Mitsubishi Melservo-J2-JR SERIES Manuel d'instructions

General-Purpose AC ServoMODELMR-J2-03B5SERVO AMPLIFIERINSTRUCTION MANUALSSCNET CompatibleBJ2-Jr Series

A - 9CONFORMANCE WITH UL/C-UL STANDARDThe standard models of the servo amplifier and servo motor comply with the UL/C-UL Standard.Unless otherwise sp

11 - 911. OPTIONS AND AUXILIARY EQUIPMENT(b) MR-J2HBUS M1) Model definitionModel:MR-J2HBUS M0510.5 (1.64)1 (3.28)5 5 (16.4)Cable Length [m(ft)]Sym

11 - 1011. OPTIONS AND AUXILIARY EQUIPMENT(c) Q172J2BCBL M1) Model definitionModel:Q172J2BCBL M05Cable Length [m(ft)]5Symbol0.5 (1.64)5 (16.4)1 (3

11 - 1111. OPTIONS AND AUXILIARY EQUIPMENT2) Connection diagramHDR-E26MG1(Connector)HDR-E26-LPA5(Connector case)10120-6000EL(Connector)10320-3210-000

11 - 1211. OPTIONS AND AUXILIARY EQUIPMENT11.1.2 Servo configurations softwareThe servo configuration software (MRZJW3-SETUP81E) uses the communicati

11 - 1311. OPTIONS AND AUXILIARY EQUIPMENT11.2 Auxiliary equipmentAlways use the devices indicated in this section or equivalent. To comply with the

11 - 1411. OPTIONS AND AUXILIARY EQUIPMENT(2) Wires for cablesWhen fabricating a cable, use the wire models given in the following table or equivalen

11 - 1511. OPTIONS AND AUXILIARY EQUIPMENT11.2.2 Circuit protectorServo amplifier Circuit protectorMR-J2-03B5(Note) CP-30BA 1P 1-M5ANote: Use the ope

11 - 1611. OPTIONS AND AUXILIARY EQUIPMENT(b) Reduction techniques for external noises that cause the servo amplifier to malfunctionIf there are nois

11 - 1711. OPTIONS AND AUXILIARY EQUIPMENTNoise transmission route Suppression techniques1) 2) 3)When measuring instruments, receivers, sensors, et

11 - 1811. OPTIONS AND AUXILIARY EQUIPMENT(b) Cable clamp fitting (AERSBAN -SET)Generally, the earth of the shielded cable may only be connected to

A - 10MEMO

11 - 1911. OPTIONS AND AUXILIARY EQUIPMENT11.2.5 Snubber unitThis section provides the recommended snubber circuit unit which is installed to the for

11 - 2011. OPTIONS AND AUXILIARY EQUIPMENTMEMO

REVISIONS*The manual number is given on the bottom left of the back cover.Print Data *Manual Number RevisionNov.,2000 SH(NA)030005-A First editionMay.

HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310SH (NA) 030005-B (0305) MEE Printed in Japan Specifications subject to change without notic

1CONTENTS1. FUNCTIONS AND CONFIGURATION 1- 1 to 1- 61.1 Introduction...

25. PARAMETERS 5- 1 to 5- 85.1 Parameter write inhibit...

311. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-2011.1 Options...

4MEMO

1 - 11. FUNCTIONS AND CONFIGURATION1. FUNCTIONS AND CONFIGURATION1.1 IntroductionThe MELSERVO-J2-Jr series general-purpose AC servo has been develope

1 - 21. FUNCTIONS AND CONFIGURATION1.2 Servo amplifier standard specificationsServo amplifierItemMR-J2-03B5Voltage 21.6 to 30VDC (instantaneous permi

1 - 31. FUNCTIONS AND CONFIGURATION1.4 Model code definition(1) Rating plateModel Capacity Applicable power supplyRated output currentSerial numberA5

1 - 41. FUNCTIONS AND CONFIGURATION1.6 Parts identificationSection 4.31CB9875430FD1CB9875430FDReferenceName/ApplicationDisplayThe two-digit, seven-se

A - 1 Safety Instructions (Always read these instructions before using the equipment.)Do not attempt to install, operate, maintain or inspect the ser

1 - 51. FUNCTIONS AND CONFIGURATION1.7 Servo system with auxiliary equipmentWARNINGTo prevent an electric shock, fit the supplied earth terminal (E)

1 - 61. FUNCTIONS AND CONFIGURATIONMEMO

2 - 12. INSTALLATION2. INSTALLATIONCAUTIONStacking in excess of the limited number of products is not allowed.Install the equipment to incombustibles

2 - 22. INSTALLATION2.2 Installation direction and clearancesCAUTIONThe equipment must be installed in the specified direction. Otherwise, a fault ma

2 - 32. INSTALLATION(2) Installation of two or more servo amplifiersLeave a large clearance between the top of the servo amplifier and the internal s

2 - 42. INSTALLATION2.4 Cable stress(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weightstress

2 - 52. INSTALLATION2.5 Using the DIN rail for installation(1) Fitting into the DIN railPut the upper catch on the DIN rail and push the unit until i

2 - 62. INSTALLATIONMEMO

3 - 13. SIGNALS AND WIRING3. SIGNALS AND WIRINGWARNINGAny person who is involved in wiring should be fully competent to do the work.Before starting w

3 - 23. SIGNALS AND WIRING3.1 Connection example of control signal systemPOINTRefer to Section 3.5 for the connection of the power supply system.Do n

A - 21. To prevent electric shock, note the following: WARNINGBefore wiring or inspection, switch power off and wait for more than 10 minutes. Then,

3 - 33. SIGNALS AND WIRINGNote 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amplifier and always connect it to t

3 - 43. SIGNALS AND WIRING3.2 I/O signals3.2.1 Connectors and signal arrangementsPOINTThe pin configurations of the connectors are as viewed from the

3 - 53. SIGNALS AND WIRING3.2.2 Signal explanationsFor the I/O interfaces (symbols in I/O column in the table), refer to Section 3.4.2.(1) Connector

3 - 63. SIGNALS AND WIRING3.3 Alarm occurrence timing chartCAUTIONWhen an alarm has occurred, remove its cause, make sure that the operationsignal is

3 - 73. SIGNALS AND WIRING3.4 Interfaces3.4.1 Common lineThe following diagram shows the power supply and its common line.To conform to the EMC direc

3 - 83. SIGNALS AND WIRING3.4.2 Detailed description of the interfacesThis section gives the details of the I/O signal interfaces (refer to I/O Divis

3 - 93. SIGNALS AND WIRING3.5 Input power supply circuitCAUTIONWhen the servo amplifier has become faulty, switch power off on the servoamplifier pow

3 - 103. SIGNALS AND WIRING3.5.2 Explanation of signalsAbbreviation Signal Name DescriptionP24M Main circuit power input Power supply for main circui

3 - 113. SIGNALS AND WIRING(3) Forced stopCAUTIONInstall an forced stop circuit externally to ensure that operation can be stopped andpower shut off

3 - 123. SIGNALS AND WIRING3.6 Servo motor with electromagnetic brakeCAUTIONConfigure the electromagnetic brake operation circuit so that it is activ

A - 34. Additional instructionsThe following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electricshock, et

3 - 133. SIGNALS AND WIRING(3) Operation timings(a) Servo-on command (from controller) ON/OFFTb [ms](parameter No.21) after the servo-on is switched

3 - 143. SIGNALS AND WIRING(c) Alarm occurrencePOINTWhen the overcurrent alarm (32) occurs, the dynamic brake is notoperated.Servo motor speedONOFFBa

3 - 153. SIGNALS AND WIRING3.7 GroundingWARNINGGround the servo amplifier and servo motor securely.To prevent an electric shock, always connect the e

3 - 163. SIGNALS AND WIRING(2) Fitting of earth (E) terminal (AERSBAN-JR)As shown below, fit the earth (E) terminal to the bottom or top of the servo

3 - 173. SIGNALS AND WIRING3.8 Instructions for the 3M connectorWhen fabricating a cable with the 3M connector, securely connect the shielded externa

3 - 183. SIGNALS AND WIRING3.9 Control axis selectionUse the axis select switch (CS1) to set the control axis number for the servo. The control axis

4 - 14. OPERATION AND DISPLAY4. OPERATION AND DISPLAY4.1 When switching power on for the first timeBefore starting operation, check the following:(1)

4 - 24. OPERATION AND DISPLAY4.2 Start upWARNINGDo not operate the switches with wet hands. You may get an electric shock.Do not operate the controll

4 - 34. OPERATION AND DISPLAY(5) StopIf any of the following situations occurs, the servo amplifier suspends the running of the servo motorand brings

4 - 44. OPERATION AND DISPLAY4.3 Servo amplifier displayOn the servo amplifier display (2-digit, 7-segment display), check the status of communicatio

A - 4 CAUTIONSecurely attach the servo motor to the machine. If attach insecurely, the servo motor may come off duringoperation.The servo motor with

4 - 54. OPERATION AND DISPLAY(2) Indication listIndication Status DescriptionAA InitializingThe servo amplifier was switched on when power to the ser

4 - 64. OPERATION AND DISPLAY4.4 Test operation mode CAUTIONThe test operation mode is designed for servo operation confirmation and not formachine o

4 - 74. OPERATION AND DISPLAY(c) Program operationPositioning operation can be performed in two or more operation patterns combined, without usingthe

4 - 84. OPERATION AND DISPLAY(2) ConfigurationConfiguration should be as in Section 3.1. Always install a forced stop switch to enable a stop atoccur

5 - 15. PARAMETERS5. PARAMETERSCAUTIONNever adjust or change the parameter values extremely as it will make operationinstable.POINTWhen the servo amp

5 - 25. PARAMETERS(1) Item listClassifi-cationNo. Symbol Name(Note1)InitialValueUnitCustomersetting1 00002For manufacturer setting00003 00804 00005 1

5 - 35. PARAMETERS(2) Details listClassifi-cationNo. Symbol Name and FunctionInitialValueUnitSettingRange1 00002For manufacturer settingDon't ch

5 - 45. PARAMETERSClassifi-cationNo. Symbol Name and FunctionInitialValueUnitSettingRange9 RSP Servo responseUsed to select response of auto tuning.0

5 - 55. PARAMETERSClassifi-cationNo. Symbol Name and FunctionInitialValueUnitSettingRange14 VG1 Speed loop gain 1Normally this parameter setting need

5 - 65. PARAMETERSClassifi-cationNo. Symbol Name and FunctionInitialValueUnitSettingRange20 INP In-position rangeUsed to set the droop pulse range in

A - 5(4) Usage CAUTIONProvide a forced stop circuit to ensure that operation can be stopped and power switched off immediately.Any person who is invo

5 - 75. PARAMETERSClassifi-cationNo. Symbol Name and FunctionInitialValueUnitSettingRange27 028 029For manufacturer settingDon't change this val

5 - 85. PARAMETERSMEMO

6 - 16. ADJUSTMENT6. ADJUSTMENT6.1 What is gain adjustment?6.1.1 Difference between servo amplifier and other drivesBesides the servo amplifier, ther

6 - 26. ADJUSTMENT6.1.2 Basics of the servo systemEncoderDeviationcounterPG2PositioncontrolsectionVG2SpeedcontrolsectionCurrentcontrolsectionPowercon

6 - 36. ADJUSTMENT6.2 Gain adjustment6.2.1 Parameters required for gain adjustmentParameter No. Symbol Name8 ATU Auto tuning9 RSP Servo response12 GD

6 - 46. ADJUSTMENT6.2.3 What is auto tuning?The load inertia moment is estimated from the angular speed () and torque (T) in accordance with theequat

6 - 56. ADJUSTMENT6.3 Gain adjustment by auto tuning6.3.1 Adjustment methodIn the factory setting of the servo amplifier, auto tuning selection is va

6 - 66. ADJUSTMENT6.4 Manual gain adjustmentOn some machines, gain adjustment may not be made by auto tuning or excellent gain setting may not bemade

6 - 76. ADJUSTMENT6.4.2 When the machine vibrates due to machine resonance frequency(1) Machine conditionThe servo motor shaft is oscillating at high

6 - 86. ADJUSTMENT6.4.3 Load inertia moment is 20 or more times(1) Machine conditionThe machine inertia moment is 20 times or more and the servo moto

A - 6(6) Maintenance, inspection and parts replacement CAUTIONWith age, the electrolytic capacitor will deteriorate. To prevent a secondary accident

6 - 96. ADJUSTMENT6.4.4 When shortening the settling time(1) Machine conditionThe settling time will be increased by the gains provided by auto tunin

6 - 106. ADJUSTMENT6.4.5 When the same gain is used for two or more axes(1) Machine conditionTo perform interpolation operation with two or more axes

7 - 17. INSPECTION7. INSPECTIONWARNINGBefore starting maintenance/inspection, switch power off, and after more than 10minutes have elapsed, confirm t

7 - 27. INSPECTIONMEMO

8 - 18. TROUBLESHOOTING8. TROUBLESHOOTING8.1 Alarms and warning listWhen a fault occurs during operation, the corresponding alarm or warning is displ

8 - 28. TROUBLESHOOTING8.2 Remedies for alarmsCAUTIONWhen any alarm has occurred, eliminate its cause, ensure safety, then reset thealarm, and restar

8 - 38. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Faulty parts in the servo amplifierChecking methodAlarm (15) occurs if power is switche

8 - 48. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Short occurred in servo amplifieroutput phases U, V and W.Correct the wiring.2. Transis

8 - 58. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Servo amplifier is used in excessof its continuous output current.1. Reduce load.2. Rev

8 - 68. TROUBLESHOOTINGDisplay Name Definition Cause Action1. Acceleration/deceleration timeconstant is too small.Increase the acceleration/decelerat

A - 7COMPLIANCE WITH EC DIRECTIVES1. WHAT ARE EC DIRECTIVES?The EC directives were issued to standardize the regulations of the EU countries and ensu

8 - 78. TROUBLESHOOTING8.3 Remedies for warningsIf E6, E7 or E9 occurs, the servo off status is established. If any other warning occurs, operation c

8 - 88. TROUBLESHOOTINGMEMO

9 - 19. OUTLINE DIMENSION DRAWINGS9. OUTLINE DIMENSION DRAWINGS9.1 Servo amplifiers5 (0.197)5(0.197)55 (0.197)2- 5 ( 0.197) holeServo AmplifierMode

9 - 29. OUTLINE DIMENSION DRAWINGS9.2 Connectors(1) Servo amplifier side<3M>(a) Soldered typeModel Connector : 10120-3000VE Shell kit

9 - 39. OUTLINE DIMENSION DRAWINGS(2) Connectors for CNP1/CNP2/CNP311.63.5(0.138)39.6 (0.378)2.7 (0.106)AB4.24.2(0.165)2.5 (0.098)8.56.33.3(0.13)10.7

9 - 49. OUTLINE DIMENSION DRAWINGS(3) Bus cable connector(a) Honda Tsushin Industry PCR type38.5 (1.516)27.4 (1.079)32.0 (0.906)HONDA13.0 (0.512)1 12

9 - 59. OUTLINE DIMENSION DRAWINGS(b) Honda Tsushin Industry HDR typeModel HDRNumber of PinsConnector Connector case (Note) Crimping terminal14 HDR-E

9 - 69. OUTLINE DIMENSION DRAWINGSMEMO

10 - 110. CHARACTERISTICS10. CHARACTERISTICS10.1 Overload protection characteristicsAn electronic thermal relay is built in the servo amplifier to pr

10 - 210. CHARACTERISTICS10.2 Dynamic brake characteristicsFig. 10.2 shows the pattern in which the servo motor comes to a stop when the dynamic brak

A - 8(3) Power supplyUse a 24VDC power supply which has been insulation-reinforced in I/O.(4) GroundingTo prevent an electric shock, always connect t

10 - 310. CHARACTERISTICSUse the dynamic brake at the load inertia moment indicated in the following table. If the load inertiamoment is higher than

10 - 410. CHARACTERISTICSMEMO

11 - 111. OPTIONS AND AUXILIARY EQUIPMENT11. OPTIONS AND AUXILIARY EQUIPMENTWARNINGBefore connecting any option or auxiliary equipment, switch power

11 - 211. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description ApplicationConnector: PCR-S20FCase: PCR-LS20LA1(Honda Tsushin)Connector: 1020-

11 - 311. OPTIONS AND AUXILIARY EQUIPMENTNo. Product Model Description ApplicationConnector: 5557-04R-210Terminal: 5556(molex)Connector: DE-25PF-NCas

11 - 411. OPTIONS AND AUXILIARY EQUIPMENT(2) Motor cableCAUTIONIf you have fabricated the encoder cable, connect it correctly.Otherwise, misoperation

11 - 511. OPTIONS AND AUXILIARY EQUIPMENT3) Connection diagramWhen fabricating the cable, use the recommended wire (J14B1180) given in Section 11.2.1

11 - 611. OPTIONS AND AUXILIARY EQUIPMENT(b) MR-JRBRCBL M-HUse this cable when using the servo motor provided with electromagnetic brake.1) Model e

11 - 711. OPTIONS AND AUXILIARY EQUIPMENT(3) Communication cablePOINTThis cable may not be used with some personal computers. After fullyexamining th

11 - 811. OPTIONS AND AUXILIARY EQUIPMENT(4) Bus cableCAUTIONWhen fabricating the bus cable, do not make incorrect connection. Doing so cancause miso