters marked . Set value Operation 0000 (initial value) Basic parameters Initial value Name and Function Expansion parameters 1 No.20 to 53 Basic parameters No.0 to 19 0000 Unit Setting range Refer to Name and function Expansion parameters 2 No.54 to 77 special parameters (No. 78 to 90) column.
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5. PARAMETERS Class No. Symbol Name and Function Initial value Unit Setting range 0 to 100 FFC Feed forward gain Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed.
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5. PARAMETERS Expansion parameters 1 Class No. Symbol Name and Function Initial value Unit Setting range 31 MO1 Analog monitor 1 (MO1) offset Used to set the offset voltage of the analog monitor 1 (MO1) output. 0 mV 999 to 999 32 MO2 Analog monitor 2 (MO2) offset Used to set the offset voltage of the analog monitor 2 (MO2) output.
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5. PARAMETERS Class No. Symbol 46 47 *LMP Name and Function Software limit Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit ". (Refer to section 5.2.8) Set the same sign to parameters No.46 and 47. Setting of different signs will result in a parameter error.
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5. PARAMETERS Class No. Symbol 54 55 Name and Function For manufacturer setting Do not change this value by any means. *OP6 Unit Setting range 0000 Function selection 6 Used to select how to process the base circuit when reset (RES) is valid. 0 Initial value 0000 Refer to Name and 0 0 function column. Processing of the base circuit when reset (RES) is valid. 0: Base circuit shut off 1: Base circuit not shut off 56 57 *OP8 For manufacturer setting Do not change this value by any means.
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5. PARAMETERS Class No. Symbol 59 *OPA Name and Function Function selection A Used to select the alarm code. Initial value 0000 Unit Setting range Refer to Name and 0 0 function column. Setting Rotation direction in which torque limit is made valid CCW direction CW direction 0 1 2 Setting of alarm code output Set value Connector pins CN1B-19 CN1A-18 Signals assigned to corresponding pins are output. 1 Alarm code is output at alarm occurrence.
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5. PARAMETERS Class No. Symbol 60 61 NH1 Initial value Name and Function For manufacturer setting Do not change this value by any means. 0000 Machine resonance suppression filter 1 Used to selection the machine resonance suppression filter. (Refer to section 9.1.) 0000 Unit Setting range Refer to Name and function 0 column. Notch frequency selection Set "00" when you have set adaptive vibration suppression control to be "valid" or "held" (parameter No. 63: 1 or 2 ).
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5. PARAMETERS Class No. Symbol 63 LPF Name and Function Low-pass filter/adaptive vibration suppression control Used to selection the low-pass filter and adaptive vibration suppression control. (Refer to chapter 9) Initial value Unit 0000 Setting range Refer to Name and function 0 column. Low-pass filter selection 0: Valid (Automatic adjustment) 1: Invalid When you choose "valid", the filter of the handwidth represented by the following expression is set automatically.
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5. PARAMETERS Class No. Symbol 68 *CDP Name and Function Gain changing selection Used to select the gain changing condition. (Refer to section 9.5) Initial value Unit 0000 Setting range Refer to Name and 0 0 0 function Expansion parameters 2 column. Gain changing selection Gains are changed in accordance with the settings of parameters No. 64 to 67 under any of the following conditions: 0: Invalid 1: Gain changing (CDP) signal is ON 2: Command frequency is equal to higher than parameter No.
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5. PARAMETERS 5.2 Detailed explanation 5.2.1 Electronic gear CAUTION False setting will result in unexpected fast rotation, causing injury. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. 1 CMX 1000. If you set 10 CDV any value outside this range, a parameter error (A37) occurs. After setting the parameter No.4, 5 value, switch power off, then on to make that setting valid.
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5. PARAMETERS 5.2.2 Changing the status display screen The status display item of the servo amplifier display and the display item of the external digital display (MR-DP60) shown at power-on can be changed by changing the parameter No.18 (status display selection) settings. In the initial condition, the servo amplifier display shows the servo motor speed and the MR-DP60 shows the current position. For display details, refer to section 7.2. Parameter No.
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5. PARAMETERS 5.2.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/deceleration time constant (parameter No.14), a smooth start/stop can be made. When the Spattern time constant is set, smooth positioning is executed as shown below.
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5. PARAMETERS (2) Contents of a setting The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 and the torque to analog monitor 2. The setting can be changed as listed below by changing the parameter No.17 (analog monitor output) value. Refer to (3) for the measurement point. Setting 0 Output item Servo motor speed Description Setting Output item 6 Droop pulses (Note 1) CCW direction 8[V] Description 10[V] ( 10V/128pulse) 128[pulse] Max. speed 0 128[pulse] 0 Max.
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5.
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5. PARAMETERS 5.2.5 Changing the stop pattern using a limit switch The servo amplifier is factory-set to make a sudden stop when the limit switch or software limit is made valid. When a sudden stop is not required, e.g. when there is an allowance from the limit switch installation position to the permissible moving range of the machine, a slow stop may be selected by changing the parameter No.22 setting. Parameter No. 22 setting Description 0 (initial value) Droop pulses are reset to make a stop.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6. MR Configurator (SERVO CONFIGURATION SOFTWARE) POINT Some functions of the MR Configurator (servo configuration software) may be unavailable for some versions. For details, please contact us. The MR Configurator (servo configuration software) (MR2JW3-SETUP151E or more) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 6.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (2) Configuration diagram (a) For use of RS-232C Servo amplifier Personal computer U V W Communication cable CN3 Servo motor CN2 To RS-232C connector (b) For use of RS-422 Up to 32 axes may be multidropped. Servo amplifier Personal computer RS-232C/RS-422 (Note 1) converter Communication cable CN3 CN2 Servo motor (Axis 1) To RS-232C connector Servo amplifier CN3 CN2 Servo motor (Axis 2) Servo amplifier CN3 CN2 (Axis 32) Note.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.3 Station setting Click “System” on the menu bar and click “Station Selection” on the menu. When the above choices are made, the following window appears. (1) Station number setting Choose the station number in the combo box and click the “Station Settings” button to set the station number. POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.4 Parameters Click “Parameters” on the menu bar and click “Parameter List” on the menu. When the above choices are made, the following window appears. a) b) c) d) e) f) g) i) h) (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the “Write” button to write the new parameter setting to the servo amplifier.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (3) Parameter value batch-read ( c) ) Click the “Read All” button to read and display all parameter values from the servo amplifier. (4) Parameter value batch-write ( d) ) Click the “Write All” button to write all parameter values to the servo amplifier. (5) Parameter change list display ( e) ) Click the “Change List” button to show the numbers, names, initial values and current values of the parameters whose initial value and current value are different.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.5 Point table Click “Position-Data” on the menu bar and click “Point Tables” on the menu. When the above choices are made, the following window appears. a) b) c) d) h) e) g) f) (1) Point table data write ( a) ) Click the point table data changed and press the “Write” button to write the new point table data to the servo amplifier.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (3) Point table data batch-read ( c) ) Click the “Read All” button to read and display all point table data from the servo amplifier. (4) Point table data batch-write ( d) ) Click the “Write All” button to write all point table data to the servo amplifier. (5) Point table data insertion ( e) ) Click the “Insert Row” button to insert one block of data into the position before the point table No. chosen. The blocks after the chosen point table No.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.6 Device assignment method POINT When using the device setting, preset “000E” in parameter No. 19. (1) How to open the setting screen Click “Parameters” on the menu bar and click “Device setting” in the menu. Making selection displays the following window. Click “Yes” button reads and displays the function assigned to each pin from the interface unit and extension IO unit.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. a) b) d) c) 1) Read of function assignment ( a) ) Click the “Read” button reads and displays all functions assigned to the pins from the servo amplifier.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. a) b) Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (c) Function device assignment checking auto ON setting display Click the “ / ” button in the DIDO function display window displays the following window. a) b) c) d) e) The assigned functions are indicated by . The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7 Test operation CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation using the forced stop (EMG). 6.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Servo motor start ( c), d) ) Hold down the “Forward” button to rotate the servo motor in the CCW rotation direction.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.2 Positioning operation POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn ON across these signals and SG. (Refer to section 6.6.) When an alarm occurs, the positioning operation is automatically canceled.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) (1) Servo motor speed setting ( a) ) Enter a new value into the “Motor speed” input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the “Accel/decel time” input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the “Move distance” input field and press the enter key.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals. The sequence of the host programmable controller can be checked without connection of a servo motor.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically canceled. Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click “Test” on the menu bar and click “Forced Output” on the menu. When the above choices are made, the following window appears.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.7.5 Single-step feed POINT In the jog operation mode, do not rewrite data from the point table list screen or the servo amplifier's front panel. Otherwise, the set values are made invalid. The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off.
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6. MR Configurator (SERVO CONFIGURATION SOFTWARE) 6.8 Alarm history Click “Alarms” on the menu bar and click “History” on the menu. When the above choices are made, the following window appears. (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear Click the “Clear” button to clear the alarm history stored in the servo amplifier. (3) Closing of alarm history window Click the “Close” button to close the window.
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6.
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7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display flowchart Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the "MODE" "UP" or "DOWN" button once to move to the next screen. Refer to section 7.2 and later for the description of the corresponding display mode.
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7. DISPLAY AND OPERATION 7.2 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data. At only power-on, however, data appears after the symbol of the status display selected in parameter No. 18 has been shown for 2[s].
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7. DISPLAY AND OPERATION 7.2.2 Display examples The following table lists display examples. Item Status Displayed data Servo amplifier display MR-DP60 Forward rotation at 2500r/min Servo motor speed Reverse rotation at 3000r/min Reverse rotation is indicated by " ". Load inertia moment 15.5 times 11252pulse Multirevolution counter 12566pulse Lit Negative value is indicated by the lit decimal points in the upper four digits.
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7. DISPLAY AND OPERATION 7.2.3 Status display list The following table lists the servo statuses that may be shown. Display range Status display Current position Command position Command remaining distance Point table No.
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7. DISPLAY AND OPERATION 7.3 Diagnosis mode 7.3.1 Display transition After choosing the diagnosis mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
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7. DISPLAY AND OPERATION 7.3.2 Diagnosis mode list Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. External I/O signal display Output signal (DO) forced output Jog feed Test operation mode Positioning operation Motorless operation Machine analyzer operation Refer to section 7.7.
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7. DISPLAY AND OPERATION Name Display Description Motor series Press the "SET" button to show the motor series ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Motor type Press the "SET" button to show the motor type ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual.
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7. DISPLAY AND OPERATION 7.4 Alarm mode 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. 7.4.1 Display transition After choosing the alarm mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. To Parameter error No.
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7. DISPLAY AND OPERATION 7.4.2 Alarm mode list Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of overvoltage (AL.33). Flickers at occurrence of the alarm. Indicates that the last alarm is overload 1 (AL.50). Indicates that the second alarm in the past is overvoltage (AL.33). Indicates that the third alarm in the past is undervoltage (AL.10). Alarm history Indicates that the fourth alarm in the past is overspeed (AL.31).
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7. DISPLAY AND OPERATION 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 methods (for clearable alarms, refer to section 11.2.1). (a) Switch power OFF, then ON. (b) Press the "SET" button on the current alarm screen.
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7. DISPLAY AND OPERATION 7.5 Point table mode You can set the target position, servo motor speed, acceleration time, deceleration time, dwell and auxiliary function. 7.5.1 Point table transition After choosing the point table mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. Point table No. 1 Point table No. 2 UP DOWN Point table No. 30 Point table No.
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7. DISPLAY AND OPERATION 7.5.2 Point table mode setting screen sequence Press "SET" in the point table mode. The following screen appears. Press "UP" or "DOWN" to move to the next screen.
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7. DISPLAY AND OPERATION 7.5.3 Operation method (1) Setting of 5 or less-digit value The following example provides the after-power-on operation procedure to set "1" in the auxiliary function of point table No.1. (Note) Press MODE three times. ··········The point table No. appears. Press UP or DOWN to choose point table No. 1. Press SET once. Press UP five times. Press SET twice. ··········The setting of the specified point table No. flickers. Press UP once.
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7. DISPLAY AND OPERATION (2) Setting of 6 or more-digit value The following example gives the after-power-on operation procedure to change the target value of point table No.1 to "123456". (Note) Press MODE three times. Press UP or DOWN to choose point table No. 1. Press SET once. Press SET once. Setting of upper 3 digits Press MODE once. Setting of lower 3 digits Press SET once. The screen flickers. Press UP or DOWN to change the setting. Press SET once. Enter the setting. Press MODE once. Note.
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7. DISPLAY AND OPERATION 7.6 Parameter mode POINT To use the expansion parameters, change the parameter No. 19 (parameter write inhibit) value. (Refer to section 5.1.1) 7.6.1 Parameter mode transition After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below. To status display mode MODE Basic parameters Expansion parameters 1 Expansion parameters 2 Special parameters Parameter No. 0 Parameter No. 20 Parameter No.
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7. DISPLAY AND OPERATION 7.6.2 Operation example (1) Parameter of 5 or less digits The following example shows the operation procedure performed after power-on to change the home position setting method (Parameter No.8) into the data setting type. Press "MODE" to switch to the basic parameter screen. Press MODE four times. Select parameter No.8 with UP or DOWN. The parameter number is displayed. Press UP or DOWN to change the number. Press SET twice.
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7. DISPLAY AND OPERATION (2) Signed 5-digit parameter The following example gives the operation procedure to change the home position return position data (parameter No. 42) to "-12345". (Note) Press MODE three times. Press UP or DOWN to choose parameter No. 42. Press SET once. Setting of upper 1 digits Press MODE once. Setting of lower 4 digits Press SET once. The screen flickers. Press UP or DOWN to change the setting. Press SET once. Enter the setting. Press MODE once. Note.
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7. DISPLAY AND OPERATION 7.7 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once. External I/O signal display screen (2) Display definition The segments of the seven-segment LEDs correspond to the pins.
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7. DISPLAY AND OPERATION 7.8 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to pin CN1B-19 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc.
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7. DISPLAY AND OPERATION 7.9 Test operation mode CAUTION The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. Always use the servo motor alone. If any operational fault has occurred, stop operation using the forced stop (EMG) . POINT The test operation mode cannot be used in the absolute position detection system. Use it after choosing "Incremental system" in parameter No. 1.
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7. DISPLAY AND OPERATION 7.9.2 Jog operation Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the MR Configurator (servo configuration software), you can change the operation conditions. The initial conditions and setting ranges for operation are listed below.
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7. DISPLAY AND OPERATION 7.9.3 Positioning operation POINT The MR Configurator (servo configuration software) is required to perform positioning operation. Positioning operation can be performed once when there is no command from the external command device. (1) Operation Connect EMG-SG to start positioning operation and connect VDD-COM to use the internal power supply.
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7. DISPLAY AND OPERATION 7.9.4 Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals. This operation can be used to check the sequence of a host programmable controller or the like. (1) Operation After turning off the signal across SON-SG, choose motor-less operation. After that, perform external operation as in ordinary operation.
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7. DISPLAY AND OPERATION 7.10 Teaching function POINT This function is available for the absolute value command system. It is not available for the incremental value command system. This function is enabled after a home position return. After making sure that the servo motor has stopped, press the "SET" button in the operation section or turn teach (TCH) ON and set the position data.
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7. DISPLAY AND OPERATION 7.10.2 Position data setting method When the preparations for teaching are over, set position data in the following procedure. (1) When determining position data by JOG operation 1) Turn automatic/manual selection (MD0) OFF to choose the manual operation mode. (Refer to section 4.3) 2) Turn forward rotation start (ST1) or reverse rotation start (ST2) ON to rotate the servo motor until the target position is reached. (Refer to section 4.3.
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7.
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8. GENERAL GAIN ADJUSTMENT 8. GENERAL GAIN ADJUSTMENT 8.1 Different adjustment methods 8.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. 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.
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8. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Yes Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No OK? Yes Auto tuning mode 2 Operation Yes Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes.
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8. GENERAL GAIN ADJUSTMENT 8.2 Auto tuning 8.2.1 Auto tuning mode The servo amplifier 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 the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1.
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8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Control gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Encoder Current feedback Set 0 or 1 to turn on. Gain table Real-time auto tuning section Switch Load inertia moment ratio estimation section Position/speed feedback Speed feedback Parameter No. 34 Load inertia moment ratio estimation value Parameter No.
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8. GENERAL GAIN ADJUSTMENT 8.2.3 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.
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8. GENERAL GAIN ADJUSTMENT 8.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.3) of the whole servo system. As the response level setting is increased, the track ability 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 vibrationfree range.
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8. GENERAL GAIN ADJUSTMENT 8.3 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 parameters. 8.3.1 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.
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8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed control gain 2 (parameter No. 37) 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. The actual response frequency of the speed loop is as indicated in the following expression.
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8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control gain 1 (parameter No. 7) This parameter determines the response level of the position control loop. Increasing position control gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling.
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8. GENERAL GAIN ADJUSTMENT 8.4 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 2 and speed control gain 2 which determine command track ability are set manually and the other parameter for gain adjustment are set automatically.
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8. GENERAL GAIN ADJUSTMENT 8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super 8.5.1 Response level setting To meet higher response demands, the MELSERVO-J2-Super series has been changed in response level setting range from the MELSERVO-J2 series. The following table lists comparison of the response level setting. Parameter No.
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8.
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9. SPECIAL ADJUSTMENT FUNCTIONS 9. 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 8. If a mechanical system has a natural resonance point, increasing the servo system response may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
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9. SPECIAL ADJUSTMENT FUNCTIONS You can use the machine resonance suppression filter 1 (parameter No. 61) and machine resonance suppression filter 2 (parameter No. 62) to suppress the vibration of two resonance frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance suppression filter 1 (parameter No. 61) is made invalid. Machine resonance point Mechanical system response Frequency Notch depth Frequency Parameter No. 61 Parameter No.
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9. SPECIAL ADJUSTMENT FUNCTIONS POINT If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal. A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration. The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator (servo configuration software).
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9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive vibration suppression control selection (parameter No.63). Parameter No. 63 Adaptive vibration suppression control selection Choosing "valid" or "held" in adaptive vibration suppression control selection makes the machine resonance suppression filter 1 (parameter No. 61) invalid. 0: Invalid 1: Valid Machine resonance frequency is always detected to generate the filter in response to resonance, suppressing machine vibration.
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9. SPECIAL ADJUSTMENT FUNCTIONS 9.5 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. 9.5.1 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.
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9. SPECIAL ADJUSTMENT FUNCTIONS 9.5.3 Parameters " in parameter No.3 (auto tuning) to choose When using the gain changing function, always set " 4 the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter No. Abbreviation Name Unit Description Position and speed gains of a model used to set the response level to a command. Always valid.
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9. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. 7, 34 to 38 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: parameter No. 64) Set the ratio of load inertia moment to servo motor inertia moment after changing.
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9. SPECIAL ADJUSTMENT FUNCTIONS 9.5.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit 7 PG1 Position control gain 1 100 rad/s 36 VG1 Speed control gain 1 1000 rad/s 34 GD2 Ratio of load inertia moment to servo motor inertia moment 40 0.
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9. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Setting Unit 7 PG1 Position control gain 1 Name 100 rad/s 36 VG1 Speed control gain 1 1000 rad/s 34 GD2 Ratio of load inertia moment to servo motor inertia moment 40 0.1 times 35 PG2 Position control gain 2 120 rad/s 37 VG2 Speed control gain 2 3000 rad/s 38 VIC Speed integral compensation 20 ms 100 0.
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9.
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10. INSPECTION 10. INSPECTION WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Any person who is involved in inspection should be fully competent to do the work.
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10.
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11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the MR Configurator (servo configuration software), you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. No. 1 2 3 4 Start-up sequence Power on Fault LED is not lit. LED flickers.
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11. TROUBLESHOOTING 11.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) signal at occurrence of an alarm. 11.2.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 11.2.2 or 11.2.3 and take the appropriate action. Set "1 " in parameter No.
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11. TROUBLESHOOTING 11.2.2 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 alarm (AL.25) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, always remove its cause and allow about 30 minutes for cooling before resuming operation.
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11. TROUBLESHOOTING Display AL.17 AL.19 AL.1A AL.20 AL.24 AL.25 Name Board error Definition CPU/parts fault Cause The output terminals 2. The wiring of U, V, W is disconnected or not connected. U, V, W of the servo amplifier and the input terminals U, V, W of the servo motor are not connected. Memory error 3 ROM memory fault Faulty parts in the servo amplifier. Checking method Alarm (AL.19) occurs if power is switched on after disconnection of all cable but the control circuit power supply cable.
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11. TROUBLESHOOTING Display Name AL.30 Regenerative error Definition Cause Permissible 1. Wrong setting of parameter No. 0 regenerative power 2. Built-in regenerative resistor or of the built-in regenerative option is not regenerative resistor connected. or regenerative 3. High-duty operation or continuous option is exceeded. regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Action Set correctly. Connect correctly 1.
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11. TROUBLESHOOTING Display AL.32 AL.33 AL.35 Name Overcurrent Overvoltage Definition Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (AL.32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (AL.32) first occurred, the transistor (IPM, IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power. Check the transistor with the checking method of “Cause 2”.
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11. TROUBLESHOOTING Display Name AL.37 Parameter error AL.45 Definition Cause Parameter setting is 1. Servo amplifier fault caused the parameter setting to be rewritten. wrong. 2. Regenerative option not used with servo amplifier was selected in parameter No.0. 3. Value outside setting range has been set in some parameter. 4. Value outside setting range has been set in electronic gear. 5. Opposite sign has been set in software limit increasing side (parameters No. 46, 47).
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11. TROUBLESHOOTING Display Name AL.51 Overload 2 Definition Cause Machine collision or 1. Machine struck something. the like caused max. For the time of the 2. Wrong connection of servo motor. alarm occurrence, Servo amplifier's output terminals refer to the section U, V, W do not match servo motor's 13.1. input terminals U, V, W. 3. Servo system is instable and hunting. 4. Encoder faulty. Action 1. Review operation pattern. 2. Install limit switches. Connect correctly. 1.
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11. TROUBLESHOOTING 11.2.3 Remedies for warnings If an absolute position counter warning (AL.E3) occurred, always make home position setting again. Otherwise, misoperation may occur. CAUTION 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.
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11. TROUBLESHOOTING Display Name AL.98 Software limit warning Definition Software limit set in parameter is reached. AL.9F Battery warning Voltage of battery for absolute position detection system reduced. AL.E0 Excessive There is a possibility that regenerative regenerative power may warning exceed permissible regenerative power of built-in regenerative resistor or regenerative option. Cause Action 1. Software limit was set within actual operation range. 2.
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12. OUTLINE DIMENSION DRAWINGS 12. OUTLINE DIMENSION DRAWINGS 12.1 Servo amplifiers (1) MR-J2S-10CP to MR-J2S-60CP MR-J2S-10CP1 to MR-J2S-40CP1 [Unit: mm] Approx.70 (2.76) 6 ( 0.24) mounting hole Approx. 20 B 6 (0.24) ([Unit: in]) 135 (5.32) Terminal layout (Terminal cover open) (0.79) A MITSUBISHI MITSUBISHI OPEN C N 1 A C N 1 B C N 2 E N C C N 3 Name plate TE1 C N 1 A C N 1 B C N 2 C N 3 ( 168 (6.61) 156 (6.14) OPEN ) E N C L1 6 (0.24) Approx.7 (0.
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12. OUTLINE DIMENSION DRAWINGS (2) MR-J2S-70CP MR-J2S-100CP [Unit: mm] 70(2.76) Approx.70(2.76) Approx. 20 6 (0.24) 22 (0.87) ([Unit: in]) 190(7.48) Terminal layout (0.79) 6 ( 0.24) mounting hole (Terminal cover open) MITSUBISHI MITSUBISHI OPEN Approx.7 (0.28) 6(0.24) 156(6.14) 168(6.61) OPEN C N 1 A C N 1 B C N 2 E N C C N 3 L1 L2 L3 U V W Name plate PE terminal 6(0.24) 22 42 (0.87) (1.65) TE2 TE1 6(0.24) 6(0.24) Mass [kg]([lb]) Servo amplifier 1.7 (3.
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12. OUTLINE DIMENSION DRAWINGS (3) MR-J2S-200CP MR-J2S-350CP [Unit: mm] ([Unit: in]) Approx.70 (2.76) 90(3.54) 78(3.07) 6 (0.24) 195(7.68) 6 (0.24) 2- 6 ( 0.24) mounting hole Terminal layout MITSUBISHI 168(6.61) 156(6.14) MITSUBISHI TE2 TE1 PE terminal Cooling fan wind direction Mass [kg]([lb]) Servo amplifier 2.0 (4.41) MR-J2S-200CP MR-J2S-350CP Terminal signal layout PE terminals TE1 L1 L2 L3 U V W Terminal screw: M4 Tightening torque: 1.2 [N m] (10.
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12. OUTLINE DIMENSION DRAWINGS (4) MR-J2S-500CP [Unit: mm] ([Unit: in]) OPEN (0.79) (0.24) 130(5.12) (0.24) Approx.70 6 6 (2.76) 118(4.65) Approx. 20 7.5 (0.5) 2- 6( 0.24) mounting hole 200(7.87) (0.19) 5 MITSUBISHI 235(9.25) 250(9.84) OPEN OPEN TE1 C N 1 A C N 1 B C N 1 A C N 1 B C N 2 C N 3 C N 2 C N 3 TE2 N.P. N.P. 7.5 (0.5) Terminal layout MITSUBISHI 6(0.24) Servo amplifier Mass [kg]([lb]) MR-J2S-500CP 4.9(10.
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12. OUTLINE DIMENSION DRAWINGS (5) MR-J2S-700CP 2- 6( 0.24) mounting hole 350(13.8) 335(13.2) (0.39) Approx. 20 Approx.70 200(7.87) 138(5.43) 62 10 (2.76) 180(7.09) 160(6.23) (0.79) 7.5 (0.5) (0.39) 10 (2.44) [Unit: mm] ([Unit: in]) 6(0.24) Terminal layout MITSUBISHI MITSUBISHI OPEN OPEN C N 1 A C N 1 B C N 1 A C N 1 B C N 2 C N 3 C N 2 C N 3 TE2 OPEN Cooling fan TE1 7.5 (0.5) 6 (0.24) Cooling fan wind direction Servo amplifier Mass [kg]([lb]) MR-J2S-700CP 7.2(15.
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12. OUTLINE DIMENSION DRAWINGS 12.2 Connectors (1) Servo amplifier side <3M > (a) Soldered type [Unit: mm] ([Unit: in]) : 10120-3000VE : 10320-52F0-008 12.0(0.47) 10.0(0.39) Model Connector Shell kit 14.0 (0.55) 22.0 (0.87) 39.0 (1.54) 23.8 (0.94) Logo, etc. are indicated here. 33.3 (1.31) 12.7(0.50) (b) Threaded type 33.3 (1.31) 12.7 (0.50) 27.4 (1.08) 5.2 (0.21) 39.0 (1.54) 23.8 (0.94) 14.0 (0.55) 12.0 (0.47) 10.0 22.0 (0.87) [Unit: mm] ([Unit: in]) (0.
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12. OUTLINE DIMENSION DRAWINGS (2) Communication cable connector [Unit: mm] ([Unit: in]) B A Fitting fixing screw G E (max. diameter of cable used) F C D Type DE-C1-J6-S6 A 1 B 1 C 0.25 D 1 34.5 (1.36) 19 (0.75) 24.99 (0.98) 33 (1.30) 12 - 7 E 6 (0.24) F reference G 18 (0.
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12.
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13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 13.1. Overload 2 alarm (AL.51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
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13. CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifier's power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 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.
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13. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 ( 50 ) at the ambient temperature of 40 (104 ). (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 13.1. P ...........................................
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13. CHARACTERISTICS 13.3 Dynamic brake characteristics 13.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 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 (2) of this section.) ON OFF Forced stop (EMG) Time constant V0 Machine speed Time te Fig. 13.
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13. CHARACTERISTICS 0.045 0.04 121 0.03 Time constant [s] Time constant [s] 0.035 201 0.025 0.02 301 0.015 0.01 81 0.005 0 0 50 500 Speed [r/min] 0.04 0.035 Time constant [s] 53 353 0.04 103 0 50 502 102 152 500 1000 1500 Speed [r/min] 153 500 1000 1500 2000 2500 3000 Speed [r/min] 0.018 0.016 0.014 0.012 0.01 0.008 0.006 103 2000 503 153 0.004 0.002 0 0 353 500 e. HC-SFS3000r/min series 203 1000 1500 2000 2500 3000 Speed [r/min] f. HC-RFS series 0.07 73 0.1 0.09 0.08 0.07 0.
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13. CHARACTERISTICS 13.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.
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13. CHARACTERISTICS 13.5 Inrush currents at power-on of main circuit and control circuit The following table indicates the inrush currents (reference value) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m. Servo Amplifier Inrush Currents (A0-p) Main circuit power supply (L1, L2, L3) MR-J2S-10CP 20CP 30A (Attenuated to approx. 5A in 10ms) MR-J2S-40CP 60CP 30A (Attenuated to approx.
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13.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
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14. 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 option. Firiction torque TF TU Servo motor speed M tf(1 cycle) N0 Up Time Down t1 t2 t3 Tpsd1 Tpsa1 t4 Tpsd2 Tpsa2 1) ( ) (Driving) 2) Generated torque Unbalance torque a.
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14. OPTIONS AND AUXILIARY EQUIPMENT Inverse efficiency ( ) :Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%. Capacitor charging (Ec) :Energy charged into the electrolytic capacitor in the servo amplifier.
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14. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 is used, a cooling fan is required to cool it. The cooling fan should be prepared by the customer. The regenerative option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the regenerative option body. Always use twisted cables of max. 5m (16.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J2S-500CP MR-J2S-700CP Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor. Regenerative option P P C C G3 (Note 2) G4 5m(16.
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14. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Cooling fan installation screw hole dimensions 2-M3 screw hole Top Bottom 82.5 (3.25) Vertical installation Horizontal installation Installation surface 14 - 6 82.5 (3.25) Thermal relay 133 (for cooling fan installation) Depth 10 or less (Screw hole already machined) Terminal block (5.24) Cooling fan 40 (1.
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14. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] 6 (0.24) mounting hole 168 (6.61) 156 (6.14) MR-RB 144 (5.67) LB 12 (0.47) 6 (0.24) LA TE1 Terminal block 5 (0.20) G3 G4 P C 6 (0.24) 12 (0.47) TE1 6 (0.24) G3 G4 P C Terminal screw: M3 1.6 (0.06) 20 (0.79) LD LC Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m](28.
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14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm (in)] Fan mounting screw (2-M3 screw) On opposite side 49 (1.93) Terminal block P C Terminal screw: M4 G3 Tightening torque: 1.2 [N m] (10.6 [Ib in]) G4 82.5 (3.25) Mounting screw Screw: M6 Tightening torque: 5.4 [N m] (47.79 [Ib in]) 7 14 slot Wind blows in the arrow direction Regenerative option MR-RB50 MR-RB51 2.3 (0.09) 200 (7.87) 217 (8.54) 17 (0.67) 12 (0.47) 7 (0.28) 108 (4.25) 120 (4.73) Approx.30 (1.18) 8 (0.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 FR-BU2 brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes. Temperature of the resistor unit case rises to higher than 100 .
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14. OPTIONS AND AUXILIARY EQUIPMENT (2) Brake unit parameter setting Normally, when using the FR-BU2, changing parameters is not necessary. Whether a parameter can be changed or not is listed below. Change possible/ impossible Parameter No.
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14. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
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14. OPTIONS AND AUXILIARY EQUIPMENT (a) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction.
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14. OPTIONS AND AUXILIARY EQUIPMENT b) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A B C Sheath PC BUE SD RES SD MSG MSG SD SD Core Jumper 6mm Terminal block Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5N m to 0.6N m Cable size: 0.3mm2 to 0.
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14. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline dimension drawings (a) FR-BU2 brake unit [Unit: mm] FR-BU2-15K 5 hole (Screw size: M4) Rating plate 4 5 6 56 68 18.5 6 52 132.5 62 FR-BU2-30K 2- 5 hole (Screw size: M4) Rating plate 6 96 108 5 5 6 14 - 14 18.5 52 129.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) FR-BR resistor unit [Unit: mm] 2 C (Note) Control circuit terminal (Note) Main circuit terminal C Approx. 35 C W1 1 W 5 Approx. 35 Note. Ventilation ports are provided on both sides and the top. The bottom is open. Resistor unit W1 H H1 H2 H3 D D1 FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15(33.1) FR-BR-30K 340 270 600 560 20 582 220 4 10 30(66.1) 14.1.
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14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 NFB L21 Power factor improving reactor MC FR-BAL L1 (Note 3) Power supply L2 L3 VDD COM SG EMG RA2 ALM SON (Note 2) N N/ RDY Ready P C P/ 5m(16.4ft) or less A SE RDY output R/L1 S/L2 B B C C Alarm output T/L3 RX R SX S (Note 1) Phase detection terminals TX T Power regeneration converter FR-RC FR-RC B C Operation ready RA2 EMG OFF ON MC MC SK Note 1.
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14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan D K F EE AA C A Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D E EE K F Approx. Mass [kg(Ib)] FR-RC-15K 270 200 450 432 195 (10.630) (7.874) (17.717) (17.008) (7.677) 10 (0.394) 10 (0.394) 8 (0.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo motor and other models. Those indicated by broken lines in the figure are not options.
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14. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) Application Standard Housing: 1-172161-9 flexing life Connector pin: 170359-1 (Tyco Electronics or equivalent) IP20 Cable clamp: MTI-0002 (Toa Electric Industry) 1) Standard encoder MR-JCCBL M-L cable Refer to (2) of this section.
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14. OPTIONS AND AUXILIARY EQUIPMENT No. 9) Product Control signal connector set Model Description Application MR-J2CN1 Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) 10) Junction terminal block cable MR-J2TBL M Refer to section14.1.5. Connector: HIF3BA-20D-2.54R (Hirose Electric) 11) Junction terminal block MR-TB20 Refer to section 14.1.5. 12) Bus cable MR-J2HBUS M Refer to section14.1.6.
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14. 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 13.4 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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14.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-JHSCBL M-L MR-JHSCBL M-H MR-ENCBL M-H These encoder cables are used with the HC-SFS HC-RFS HC-UFS2000r/min series servo motors. 1) Model explanation Model: MR-JHSCBL MSymbol Specifications L Standard flexing life H Long flexing life Symbol Cable length [m(ft)] 2 5 10 20 30 40 50 2 (6.56) 5 (16.4) 10 (32.8) 20 (65.6) 30 (98.4) 40 (131.2) 50 (164.0) Note: MR-JHSCBL M-L has no 40(131.2) and 50m(164.0ft) sizes.
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14.
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.5 Junction terminal block (MR-TB20) POINT When using the junction terminal block, you cannot use SG of CN1A-20 and CN1B-20. Use SG of CN1A-4 and CN1B-4. (1) How to use the junction terminal block Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-J2TBL M) as a set. A connection example is shown below.
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14. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL M) Model : MR-J2TBL M Symbol Cable length[m(ft)] 05 0.5 (1.64) 1 1 (3.28) Junction terminal block side connector (Hirose Electric) HIF3BA-20D-2.54R (connector) Terminal block label Junction terminal For CN1A For CN1B block terminal No.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.6 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. Servo amplifier Communication cable Maintenance junction card (MR-J2CN3TM) Bus cable MR-J2HBUS M CN3B CN3 CN3A CN3C B3 B2 B1 B5 B6 A5 A6 A1 A2 A3 A4 B4 VDD COM EM1 DI MBR EMGO SG PE LG LG MO1 MO2 Analog monitor 2 Not used.
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14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing [Unit: mm] ([Unit: in]) CN3A CN3B CN3C A1 75(2.95) MR-J2CN3TM 2- 5.3(0.21)(mounting hole) A6 B1 B6 TE1 3(0.12) 41.5(1.63) 88(3.47) 100(3.94) Mass: 110g(0.24Ib) (4) Bus cable (MR-J2HBUS M) Model: MR-J2HBUS M Symbol Cable length [m(ft)] 05 1 5 0.5 (1.64) 1 (3.28) 5 (16.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.7 External digital display (MR-DP60) The data equivalent to the servo amplifier status display can be displayed on the MR-DP60. When using the MR-DP60, set " 1 4" in parameter No. 16. The items that appear at the time of power-on can be selected in parameter No.18.
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14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm (in)] Square hole 2- 5 (0.20) 141(5.55) 95(3.74) 150(5.91) 150(5.91) 20 53 (2.09) Square hole 2- 5 (0.20) (0.79) Inside mounting Front mounting (5) Outline dimension drawing 29(1.14) TB1 MR-DP60 150(5.91) 7.5 (0.30) 2- 4.5 (0.18) mounting hole 2- 6.5 (0.26), depth 1 (0.04) 43(1.69) 38(1.50) 4 (0.16) 165(6.50) 14 - 31 48(1.89) MITSUBISHI 7.5 (0.30) 29(1.14) TB2 58(2.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.8 Manual pulse generator (MR-HDP01) (1) Specifications Item Power supply Specifications Voltage 4.5 to 13.2VDC Current consumption 60mA max. Interface Output current max. 20mA for open collector output Pulse signal form A-phase and B-phase signals with 90°phase difference Pulse resolution 100pulse / rev Max. speed Instantaneous max.
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14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm(in)] Panel cutting 62 (2. 44 1) 3- 4.8(0.189) equally divided 35) 72(2.8 (5) Outline dimension drawing [Unit: mm(in)] 3.6(0.142) 3-M4 stud L10 P.C.D.72 equally divided 80 1(3.15 0.04) 60 0.5(2.362 0.02) SERIALNO. MANUAL TYPE 50(1.969) 70(2.756) Packing t2.0 5V to 12V 0V A B M3 6 may only be used. 27.0 0.5 16 20 (0.63)(0.787) (1.063 0.02) 8.89 (0.35) 7.6(0.299) 14.1.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 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. 14.2.1 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT Use wires 6) of the following sizes with the power regeneration converter (FR-RC). Model Wires[mm2] FR-RC-15K 14(AWG6) Table 14.2 Recommended crimping terminals Symbol Servo amplifier side crimping terminals Crimping terminal Applicable tool Manufacturer a b 32959 EVD5.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.2 Circuit breakers, fuses, magnetic contactors Always use one circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the circuit breaker, use the one having the specifications given in this section.
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14. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier Dimensions [mm (in) ] Model W W1 H D D1 C MR-J2S-10CP(1)/20CP FR-BAL-0.4K 135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 45 (1.77 ) MR-J2S-40CP/20CP1 FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57 (2.24 ) MR-J2S-60CP/ 70CP/ 40CP1 FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79) 55 (2.17 ) MR-J2S-100CP FR-BAL-2.2K 160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58) 75 (2.95 ) MR-J2S-200CP FR-BAL-3.7K 220 (8.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.6 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies.
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14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
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14. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) 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 servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1.
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14. 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 the servo amplifier is shown below. Use this product or equivalent. MC Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short (within 20cm(0.79 in.)). (Ex.) 972A.2003 50411 (Matsuo Electric Co., Ltd.
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14. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole installation hole A B C AERSBAN-DSET 100 (3.94) 86 (3.39) 30 (1.18) AERSBAN-ESET 70 (2.76) 56 (2.20) Accessory fittings Clamp fitting L clamp A: 2pcs. A 70 (2.76) clamp B: 1pc. B 45 (1.77) 14 - 42 (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.
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14. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] ([Unit: in.]) Use the line noise filters for wires of the main power supply (L1 L2 L3) and of the motor power supply (U V W).
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14. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K and TND20V-471K, manufactured by NIPPON CHEMI-CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.7 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 servo amplifier, servo motor, etc. securely.
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14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions. 2mm2 5m(196.85inch) 2mm2 5m(196.85inch) NV Servo amplifier M MR-J2S-60CP Iga Ig1 Ig2 HC-MFS73 Igm Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (14.1) from the diagram. Ig1 20 5 1000 0.1 [mA] Ig2 20 5 1000 0.1 [mA] Ign 0 (not used) Iga 0.1 [mA] Igm 0.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.8 EMC filter For compliance with the EMC Directive of the EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier MR-J2S-10CP to MR-J2S-100CP MR-J2S-10CP1 to MR-J2S-40CP1 MR-J2S-200CP MR-J2S-350CP Mass [kg]([lb]) Model Leakage current [mA] SF1252 38 0.75 (1.65) SF1253 57 1.37 (1.65) MR-J2S-500CP (Note) HF-3040A-TM 1.5 5.5 (12.
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14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter SF1252 [Unit: mm(in)] SF1253 6.0(0.236) L1 L2 L3 168.0(6.614) LOAD LABEL LOAD LINE L1 L2 L3 156.0(6.142) 140.0(5.512) LINE LINE (input side) LABEL 168.0(6.614) 6.0(0.236) 209.5(8.248) LOAD (output side) L1' L2' L3' 8.5 (0.335) LINE (input side) 156.0(6.142) 140.0(5.512) 149.5(5.886) LOAD (output side) L1' L2' L3' 16.0(0.63) 8.5 (0.335) 42.0 (1.654) 23.0(0.906) 49.0 (1.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector 1) 2) 3) Black Black Black 11 1 0.2 [Unit: mm] UL-1015AWG16 2 3 28 1.0 1 4.5 0.5 200 30 0 28.5 1.0 4.2 5.5 1 RAV-781BYZ-2 41 1.0 [Unit: mm] 11 1 1) UL-1015AWG16 1 2 3 4.5 0.5 200 30 0 28.5 1.0 0.2 28 1.0 4.2 5.5 1 RAV-781BXZ-4 41 1.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs. (1) Single-revolution type WA2WYA2SEBK2K (Japan Resistor make) Rated power Resistance Dielectric strength (for 1 minute) Insulation resistance 10% 700V A.C 100M or more 2k Connection diagram 25 (0.98) 10 (0.39) 1.6 (0.06) 3 Rotary torque 5 10 to 100g-cm or less Panel hole machining diagram [Unit: mm (in)] [Unit: mm (in)] 30 (1.18) 2.
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15. COMMUNICATION FUNCTIONS 15. COMMUNICATION FUNCTIONS This servo amplifier has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS422 and RS-232C with parameter No.16. (Refer to section 15.2.2.) 15.1 Configuration 15.1.
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15. COMMUNICATION FUNCTIONS 15.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Servo amplifier MITSUBISHI CHARGE To CN3 RS-232C Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MRCPCATCBL3M) is available. (Refer to section 14.1.4.) Personal computer connector D-SUB9 (socket) (Note 2) 15m (49.
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15. COMMUNICATION FUNCTIONS 15.2 Communication specifications 15.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.
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15. COMMUNICATION FUNCTIONS 15.2.2 Parameter setting When the RS-422/RS-232C communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baud rate Choose the communication speed. Match this value to the communication speed of the sending end (master station). Parameter No.
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15. COMMUNICATION FUNCTIONS 15.3 Protocol POINT Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 57 will make the communication protocol free of station numbers. Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication.
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15. COMMUNICATION FUNCTIONS (3) Recovery of communication status by time-out Controller side (Master station) EOT causes the servo to return to the receive neutral status. E O T Servo side (Slave station) (4) Data frames The data length depends on the command.
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15. COMMUNICATION FUNCTIONS 15.4 Character codes (1) Control codes Hexadecimal Code name Personal computer terminal key operation Description (ASCII code) (General) SOH 01H start of head ctrl A STX 02H start of text ctrl B ETX 03H end of text ctrl C EOT 04H end of transmission ctrl D (2) Codes for data ASCII codes are used.
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15. COMMUNICATION FUNCTIONS 15.5 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred.
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15. COMMUNICATION FUNCTIONS 15.7 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
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15. COMMUNICATION FUNCTIONS 15.9 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after. (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems. 15.
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15. COMMUNICATION FUNCTIONS 15.11 Command and data No. list POINT If the command/data No. is the same, its data may be different from the interface and drive units and other servo amplifiers. 15.11.1 Read commands (1) Status display (Command [0][1]) Command Data No.
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15. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Data No.
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15. COMMUNICATION FUNCTIONS (6) Point table/position data (Command [4][0]) Command [4][0] Data No. [0][1] to [1][F] Description Frame length The decimal equivalent of the data No. value (hexadecimal) corresponds 8 Position data read to the Point table No. (7) Point table/speed data (Command [5][0]) Command [5][0] Data No. [0][1] to [1][F] Description Frame length The decimal equivalent of the data No. value (hexadecimal) corresponds 8 Speed data read to the Point table No.
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15. COMMUNICATION FUNCTIONS 15.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. [8][1] [0][0] Description Status display data clear Setting range Frame length 1EA5 4 Setting range Frame length (2) Parameter (Command [8][4]) Command [8][4] Data No. [0][0] to [5][A] Description Each parameter write Depends on The decimal equivalent of the data No. value the parameter. 8 Setting range Frame length (hexadecimal) corresponds to the parameter number.
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15. COMMUNICATION FUNCTIONS (9) Point table/deceleration time constant (Command [C][8]) Command [C][8] Data No. [0][1] to [1][F] Description Deceleration time constant write Setting range Frame length 0 to 20000 8 The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. (10) Point table/dwell (Command [C][A]) Command [C][A] Data No. [0][1] to [1][F] Description Dwell write Setting range Frame length 0 to 20000 8 The decimal equivalent of the data No.
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15. COMMUNICATION FUNCTIONS (14) Data for test operation mode (Command [9][2] [A][0]) Command Data No. [9][2] [0][0] Description Input signal for test operation Setting range Frame length Refer to 8 section 15.12.7 [9][2] [A][0] Forced output from signal pin Refer to 8 section 15.12.9 Command Data No.
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15. COMMUNICATION FUNCTIONS 15.12 Detailed explanations of commands 15.12.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed according to the application.
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15. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position. The data to be sent is the following value. 0 Data is transferred in hexadecimal.
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15. COMMUNICATION FUNCTIONS 15.12.2 Status display (1) Status display data read When the master station transmits the data No. to the slave station, the slave station sends back the data value and data processing information. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read. Refer to section 15.11.1. (b) Reply The slave station sends back the status display data requested.
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15. COMMUNICATION FUNCTIONS 15.12.3 Parameter (1) Parameter read Read the parameter setting. (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No. Command Data No. Data No. definition [0][5] [0][0] to [5][A] Corresponds to the parameter No. (b) Reply The slave station sends back the data and processing information of the requested parameter No. Data is transferred in hexadecimal.
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15. COMMUNICATION FUNCTIONS (2) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEPROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000. Write the parameter setting. Write the value within the setting range.
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15. COMMUNICATION FUNCTIONS 15.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
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15. COMMUNICATION FUNCTIONS (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
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15. COMMUNICATION FUNCTIONS (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and data No. [8][0]. Command [1][2] Data No. [8][0] (b) Reply The slave station sends back the statuses of the output devices. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
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15. COMMUNICATION FUNCTIONS 15.12.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.
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15. COMMUNICATION FUNCTIONS 15.12.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. [0] [0] and data. Command Data No. [9][2] [0][0] Set data See below b31 b1 b0 1: ON 0: OFF Command of each bit is transmitted to the slave station as hexadecimal data.
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15. COMMUNICATION FUNCTIONS 15.12.8 Test operation mode (1) Instructions for test operation mode The test operation mode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the status display. (a) Execution of test operation 1) Turn off all input devices. 2) Disable the input devices.
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15. COMMUNICATION FUNCTIONS (2) Jog operation Transmit the following communication commands. (a) Setting of jog operation data Item Speed Acceleration/deceleration time constant Command Data No. Data [A][0] [1][0] Write the speed [r/min] in hexadecimal. Write the acceleration/deceleration time constant [A][0] [1][1] [ms] in hexadecimal. (b) Start Turn on the input devices SON LSP LSN and ST1/ST2 by using command [9][2] [0][0]. Item Forward rotation start Reverse rotation start Stop data No.
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15. COMMUNICATION FUNCTIONS (c) Start of positioning operation Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON) and forward/reverse rotation stroke end (LSP LSN), and then send the moving distance to start positioning operation. After that, positioning operation will start every time the moving distance is transmitted. To start opposite rotation, send the moving distance of a negative value.
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15. COMMUNICATION FUNCTIONS 15.12.9 Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
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15. COMMUNICATION FUNCTIONS 15.12.10 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No.0 (last alarm) to No.5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 15.11.1. (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in decimal. For example, "0032" means AL.32 and "00FF" AL._ (no alarm).
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15. COMMUNICATION FUNCTIONS 15.12.11 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. 0 0 Alarm No. is transferred in decimal. For example, "0032" means AL.32 and "00FF" AL._ (no alarm). (2) Read of the status display at alarm occurrence Read the status display data at alarm occurrence. When the data No.
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15. COMMUNICATION FUNCTIONS 15.12.12 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to section 15.11.1. 2) Reply The slave station sends back the position data of the requested point table.
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15. COMMUNICATION FUNCTIONS (c) Acceleration time constant Read the acceleration time constant of the point table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to section 15.11.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table.
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15. COMMUNICATION FUNCTIONS (e) Dwell Read the dwell of the point table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [1][F] corresponding to the point table to be read. Refer to section 15.11.1. 2) Reply The slave station sends back the dwell of the requested point table.
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15. COMMUNICATION FUNCTIONS (2) Data write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEPROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000. (a) Position data Write the position data of the point table.
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15. COMMUNICATION FUNCTIONS (c) Acceleration time constant Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to section 15.11.2. Command Data No. Data [C][7] [0][1] to [0][F] See below.
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15. COMMUNICATION FUNCTIONS (e) Dwell Write the dwell of the point table. Transmit command [C][A], any of data No. [0][1] to [1][F] corresponding to the point table to be written to, and the data. Refer to section 15.11.2. Command Data No. [C][A] [0][1] to [0][F] Data See below. 0 Hexadecimal data Write mode 0: EEP-ROM, RAM write 1: RAM write When the dwell constant is changed frequently through communication, set "1" to the write mode to change only the RAM data in the servo amplifier.
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15. COMMUNICATION FUNCTIONS 15.12.13 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group through RS-422 communication. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No. [0][0] and data. Command Data No. Data [9][F] [0][0] See below.
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15. COMMUNICATION FUNCTIONS 15.12.14 Software version Reads the software version of the servo amplifier. (a) Transmission Send command [0] [2] and data No. [7] [0]. Command Data No. [0][2] [7][0] (b) Reply The slave station returns the software version requested.
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Command generator App - 1 Cumulative feedback pulse CDV CMX Electronic gear Cumulative command pulse Position control Load inertia moment ratio Auto tuning section Droop pulse Speed control Differential Current control Low Within onerevolution position High Current position calculation Speed feedback Servo motor speed Instantaneously occurring torque ABS counter Absolute position encoder M Servo motor Within onerevolution position ABS counter PWM Peak hold Effective value calculati
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10 DOG SG NG 4 10 11 12 14 15 16 17 17 18 18 19 ZP 19 9 9 SD VC CPO MEND ST1 SG TLA DI1 LSP ALM SD NP P15R 11 12 13 13 14 4 15 16 COM OPC PG LG VDD DI0 MD0 ST2 P15R COM SON LSN RD 10 0 0 11 1 1 12 2 2 13 3 3 14 15 5 5 16 6 6 17 7 7 18 8 8 19 PP 11 12 13 4 16 17 18 9 LG 10 0 0 1 1 2 2 3 3 14 4 15 5 5 6 6 7 7 8 8 19 9 App - 2 For CN1A For CN1B App 2.
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APPENDIX App 3. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
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APPENDIX App 4. Change of connector sets to the RoHS compatible products Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability.
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Jan., 2002 SH(NA)030017-A First edition Revision Oct., 2002 SH(NA)030017-B Addition of Note to the environment conditions in Safety Instructions 4 (1) Addition of "About processing of waste" Addition of "EEP-ROM life" COMPLIANCE WITH EC DIRECTIVES 1.
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Print data *Manual number Revision Oct., 2002 SH(NA)030017-B Section 15.10: Figure change Section 15.12.3 (2): POINT addition Mar., 2004 SH(NA)030017-C Safety Instructions: Overall reexamination Section 1.1.1: Partial figure reexamination Section 1.5: Note addition Section 1.7 (3): Note addition Section 1.7 (4): Note addition Section 3.1: Partial figure reexamination/Addition of Note 13 Section 3.6.1: Partial figure reexamination Section 3.8.2: Figure reexamination Section 3.8.
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Print data *Manual number Revision Mar., 2004 SH(NA)030017-C Mar., 2005 SH(NA)030017-D COMPLIANCE WITH EC DIRECTIVES: “1. WHAT ARE EC DIRECTIVES?“ Sentence reexamination Section 1. 1. 1 (1): Reexamination of words in figure Section 1. 1. 1 (2): Addition, reexamination of the function block diagram for MR-J2S-500CP, 700CP Section 1. 4 (2): Note reexamination Section 3. 1: Figure reexamination Section 3. 3. 1 (2): Signal arrangement Deletion of PG, NG Section 3. 3.
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Print data *Manual number Revision Mar., 2005 SH(NA)030017-D Section 14. 1. 1 (5) (c): Partial changing of figure Section 14. 1. 2 (2): Note reexamination Section 14. 1. 3 (2): Note reexamination Section 14. 1. 4 (1): Sentence reexamination (2) Sentence reexamination Section 14. 1. 9: Correction of words in POINT Section 14. 2. 3: Addition of MR-J2S- CP Crossing change Section 14. 2. 6 (2): (d) Sentence reexamination (e) Connection diagram change Section 15.
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Print data *Manual number Revision Jul., 2006 SH(NA)030017-F Sep., 2007 SH(NA)-030017-G Safety Instructions 1. To prevent electric shock: Partial change of sentence 2. To prevent fire: Partial change of sentence 4. Additional Instructions (2) Wiring: Addition of sentence Section 1.1.1: Addition of Note Section 1.6.2: WARNING Change of sentence Section 1.7: Addition of Note Chapter 3: WARNING Change of sentence Section 3.6.2 (2): Addition of sentence Addition of Note Section 3.6.
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General-Purpose AC Servo J2-Super Series Built-In Positioning Function J2-Super Series MODEL MR-J2S- CP SERVO AMPLIFIER INSTRUCTION MANUAL MR-J2S- CP Servo Amplifier Instruction Manual G MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030017-G (0709) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.