Off | Mitsubishi Electronics MR-J2S- A manual

15. ABSOLUTE POSITION DETECTION SYSTEM

5

(Continued from preceding page) 5

M8000

M109

Normally

OFF

M110

M111

M112

M102

M103

X7

X12

M99

PLS

M120

Servo

Position

ABS data

ready

start PB

ready

X10

M104

JOG

X11

M105

(Note)

JOG

X7

X14

M106

Servo ready Home position return PB

M120

DTO K0

K17

D100Z

K1

Position

start

command

pulse

SET

108

DINC

Z

DINC

Z

DCMP Z

K6

M121

M122

DMOV K0

Z

INDX 6

X12

M101

Position

stop PB

M0

Error flag

X16

M100 1PG error reset

6	(To be continued) 6

Start command pulse

1PG JOG command

1PG JOG command

1PG home position return start

Setting motion distance

1PG start

Index processing

1PG stop command

1PG error reset

1PG control command (not used)

Operation command control

Position command control

Note: Program example for the dog type home position return. For the data set type home position return, refer to the program example in (2), (d) in this section.

15 - 44

Image 295

Mitsubishi Electronics MR-J2S- A instruction manual Off

Contents

J2-Super Series Safety Instructions To prevent electric shock, note the following HC-SFS202 HC-SFS81HC-UFS HC-SFS121 COM Wiring RA EMG 24VDC Usage Dispose of the product as general industrial waste Maintenance, inspection and parts replacement Machine directive ConfigurationEMC directive Low voltage 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 11- 1 to 11 To 910- 1 to 10-12 13-13 12.312.4 13.1 14-27 14-2414-25 14-26Page Introduction Position control modeSpeed control mode Torque control mode Function block diagram of this servo is shown below Function block diagram Servo amplifier standard specifications Section Function listParameter No Parameters Input signal selectionModel code definition Rating plate Different types Combination with servo motor Model Output analog monitor data Name plate Charge lamp Battery holderParameter setting operations Parts identification MR-J2S-100A or less MR-J2S-200A or more Backup Display 5-digit, seven-segment LED shows the servo Functions and Configuration Magnetic contactor For 3-phase 200V to 230VAC or 1-phase 230VACMRZJW3-SETUP121E Regenerative brake option Section Magnetic contactor Section Cables For 1-phase 100V to 120VACServo configuration software Section No-fuse breaker Section Regenerative brake option 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 CN1B CN3 RXD TXD MO1 MO2 RDP RDN I/O signals Connectors and signal arrangementsSignal arrangement CN1A CN2 MDR MRR BAT For note, refer to the next CN1A and CN1B signal assignment OPC Symbols and signal names Reverse rotation Signal explanationsInput signals Servo-on ST2 CN1B CN1BTL1 ST1 CN1B SP3 Speed selectionSP1 SP2 CN1B CDP CN1ACM1 CM2 TLA CN1B LOP CN1B TLC Output signalsALM CN1B INP CN1A 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 OFF Electronic gear switchingIn-position INP Ready RD Parameter No TLA Torque limitTLA Parameter No Parameter No 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 Control change LOP Position/speed control change modeTorque limit in position control mode Position control mode Speed control mode Speed setting in speed control mode As in .4.2 Speed/torque control change modeTorque limit in speed control mode Speed control mode Torque control mode As in .4.3 Speed limit in torque control modeTorque control in torque control mode Torque limit in torque control mode Torque control mode Position control mode Torque/position control change mode0V on OFF RES OFF Precautions for alarm occurrenceSON OFF ALM OFF OPC PG NG PP NP Interfaces 3.6.1 Common lineCN1A DC24V CN1B VDD COM TLA Digital input interface DI-1 Detailed description of the interfacesDigital output interface DO-1 COM 24VDC VDD VDD-COM Lamp loadPulse train input interface DI-2 Conditions of the input pulse Encoder pulse output DO-2 Differential line driver system 1 InterfaceOpen collector system Interface Analog output Output 10V Max.1mA Output pulseAnalog input Input impedance 10 to 12k SON Source input interface Nfbmc VACEMG SON VDD COM ALM Terminals VDD COM EMG Power-on sequence Power-on procedureTiming chart Emergency stop Connection diagram HC-SFS121 B to 301 B HC-KFS053 B to 43 BHC-MFS053 B to 73 B HC-UFS13 B to 73 B Black 3 I/O terminals HC-KFS HC-MFS HC-UFS3000r/min seriesWhite BAT HC-SFS HC-RFS HC-UFS2000 r/min seriesEarth MDR CNT MRR 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 Test operation Selection of control modePosition control mode Power on Parameter setting Make home position return as required Command pulse inputServo-on Home position return Start Speed control mode Power on Torque control mode Power on Multidrop communication Parameters Item list Lists MO2 FFCTLO MO1 LPF SICNH1 NH2 STY ParametersBasic 1 *OP1 Details listPoint CMX CDV Auto tuning 0105 Used to set speed 1 of internal speed limits PG1In-position range 100 Operation STC STB BPS 14 TQC ParametersBasicTQC Droop pulses MOD Analog monitor output 01008V/max. torque Motor speed 8V/max. speed Generated torque 8V/max. torque Status display selection 0000 Used to select the status display shown at power-on 001Fh 000A 19 *BLK Basic parameters 20 *OP2 Expansion parametersParameter block 0000 Initial 444 888 777 555 Function selection 3 Command pulse selection 000021 *OP3 22 *OP4 Expansion parameters Function selection 0000 Analog torque limit internal torque limit Feed forward gain Used to set the fee forward gainWill be almost zero Zero speed Internal torque limit 1 Parameter No PG2 Analog speed command offset29 VCO MBR 980 1000 0000 Clear signalUsed to set the differential compensation CN1B-5 CN1B-14 CN1A-8 CN1B-7 CN1B-8 CN1B-9 SP2 ST1 RS2 ST2 RS1 SP3 CM1 CM2 TL1 CDP Signal selection 2 parameter NoDI2 0111 48 *DI7 DI4DI5 DI6 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 Parameter No.4 Detailed description 5.2.1 Electronic gearConcept of electronic gear Parameter No.3 65536 32768 131072 655361125 Instructions for reduction 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 CN1A CN1B CN1B CN1B CN1B CN1A External I/O signal displayDisplay definition CN1B CN1B CN1A CN1B 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 Time Adjustment sequence and mode usageAdjustment using servo configuration software You can automatically set the optimum gains Position control gain Auto tuning Auto tuning modeSpeed control gain PG2,VG2,VIC Auto tuning mode operationBlock diagram of real-time auto tuning is shown below PG1,VG1 Basic procedure Adjustment procedure by auto tuning Response level setting in auto tuning mode Adjustment procedure Manual mode 1 simple manual adjustmentOperation of manual mode Adjustment by manual mode Suppression of machine resonance For position control General Gain Adjustment Adjustment description Interpolation modeFollowing parameters are adjustable manually Adjustment procedure 100Hz 105Hz 130Hz 160Hz 200Hz 240Hz 300Hz Auto tuning selection15Hz 30Hz 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 Used to set the changing condition values Position control gain Rad/sSpeed control gain Rad/s Speed Integral Changing ratio Compensation to VIC Gain changing time constant CDT parameter No Parameters No , 34 toGain changing selection CDP parameter No Gain changing condition CDS parameter No Gain changing operation This operation will be described by way of setting examplesWhen you choose changing by external input Setting Position control gain 120 Speed control gain 3000 4000 When you choose changing by droop pulsesSpeed integral compensation 250 Changing ratio Gain changing selection 0003 Memo 10,000 to 30,000hours 2 to 3 years InspectionLife 100,000 times Memo LSP/LSN-SG are not Connected No pulses is input Position control mode TroubleshootingTrouble at start-up Make operation instable 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 Change the servo amplifier A160V or Control power failure of 60ms or Less LongerMR-J2S A183V or Position erase Data in error Alarm AL.17 or AL.19 occurs ifCN1B and CN3 connectors are Disconnected Ground fault Occurred at Output wires are in contact at Option Reexamine accelerationChange lead Option, change regenerative brake 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 Threaded type Connectors Servo amplifier side Sumitomo 3M makeInsulation displacement type Soldered 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-MFS43 HC-UFS43 HC-KFS053HC-MFS053 HC-UFS13 HC-KFS23 HC-MFS23 HC-UFS23 HC-KFS43 Heat dissipation area for enclosed servo amplifier Temperature distribution in enclosure Mm/minin/min There is internal relay delay time of about 30ms12.2 Mmin HC-RFS series HC-UFS 2000r/min series HC-MFS seriesHC-SFS1000r/min series HC-SFS2000r/min series HC-SFS3000r/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-RB50 Outline drawingMR-RB032 MR-RB12 MR-RB32 MR-RB30 HC-KFS Cables and connectors Cable make-up MR-JHSCBL M-H MR-JCCBL M-LMR-JCCBL M-H MR-JHSCBL M-L MR-J2HBUS M MR-J2CN1MR-J2TBL M MR-TB20 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 For CN1A For CN1B How to use the junction terminal blockJunction terminal block MR-TB20 Terminal labels B10 A10 Junction terminal block cable MR-J2TBL M Model MR-J2TBL MSP2 SP1 ST1 INP ALM TE1 CN3A CN3B CN3C MO1 MO2 VDD COM EMI MBR Maintenance junction card MR-J2CN3TM UsageMR-J2HBUS M CN3 CN3B CN3A CN3C Bus cable MR-J2HBUS M Battery MR-BAT, A6BAT System configuration CN3 CN2 Configuration diagram 1 When using RS-232C 5mm2 for use of the HC-RFS203 servo motor Recommended wires Wires for power supply wiringRecommended wires Auxiliary equipment Recommended crimping terminals Wires for cablesWires for option cables Wire specifications No-fuse breakers, fuses, magnetic contactors Power factor improving reactors Noise reduction techniques RelaysFollowing relays should be used with the interfaces Surge absorbers 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 MR-J2S-200A MR-J2S-350A SF1253 EMC filterCombination with the servo amplifier SF1252 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 RS-422/RS-232C serial interface selection Communication delay timeStation number setting Communication baudrate 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 SOH Error codesChecksum Checksum range Retry operation Time-out operation STX Communication procedure exampleInitialization Data item Value Description 00 to Parameter CommandExternal I/O signals Command Alarm history Command Current alarm Command Current alarm Command 02Group setting Command 1F Write commands Status display Command Group setting Command 9F Operation mode selection Command 8BExternal input signal disable Command Data for test operation mode Command 92 A0 Processing the read data Detailed explanations of commands 14.12.1 Data processing Writing the processed data 1EA5 Command Data NoStatus display Status display data read Status display data clear 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 Enable Disable/enable of external I/O signals DIOSignal Status External input signals DI External input signal ON/OFF test operation Enable the disabled external input signals Test operation mode Instructions for test operation mode1EA5 Choose the test operation mode Cancel the test operation mode Jog operation Command Data No Setting data Output signal pin ON/OFF do forced outputChoosing do forced output in test operation mode External output signal ON/OFF Erase the alarm history Send command 82 and data No Alarm history Alarm No. readFor example, 0032 means AL.32 and 00FF means AL. no alarm Alarm occurrence time read Read of the status display at alarm occurrence Current alarm Current alarm readCurrent alarm clear Software version Other commands Servo motor end pulse unit absolute positionCommand unit absolute position Reply Slave station sends back the requested command pulses Memo LSO Outline 15.1.1 FeaturesRestrictions CPU General-purpose programmable controller Specifications Specification listCN1A CN2 CN1B Battery connector Operation window Standard connection diagram Absr Signal explanationAbsm Amplifier is in the ABS transfer mode, and the functions Confirmation of absolute position data transfer Startup procedure Battery installationResetting of absolute position erase alarm AL.25 Home position setting 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 Electromagnetic brake output M62 Sum check discrepancy greater T200 Retry wait timer M63Clear signal on timer request T203 Ready to send response timer 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