Mitsubishi Electronics MR-J2-03A5 specifications

General-Purpose AC Servo

J2-JrSeries

J2-Jr Series MR-J2-03A5

HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 3200-B (9910) MEE Printed in Japan Specifications subject to change without notice.

General-Purpose Interface

MR-J2-03A5

Servo Amplifier

Instruction Manual

B

Servo Amplifier Instruction Manual B

Contents

Main J2-Jr B z Safety Instructions z 1. To prevent electric shock, note the following: 2. To prevent fire, note the following: CAUTION 3. To prevent injury, note the follow CAUTION 4. Additional instructions (1) Transportation and installation (2) Wiring (3) Test run adjustment (4) Usage (5) Corrective actions (6) Maintenance, inspection and parts replacement Page COMPLIANCE WITH EC DIRECTIVES Page Page Page Page Page Page Optional Servo Motor Instruction Manual CONTENTS Page 1. FUNCTIONS AND CONFIGURATION 1 - 2 Page 1 - 4 1.5 Parts Identification 1 - 5 1.6 Servo System with Auxiliary Equipment 2. INSTALLATION Page Page Page 3. SIGNALS AND WIRING 3 - 2 3.1 Standard connection example Servo motor Page 3 - 4 3.1.2 Speed control mode 24VDC power supply 3 - 5 3.1.3 Torque control mode 24VDC power supply 3 - 6 3.2 Internal Connection Diagram of Servo Amplifier Note. P: Position control mode, S: Speed control mode, T: Torque control mode 3 - 7 3.3 I/O Signals 3.3.1 Connectors and signal arrangements 3 - 8 For note, refer to the next page. Page 3 - 10 49. (1) Input signals 3 - 11 3 - 12 3 - 13 3 - 14 3 - 15 (2) Output signals 3 - 16 3 - 17 3 - 18 (3) Power supply Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 3 - 35 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. PGxNG PPxNP Page Page Page 3 - 39 (b) Differential line driver system 1) Interface 2) Output pulse (5) Analog input 3 - 40 CAUTION amplifier power side. Continuous flow of a large current may cause a fire. 3.7.1 Connection example Page Page Page Page Page Page 4. OPERATION WARNING CAUTION Page Page Page Page 5. PARAMETERS CAUTION Page 5 - 3 5 - 4 (2) Details list 5 - 5 5 - 6 5 - 7 5 - 8 5 - 9 5 - 10 5 - 11 5 - 12 5 - 13 5 - 14 5 - 15 5 - 16 5 - 17 Page Page 5 - 20 For display details, refer to Section 6.2. Page 6 - 1 6. DISPLAY AND OPERATION Page 6 - 3 The following table lists the servo statuses that may be shown: 6 - 4 6.3 Diagnostic mode Page Page Page Page 6 - 9 (a) Control modes and I/O signals (b) Symbol and signal names 6 - 10 (3) Default signal indications (a) Position control mode (b) Speed control mode (c) Torque control mode Page Page Page Page Page 7. ADJUSTMENT [] Page Page Page Page Page Page Page Page 8. INSPECTION 8. INSPECTION 9 - 1 9. TROUBLESHOOTING 9.1 Trouble at Start-Up CAUTION make operation instable. 9 - 2 () () 9 - 4 9.1.2 Speed control mode 9 - 5 9.1.3 Torque control mode 9 - 6 CAUTION 9 - 8 9 - 9 Checking m ethod 9 - 10 Checking m ethod 9 - 11 Checking m ethod 10 - 1 10. SPECIFICATIONS 10.1 Servo Amplifier Standard Specifications 10 - 2 10.2 Outline Dimension Drawings 10.2.1 Servo amplifiers 10 - 3 10.2.2 Connectors (1) Connectors for CN1A/CN1B 10 - 4 (2) Connectors for CNP1/CNP2/CNP3 B Model Variable Dimensions A 9.6 (0.378)5557-04R 5557-08R 5557-12R 4.2 (0.165) 18.0 (0.709)12.6 (0.496) 26.4 (1.039)21.0 (0.827) 11. CHARACTERISTICS Page 11 - 3 12. OPTIONS AND AUXILIARY EQUIPMENT CAUTION 12 - 2 CAUTION 12 - 4 Page 12 - 6 750 (1.97) 1) For CN1A 2) For CN1B (3) Outline drawing 12 - 7 (4) Junction terminal block cable (MR-J2TBL05M) Page 12 - 9 (b) Configuration diagram 1)When using RS-232C 2) When using RS-422 You can make multidrop connection of up to 32 axes. Page Page 12 - 12 12 - 13 131 301 (0.510.04) (1.180.04) 12 - 14 x Outline drawing 13 - 1 13. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: 13 - 2 13.1.2 RS-232C configuration (1) Outline A single axis of servo amplifier is operated. Page 13 - 5 (2) Transmission of data request from the controller to the servo (3) Recovery of communication status by time-out 13 - 6 13.4 Character Codes (1) Control codes (2) Codes for data JIS8 unit codes are used. Example: Station number "0" (axis 1) Transmit "30H" in hexadecimal. Page Page Page 13 - 10 13.11 Command and Data No. List 13.11.1 Read commands (1) Status display (Command [0][1]) (2) Parameter (Command [0][5]) (3) External I/O signals (Command [1][2]) (4) Alarm history (Command [3][3]) 13 - 11 (5) Current alarm (Command [0][2] [3][5]) (6) Others 13.11.2 Wr ite commands (1) Status display (Command [8][1]) (2) Parameter (Command [8][4]) 13 - 12 (5) Operation mode selection (command [8][B]) (6) External input signal disable (command [9][0]) (7) Data for test operation mode (command [9][2] x [A][0]) Page Page Page Page Page Page Page Page Page Page Page Page Page Page REVISIONS *The manual number is given on the bottom left of the back cover. J2-Jr B