Mitsubishi Electronics MR-J2S- A instruction

General-Purpose AC Servo

J2-Super Series

General-Purpose Interface

MR-J2S-A

Servo Amplifier

Instruction Manual

B

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Mitsubishi Electronics MR-J2S- A instruction manual J2-Super Series

Contents

J2-Super Series Safety Instructions To prevent electric shock, note the following HC-UFS HC-SFS81HC-SFS121 HC-SFS202 COM Wiring RA EMG 24VDC Usage Dispose of the product as general industrial waste Maintenance, inspection and parts replacement EMC directive ConfigurationLow voltage directive Machine directive Wiring Power supplyGrounding Performing EMC tests Auxiliary equipment and options Use UL/C-UL standard-compliant products MR-J2S-10A1 20A1 MR-J2S-40A1 60A MR-J2S-70A to 350A Contents Functions and Configuration To 5 To 4 10- 1 to To 910-12 11- 1 to 11 12.4 12.313.1 13-13 14-25 14-2414-26 14-27Page Speed control mode Position control modeTorque control mode Introduction Function block diagram of this servo is shown below Function block diagram Servo amplifier standard specifications Section Function listParameter No Model code definition Rating plate Input signal selectionDifferent types Parameters Combination with servo motor Model Parameter setting operations Battery holderParts identification MR-J2S-100A or less Output analog monitor data Name plate Charge lamp MR-J2S-200A or more Backup Display 5-digit, seven-segment LED shows the servo Functions and Configuration MRZJW3-SETUP121E For 3-phase 200V to 230VAC or 1-phase 230VACRegenerative brake option Section Magnetic contactor Servo configuration software Section For 1-phase 100V to 120VACNo-fuse breaker Section Regenerative brake option Magnetic contactor Section Cables No-fuse breaker 2 Regenerative brake option SETUP121EMRZJW3 Installation Control box Others Installation of two or more servo amplifiersKeep out foreign materials Cable stress Signals and Wiring Standard connection example Position control mode FX-10GM Signals and Wiring CN1B AD75P A1SD75P Signals and Wiring CN1B VDD COM CN1A SP1 Signals and Wiring CN1B VDD COM CN1A Signals and Wiring Internal connection diagram of servo amplifier Signal arrangement I/O signals Connectors and signal arrangementsCN1A CN2 MDR MRR BAT CN1B CN3 RXD TXD MO1 MO2 RDP RDN For note, refer to the next CN1A and CN1B signal assignment OPC Symbols and signal names Input signals Signal explanationsServo-on Reverse rotation TL1 CN1BST1 CN1B ST2 CN1B SP1 Speed selectionSP2 CN1B SP3 CM1 CN1ACM2 CDP TLA CN1B LOP CN1B ALM CN1B Output signalsINP CN1A TLC AL.8E AL.8AAL.1A Refer to for the communication function Communication TLA, VC, VLA 24VDC Negative logic Positive logic VDD OPC Differential line driver system Connect as shown below In-position INP Electronic gear switchingReady RD OFF TLA Torque limitParameter No Parameter No Parameter No TLA Generally, make connection as shown below Speed control mode Speed settingNo servo lock As in .4.1 Speed reached SA RS2 RS1 RS2 Speed limitCCW Setting of parameter Speed limit value No to Torque limit in position control mode Position/speed control change modePosition control mode Speed control mode Control change LOP Speed setting in speed control mode Torque limit in speed control mode Speed/torque control change modeSpeed control mode Torque control mode As in .4.2 Torque control in torque control mode Speed limit in torque control modeTorque limit in torque control mode As in .4.3 Torque control mode Position control mode Torque/position control change mode0V on OFF SON OFF Precautions for alarm occurrenceALM OFF RES OFF CN1A DC24V CN1B VDD COM Interfaces 3.6.1 Common lineTLA OPC PG NG PP NP Digital input interface DI-1 Detailed description of the interfacesDigital output interface DO-1 Pulse train input interface DI-2 Lamp loadConditions of the input pulse COM 24VDC VDD VDD-COM Encoder pulse output DO-2 Differential line driver system 1 InterfaceOpen collector system Interface Analog input Output pulseInput impedance 10 to 12k Analog output Output 10V Max.1mA SON Source input interface Nfbmc VACEMG SON VDD COM ALM Terminals Timing chart Power-on sequence Power-on procedureEmergency stop VDD COM EMG Connection diagram HC-MFS053 B to 73 B HC-KFS053 B to 43 BHC-UFS13 B to 73 B HC-SFS121 B to 301 B Black 3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min seriesWhite Earth HC-SFS HC-RFS HC-UFS2000 r/min seriesMDR CNT MRR BAT COM MBR 24VDC Setting Emergency stop signal EMG ON/OFF Timing charts Both main and control circuit power supplies off Alarm occurrence CN1A CN1B Approx mm Connection Instructions for the 3M connector Memo Before starting operation, check the following When switching power on for the first timeMachine Position control mode Power on Selection of control modeParameter setting Test operation Servo-on Command pulse inputHome position return Make home position return as required Start Speed control mode Power on Torque control mode Power on Multidrop communication Parameters Item list Lists TLO FFCMO1 MO2 NH1 SICNH2 LPF STY ParametersBasic 1 *OP1 Details listPoint CMX CDV Auto tuning 0105 In-position range 100 PG1Operation Used to set speed 1 of internal speed limits STC STB BPS 14 TQC ParametersBasicTQC 8V/max. torque Motor speed 8V/max. speed MOD Analog monitor output 0100Generated torque 8V/max. torque Droop pulses Status display selection 0000 Used to select the status display shown at power-on 001Fh Parameter block 0000 19 *BLK Basic parameters 20 *OP2 Expansion parametersInitial 000A 21 *OP3 22 *OP4 Expansion parameters Function selection 3 Command pulse selection 0000Function selection 0000 444 888 777 555 Will be almost zero Zero speed Feed forward gain Used to set the fee forward gainInternal torque limit 1 Parameter No Analog torque limit internal torque limit 29 VCO Analog speed command offsetMBR PG2 Used to set the differential compensation Clear signalCN1B-5 CN1B-14 CN1A-8 CN1B-7 CN1B-8 CN1B-9 980 1000 0000 DI2 Signal selection 2 parameter No0111 SP2 ST1 RS2 ST2 RS1 SP3 CM1 CM2 TL1 CDP DI5 DI4DI6 48 *DI7 Not output CN1A-19 CN1B-18 CN1A-18 CN1B-19 CN1B-6 49 *DO1 Expansion parameters Used to select the protocol of serial communication 51 *OP6 53 *OP8 Parameters 54 *OP9 Expansion Expansion parameters 59 NH2 55 *OPAFunction selection a 0000 Vicb 60 LPF Expansion parameters 61 GD2B 62 PG2B 63 VG2BLow-pass filter/adaptive vibration suppression control 0000 CMX4 CMX3 SC5 Concept of electronic gear Detailed description 5.2.1 Electronic gearParameter No.3 Parameter No.4 1125 131072 65536Instructions for reduction 65536 32768 131072 2000/60 Pulse/s Setting for use of AD75P131072 3000/60 Pulse/s 3000 131072 4096 3000 131072AD75P Analog output Change the following digits of parameter No.17 Alarm history clear For step input Position smoothingFor trapezoidal input Memo Display and Operation Display flowchart Display examples Status displayFollowing table lists display examples CMX/CDV Status display list Changing the status display screen Control mode Status display at power-on Diagnostic mode Display and Operation Alarm mode Operation example Parameter modeExpansion parameters Display definition External I/O signal displayCN1B CN1B CN1A CN1B CN1A CN1B CN1B CN1B CN1B CN1A Symbol and signal names Control modes and I/O signals Default signal indications Output signal forced output do forced output Mode change Jog operation How to use the buttons is explained belowTermination of jog operation Positioning operation How to use the keys is explained belowTravel distance pulse 10000 Speed r/min 200 Motor-less operation To terminate the motor-less operation, switch power offTermination of motor-less operation Gain adjustment mode explanation General Gain Adjustment Adjustment using servo configuration software Adjustment sequence and mode usageYou can automatically set the optimum gains Time Position control gain Auto tuning Auto tuning modeSpeed control gain Block diagram of real-time auto tuning is shown below Auto tuning mode operationPG1,VG1 PG2,VG2,VIC Basic procedure Adjustment procedure by auto tuning Response level setting in auto tuning mode Operation of manual mode Manual mode 1 simple manual adjustmentAdjustment by manual mode Adjustment procedure Suppression of machine resonance For position control General Gain Adjustment Following parameters are adjustable manually Interpolation modeAdjustment procedure Adjustment description 15Hz Auto tuning selection30Hz 100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz Memo Machine resonance suppression filter Function Special Adjustment Functions Deep 40dB 14dB 8dB Shallow 4dB Parameters Adaptive vibration suppression control Function Low-pass filter Function Applications Gain changing function Speed control gain Rad/s Position control gain Rad/sSpeed Integral Changing ratio Compensation to VIC Used to set the changing condition values Gain changing selection CDP parameter No Parameters No , 34 toGain changing condition CDS parameter No Gain changing time constant CDT parameter No When you choose changing by external input This operation will be described by way of setting examplesSetting Gain changing operation Speed integral compensation 250 Changing ratio When you choose changing by droop pulsesGain changing selection 0003 Position control gain 120 Speed control gain 3000 4000 Memo Life Inspection100,000 times 10,000 to 30,000hours 2 to 3 years Memo Trouble at start-up Position control mode TroubleshootingMake operation instable LSP/LSN-SG are not Connected No pulses is input Chapter CMX CDV How to find the cause of position shift Power supply of CN1 cabling is Torque control mode Alarms and warning list When alarm or warning has occurred MR-J2S A160V or Control power failure of 60ms or Less LongerA183V or Change the servo amplifier CN1B and CN3 connectors are Disconnected Alarm AL.17 or AL.19 occurs ifGround fault Occurred at Output wires are in contact at Position erase Data in error Change lead Reexamine accelerationOption, change regenerative brake Option AL.35 Command Input pulse Pulse frequency of the command Computer Personal computer faulty AL.EA ABS Remedies for warnings TE1 TE1 TE2 MR-J2S-70A MR-J2S-100A MR-J2S-70A MR-J2S-100A MR-J2S-200A MR-J2S-350A MR-J2S-200A MR-J2S-350A Insulation displacement type Connectors Servo amplifier side Sumitomo 3M makeSoldered type Threaded type #4-40 DE-C1-J6-S6 34.51.36 190.75 24.990.98 331.30 60.24 Memo Electronic thermal relay protection characteristics Overload protection characteristicsMR-J2S-10A to MR-J2S-100A HC-MFS053 HC-UFS13 HC-KFS23 HC-KFS053HC-MFS23 HC-UFS23 HC-KFS43 HC-MFS43 HC-UFS43 Heat dissipation area for enclosed servo amplifier Temperature distribution in enclosure 12.2 There is internal relay delay time of about 30msMmin Mm/minin/min HC-SFS1000r/min series HC-MFS seriesHC-SFS2000r/min series HC-SFS3000r/min series HC-RFS series HC-UFS 2000r/min series MR-JCCBL M-H MR-JHSCBL M-H MR-ENCBL M-H Encoder cable flexing lifeMR-JCCBL M-L MR-JHSCBL M-L Selection of the regenerative brake option Options and Auxiliary Equipment 1047 JM No JM No 1047No regeneration Connection of the regenerative brake option MR-RB032 MR-RB12 Outline drawingMR-RB32 MR-RB30 MR-RB50 HC-KFS Cables and connectors Cable make-up MR-JCCBL M-H MR-JCCBL M-LMR-JHSCBL M-L MR-JHSCBL M-H MR-J2TBL M MR-J2CN1MR-TB20 MR-J2HBUS M Standard flexing life Long flexing life For use of AWG24 MDR MR-JHSCBL M-LMRR SHD MR-JHSCBL2M-L MR-CPCATCBL3M Communication cableTXD RXD GND RTS CTS DSR DTR Junction terminal block MR-TB20 How to use the junction terminal blockTerminal labels For CN1A For CN1B SP2 SP1 ST1 Junction terminal block cable MR-J2TBL M Model MR-J2TBL MINP ALM B10 A10 MR-J2HBUS M Maintenance junction card MR-J2CN3TM UsageCN3 CN3B CN3A CN3C TE1 CN3A CN3B CN3C MO1 MO2 VDD COM EMI MBR Bus cable MR-J2HBUS M Battery MR-BAT, A6BAT System configuration CN3 CN2 Configuration diagram 1 When using RS-232C Recommended wires Recommended wires Wires for power supply wiringAuxiliary equipment 5mm2 for use of the HC-RFS203 servo motor Wires for option cables Wires for cablesWire specifications Recommended crimping terminals No-fuse breakers, fuses, magnetic contactors Power factor improving reactors Following relays should be used with the interfaces RelaysSurge absorbers Noise reduction techniques Options and Auxiliary Equipment 10 to 100MHZ 100 to 500MHZ 150 Noise reduction products Ex A.2003 Outline drawing FR-BLFMR-J2S-350A NV-SF Leakage current breaker Selection methodNV-CF Selection example Combination with the servo amplifier EMC filterSF1252 MR-J2S-200A MR-J2S-350A SF1253 Cable connection diagram Configuration 14.1.1 RS-422 configuration OutlineWire as shown below Single axis of servo amplifier is operated 14.1.2 RS-232C configuration Outline Description Communication specifications 14.2.1 Communication overviewLSB MSB Station number setting Communication delay timeCommunication baudrate RS-422/RS-232C serial interface selection Transmission of data from the controller to the servo Protocol Data length depends on the command Recovery of communication status by time-outData frames For example, 61H is transmitted in hexadecimal for group a JIS8 unit codes are used Checksum Error codesChecksum range SOH Retry operation Time-out operation Initialization Communication procedure exampleData item Value Description STX External I/O signals Command Parameter CommandAlarm history Command 00 to Group setting Command 1F Current alarm Command 02Write commands Status display Command Current alarm Command External input signal disable Command Operation mode selection Command 8BData for test operation mode Command 92 A0 Group setting Command 9F Processing the read data Detailed explanations of commands 14.12.1 Data processing Writing the processed data Status display Status display data read Command Data NoStatus display data clear 1EA5 00 to Parameter Parameter read Parameter write Command Data No Set data00 to See below External output pin status read Reply ON/OFF statuses of the input pins are sent back Signal Status Disable/enable of external I/O signals DIOExternal input signals DI Enable External input signal ON/OFF test operation 1EA5 Choose the test operation mode Test operation mode Instructions for test operation modeCancel the test operation mode Enable the disabled external input signals Jog operation Choosing do forced output in test operation mode Output signal pin ON/OFF do forced outputExternal output signal ON/OFF Command Data No Setting data For example, 0032 means AL.32 and 00FF means AL. no alarm Alarm history Alarm No. readAlarm occurrence time read Erase the alarm history Send command 82 and data No Read of the status display at alarm occurrence Current alarm Current alarm readCurrent alarm clear Command unit absolute position Other commands Servo motor end pulse unit absolute positionReply Slave station sends back the requested command pulses Software version Memo Restrictions Outline 15.1.1 FeaturesCPU LSO General-purpose programmable controller Specifications Specification listCN1A CN2 CN1B Battery connector Operation window Standard connection diagram Absm Signal explanationAmplifier is in the ABS transfer mode, and the functions Absr Resetting of absolute position erase alarm AL.25 Startup procedure Battery installationHome position setting Confirmation of absolute position data transfer Absolute position data transfer protocol Data transfer procedureSON on Timing chart At power-onTransfer method CN1A-18 Positioning completion ABS data bit CN1B-4 Positioning completion ABS data bit Detailed description of absolute position data transfer Ffff FFF6 Therefore, the check sum of 10 ABS data is 2Db Transmission error Yes AL.E5 warning Signal is not turned OFF At the time of alarm reset EMG OFF At the time of emergency stop reset Send ABS data DOG OFF Home position setting Dog type home position return Data set type home position return Use of servo motor with electromagnetic brake Absolute Position Detection System ABS Examples of use MELSEC-A1S A1SD71 Instructions ABS coordinate system Slot No 1 2 3 4 5 6 A1SX40 A1SCPU Y4B Sequence program example PLS PLS100 10 to PLS M12 RST C2 Saving ABS 32-bit data Clearing register Reading 4 bits A1SD71 reading home position address ABS transfer retry start pulse Axis start program Electromagnetic brake output Dtop Sequence program 2-axis control FX-32MT FX-1PG Melsec FX2N-32MT FX2N-1PG Connection diagram FX2N-32MT FX2N-1PG PII 0PPSVII Clear signal on timer request M62 Sum check discrepancy greater T200 Retry wait timer M63T203 Ready to send response timer Electromagnetic brake output To K0 DTO K0 Dmov K0 ABS data transfer program for X-axis SET Zrst RST PLS ABS Setting servo-on request Retry control OFF From K0 Changing X-axis present position data ABS transfer Zero speed mode ABS transfer mode A1SCPU Melsec A1SD75AD75 Connection diagram Absolute Position Detection System Y3A Output signal reset Reading A1SD75 1-axis RDY Masking ABS data sign WOR ROR PLS ABS request reset Dmov A0 Wand Y1D PC RUN Servo positioning completion H0000 K1154 D3 Busy Differences between A1SD75 AD75 and A1SD71 AD71Y1D Absolute Position Detection System Confirmation of absolute position detection data ABS Y4B Y4A ABS communication error Error resetting conditions App Appendix PWM App 2. Analog monitor block diagram Appendix App 3. Status display block diagram Appendix Memo SHNA030006-A Manual number is given on the bottom left of the back coverSep.,2000 SHNA030006-B Sep.,2000