Mitsubishi Electronics MR-J2S- A 3 - 8, 3.1.3 Torque control mode

3 - 8

3. SIGNALS AND WIRING

3.1.3 Torque control mode

RA1

RA2

RA3

18

10

SP1

SG

15

5

14

9

8

10

1

11

EMG

SON

RES

RS1

RS2

SG

SD

P15R

LG

12

ALM

19 ZSP

6VLC

15

5

14

7

16

17

4

LZ

LZR

LA

LAR

LB

LBR

LG

OP

P15R

SD

1

6

CN1B

CN2

CN3

13

8

7SP2

TC

2VLA

19 RD RA4

CN1A

3VDD

COM

9COM

4

13

3

SD

LG

14

MO1

LG

MO2

CN3

A

A

Speed selection 1

Servo amplifier

CN1A

(Note 4,8)

CN1B

(Note 4)

10m(32ft) max.

(Note 4,8) (Note 4,8)

Plate

(Note 3) Emergency stop

Servo-on

Reset

Forward rotation start

Reverse rotation start

Speed selection 2

Upper limit setting

Analog speed limit

0 to 10V/rated speed

Upper limit setting

Analog torque command

8V/max. torque

(Note 9)

Servo configuration

software

Personal

computer (Note 7)

Communication cable 2 m(6.5ft) max.

50m (164ft) max.

Plate

Plate

(Note 7)

Monitor output

Max. 1mA

Reading in both

directions

10k

10k

2m(6.5ft) max. (Note 4,8 )

(Note 4,8)

Encoder cable Servo

Motor

(Note 1)

Control common

Encoder Z-phase pulse

(open collector)

Encoder Z-phase pulse

(differential line driver)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse

(differential line driver)

(Note 10)

Trouble

Zero speed

Limiting torque

(Note 2,5)

Ready

(Note 6)

(Note 4,8)

(Note 11)

Contents

Main Safety Instructions WARNING CAUTION 1. To prevent electric shock, note the following: WARNING 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 Page COMPLIANCE WITH EC DIRECTIVES Page Page CONFORMANCE WITH UL/C-UL STANDARD Page Page Page Page Page Optional Servo Motor Instruction Manual CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 2 1.2 Function block diagram The function block diagram of this servo is shown below. 1 - 3 1.3 Servo amplifier standard specifications 1 - 4 1 - 5 1.5 Model code definition (1) Rating plate MITSUBISHI 1 - 6 (2) Model 1 - 7 1.7 Parts identification (1) MR-J2S-100A or less 1 - 8 (2) MR-J2S-200A or more 1 - 9 1 - 10 1.8 Servo system with auxiliary equipment WARNING 1 - 11 (b) For 1-phase 100V to 120VAC 1 - 12 (2) MR-J2S-200A or more 2. INSTALLATION Page Page Page 3. SIGNALS AND WIRING WARNING 3 - 2 3.1 Standard connection example Page 3 - 4 (2) AD75P (A1SD75P ) Page 3 - 6 3.1.2 Speed control mode Servo motor Page 3 - 8 3.1.3 Torque control mode Page 3 - 10 Note. P: Position control mode, S: S p eed control mode, T: Tor q 3 - 11 3.3 I/O signals 3.3.1 Connectors and signal arrangements 3 - 12 For note, refer to the next page. Page 3 - 14 3 - 15 3 - 16 3 - 17 3 - 18 3 - 19 (2) Output signals 3 - 20 3 - 21 (3) Communication Refer to Chapter 14 for the communication function. 3 - 22 (4) Power supply Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page CAUTION 3 - 39 3.6 Interfaces 3.6.1 Common line The following diagram shows the power supply and its common line. ALM .etc Page 3 - 41 (b) Lamp load For use of internal power supply F or use of external power supply 2) Conditions of the input pulse Page 3 - 43 (b) Differential line driver system 1) Interface Max. output current: 35mA 2) Output pulse (5) Analog input Input impedance 10 to 12k (6) Analog output Output 10V Max.1mA 3 - 44 Note: This also applies to the use of the external power supply. 3 - 45 3.7 Input power supply circuit 3 - 46 Page WARNING 3 - 49 3 - 50 3.8.3 I/O terminals (1) HC-KFS HC-MFS HC-UFS3000r/min series 3 - 51 (2) HC-SFS HC-RFS HC-UFS2000 r/min series Page 3 - 53 (b) Emergency stop signal (EMG) ON/OFF 3 - 54 (c) Alarm occurrence (d) Both main and control circuit power supplies off (e) Only main circuit power supply off (control circuit power supply remains on) 3 - 55 WARNING Page Page Page 4. OPERATION WARNING CAUTION Page Page Page Page 5. PARAMETERS CAUTION Page 5 - 3 5 - 4 5 - 5 (2) Details list 0 0 5 - 6 5 - 7 5 - 8 5 - 9 5 - 10 5 - 11 5 - 12 5 - 13 5 - 14 5 - 15 5 - 16 5 - 17 5 - 18 5 - 19 5 - 20 5 - 21 5 - 22 5 - 23 5 - 24 CAUTION CDV CMX 0Pt S0Pt nPb 10 10 31/2 10 131072 262144 1000 32768 26214 450 36000 1 131072 4 64 360 359.995 Page Page 5 - 29 Page Page Page 6 - 1 6. DISPLAY AND OPERATION UP DOWN MODE Command pulse frequency [kpps] Page 6 - 3 6 - 4 6 - 5 6.3 Diagnostic mode 6 - 6 Page Page Page 6 - 10 (a) Control modes and I/O signals (b) Symbol and signal names 6 - 11 (3) Default signal indications (a) Position control mode (b) Speed control mode (c) Torque control mode Page Page Page Page Page 7 - 1 7. GENERAL GAIN ADJUSTMENT 7 - 2 (2) Adjustment sequence and mode usag e Page Page Page Page Page Page PG1 guideline VG2 setting (1 load inertia moment ratio) ( to1 5 1 3) Droop pulse value (pulse) PG1 setting Rotation speed (r/min) 131,072(pulse) Page Page 8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 2 Page Page Page 8 - 6 Page 8 - 8 (b) Changing operation 8 - 9 (2) When you choose changing by dro op pulses (a) Setting (b) Changing operation Page 9. INSPECTION 9. INSPECTION WARNING Page 10 - 1 10. TROUBLESHOOTING 10.1 Trouble at start-up CAUTION make operation instable. 10 - 2 Page 10 - 4 10.1.2 Speed control mode 10 - 5 10.1.3 Torque control mode Page Page 10 - 8 10 - 9 10 - 10 10 - 11 10 - 12 11 - 1 11. OUTLINE DIMENSION DRAWINGS (0.79) 11.1 Servo amplifiers (1) MR-J2S-10A to MR-J2S-60A MR-J2S-10A1 to MR-J2S-40A1 168 (6.61) 156 (6.14) 6 (0.24) 11 - 2 (2) MR-J2S-70A MR-J2S- 100A 168(6.61) 20 (0.79) 156(6.14) 11 - 3 (3) MR-J2S-200A MR-J2S-350A 168(6.61) 156(6.14) 6 11 - 4 11.2 Connectors (1) Servo amplifier side <Sumitomo 3M make> (a) Soldered type (b) Threaded type (c) Insulation displacement type 11 - 5 (2) Communication cable connector <Japan Aviation Electronics Industry make> Page 12. CHARACTERISTICS Page Page Page 12 - 5 a. HC-MFS series b. HC-SF S1000r/min series c. HC-SFS2000r/min series d. HC-SFS3000r/min series e. HC-RFS series f . HC-UFS 2000r/min series g. HC-UFS3000r/min series Fig. 12.5 Dynamic brake time constant 12 - 6 Flexing life [times] 13. OPTIONS AND AUXILIARY EQUIPMENT WARNING CAUTION 13 - 2 Generated torque Unbalance torque Servo motor speed 2) 3) Page 13 - 4 (4) Outline drawing (a) MR-RB032 MR-RB12 150(5.91) 12 (0.47) 168 (6.61) 13 - 5 13 - 6 13 - 7 CAUTION 13 - 9 13 - 10 2) Connection diagram For the pin assignment on the servo amplifier side, refer to Section 3.3.1. 13 - 11 Page 13 - 13 13.1.3 Junction terminal block (MR-TB20) 750(1.97) 1) For CN1A 2) For CN1B 13 - 14 (4) Junction terminal block cable (MR-J 2TBL M) Model : MR-J2TBL M Cable length[m]Symbol 05 10.5 1 13 - 15 (2) Connection diagram 75(2.95) 13 - 16 (4) Bus cable (MR-J2HBUS M) 13.1.5 Battery (MR-BAT, A6BAT) Use the battery to build an absolute position detection system. Page 13 - 18 (b) Configuration diagram 1) When using RS-232C 2) When using RS-422 You can make multidrop connection of up to 32 axes. Page 13 - 20 Table 13.2 Recommended crimping terminals Table 13.4 Wire specifications 13 - 21 A E D Page Page 13 - 24 13 1 (0.51 0.04) 30 1 (1.18 0.04) Page 13 - 26 Outline drawing 13 - 27 65 (2.56) 3 (0.12) 31.5 (1.24) 35 (1.38) Page Ig1 20 1000 50.1 [mA] Ig2 20 1000 50.1 [mA] 13 - 30 (2) Connection example 14 - 1 14. COMMUNICATION FUNCTIONS (2) Cable connection diagram Wire as shown below: Page Page Page Page 14 - 6 (2) Transmission of data request from the controller to the servo (3) Recovery of communication status by time-out (4) Data frames The data length depends on the command. 14 - 7 14.4 Character codes (1) Control codes For example, "61H" is transmitted in hexadecimal for group a. (2) Codes for data JIS8 unit codes are used. For example, "30H" is transmitted in hexadecim al for the station number of "0" (axis 1). (4) Group Page Page Page 14 - 11 14.11 Command and data No. list 14.11.1 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]) 14 - 12 (5) Current alarm (Command [0][2] [3][5]) (6) Group setting (Command [1][F]) (7) Others 14.11.2 Write commands (1) Status display (Command [8][1]) 14 - 13 (5) Operation mode selection (Comm and [8][B]) (6) External input signal disable (Command [9][0]) (7) Data for test operation mode (Comm and [9][2] [A][0]) (8) Group setting (Command [9][F]) Page Page Page Page Page Page Page Page Page Page Page Page Page Page Page 15. ABSOLUTE POSITION DETECTION SYSTEM 15 - 2 15.2 Specifications (1) Specification list (2) General-purpose programmable c ontroller WARNING 15 - 4 15.4 Standard connection diagram 15 - 5 Page 15 - 7 15.7 Absolute position data transfer protocol Page Page Page Page Page Page 15 - 14 Page 15 - 16 Page Page 15 - 19 Page Page 15 - 22 Page 15 - 24 (2) Connection diagram CN1A A1SCPU A1SX40 Page 15 - 26 15 - 27 15 - 28 15 - 29 15 - 30 15 - 31 15 - 32 Page Page 15 - 35 15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) 15V 24V 15 - 36 (b) FX2N-32MT (FX2N-1PG) 15V 24V Page 15 - 38 (b) Device list 15 - 39 (c) ABS data transfer program for X-axis 15 - 40 15 - 41 15 - 42 15 - 43 15 - 44 15 - 45 Page Page 15 - 48 15.8.3 MELSEC A1SD75(AD75) (1) Connection diagram A1SCPU A1SX40 A1SY40 15 - 49 Page 15 - 51 15 - 52 15 - 53 15 - 54 15 - 55 15 - 56 Page 15 - 58 Page Page Page Page Page 15 - 64 Page Page App - 1 App endix App 1. Signal arrangement recording sheets (1) Position control mode (2) Speed control mode Appendix App 2. Analog monitor block diagram App - 3 Appendix App 3. Status display block diagram Page REVISIONS *The manual number is given on the bottom left of the back cover.