Download Mitsubishi Electric PUY-A.NHA Instruction manual
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Safety Instructions (Always read these instructions before using the equipment) Do not attemptto install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have full knowledge a of the equipment, safety information and instructions. In this Instruction Manual, thesafety instruction levels are classified into "WARNING1 and "CAUTION". I 1/i\ NG 1 I /i\ CAUTloN I Indicates that incorrect handling may cause hazardous conditions,, resulting in death severe orinjury. Indicates that incorrect handling may cause hazardous conditions,, resulting inmediumorslightinjurytopersonnelormaycausephysicaldamage. Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levelsbecause they are important to personnelsafety. What must notbe done and what mustbe done are indicated by the following diagrammak symbols: 8 : Indicates what mustnot be done. For example, "No Fire" is indicatedby : Indicateswhatmustbedone.Forexample,groundingisindicated @. by . In this lnstructron Manual, instructions at a lower level than the above, instructions forfundons, other and so on are classified into"POINT'. After reading this installation guide, atways keep it accessible to the operator. A- 1 A /r\ CAUTION 1 Securely attach the servo motor to the machine. If attach insecurely, theservo motor may come off during operation. The servomotor with reduction gear must be installed in the specifed direction to prevent oil leakage. For safetyof personnel, atways cover rotating and moving parts. Never hit the servo motor or shaft, especially when coupling servo the motor to the machine. The encoder may become fauky. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wlring /i\ CAUTION ~~ ~ wlre the equipment correctly and securely. OtheNvise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter(FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motorwill operate improperiy. Do not connectAC power directly to theservo motor. Otherwise, a fault may occur. The surge absorbing diode installed on the DC output signal relay must be wired in the specified direction. Otherwise, the emergency stop and other protective c:ircuits may not operate. Sew0 Amplifier COM (24VDC) Control OUQUt sgnal L (3) Test run adiustment A CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operationwill be instable. A- 4 lh CAUTION Provide an external emergency stop circuit to ensure that operationbecan stopped and power switched immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal off to is preventan accidentA sudden restart is made if an alarm is reset with the run signal on. Do not mod@ the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier. Use the servo amplifierwith the specified servo motor. The electromagnetic brake on the servo motor is designed tothe hold motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.9. where a ballscrew and the sew0 motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft To ensure safety, install a stopper on the machine side. 5) Corrective actions lh CAUTION ~ When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purposeof prevention. Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Contads must be open when servo is off or when an a l a n (trouble) is present. \ servo motor - Cirwit must be opendduring emergency stop. i' Y l R A l EMG Electromagnebc brake When any alarmhas occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted). A- 5 (6) Maintenance, inspection and parts replacement /i\ CAUTION I With age, the electrolybc capacitor will deteriorate. To prevent a secondary accident due tofault, a it is recommended to replace the electrolybc capacitor every10 years whenused in generalenvironment Please consult our s a l e s representawe. I (7)Disposal I A CAUTION Dispose of the product as general industrial waste. (8) General instruction v To illustrate details, the equipment in the diagrams of this Instruction Manualmay have been drawn without wvers and safety guards. When the equipmentis operated, the covers andsafety guards mustbe installed as specified. Operation must be performed in accordance with this Instruction Manual. I COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC Directives were issuedto standardize the regulationsof the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effectivein January,1997)of the ECDirectives require that productsto be sold should meet their fundamental safety requirementscarry and the CE marks (CE markmg). CE marking applies to machines and equipment into which servo a m p s e r s have been installed. The servoampMers do not function independently butare designed for use with machines and equipment. Therefore, the CE m a r h g does not applyto the servo amplifiers but applies to the machines and equipment into which the servo ampli6ers are installed. This servo amplifier conforms to the standards relatedto the Low Voltage Directive to f a d t a t e CE marking on machmes and equipmentinto which the servo ampli6erswill be installed. To ensure easeof compliance with the EMC Directive, Mitsubishi Electric preparedthe "EMC INSTALLATION GUIDELINES" (IB(NA)67310) which provides servo amplSer installation, controlbox making and other procedures.Please contact your sales representative. 2. PRECAUTIONS FOR COMPLIANCE Use the standard model of servo amplifier (expectedto be compliant soon)and the EN Standard-compliant model of HC-MF/HA-FF/HC-UF orthe standardmodel of HC-SF/HC-RF. In adhtionto the instructions providedin this Instruction Manual, alsofollow the instructionsbelow. If the model is not specScally describedto comply with the EN Standardin t h s Instruction Manual, it has the samespecdications as those of the standardmodels: Structure Control box Reinforced insulating type I ne1 breaker Magnetic contador Sew0 motor Environment Operate theservo amplifierat or above the contamination level 2 set forthin IEC664. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust,d x t , etc. (IP54). (3) Power supply (a) Operate the servoa m p x e r to meet the requirementsof the overvoltage category I1 set forthin IEC664. For t h s purpose, a reinforced insulating transformerconforming to the IECor EN Standardshould be used in the power input section. (b) When supplying interfacepower from external, use a24VDC power supply which has been insulation- relnforced in I/O. A- 7 (4) Grounding (a) To prevent an electric shock,always connect the protective earth (PE) terminals (marked a m p a e r to the protective earth RE)of the control box. 8) of the servo (b) Do not connecttwo ground cables to the same protective earth(PE)terminal. Always connectthe cables to the terminals one-to-one. (c) If a leakage current breakeris used to prevent an electric shock, the protective earth (PE) terminals of the servo ampMer mustbe connected to the corresponding earth terminals. (5) Wiring (a) The cablesto be connected to the tenninal block of the servo a m p a e r must have crimping terminals provided with insulating tubesto prevent contact with adjacent terminals. u (b) Use a fked terminal block to connect the power supply leadof the HC-MF/HA-FF HC-UF 3000 rlmin series servo motor to the servo ampl5er. Do not connect cables directly. (6) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should bethe EN or IEC Standard-compliant products of the models described in Section 14.2.2. (b) The sizes of the cables described in Section 14.2.2 meet thefollowing requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204. Ambient temperature: 40 (104) [“C (“F)] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray (c) Use the EMC flter for noise reduction. The ra&onoise flter (FR-BIF) is not required. (7)Miscellaneous For the other EMC Directiveg u i d e h e s on the servo ampldier, referto the “EMC INSTALLATION GUIDELINES”. CONFORMANCE WITH UUC-UL STANDARD Use the standard model of servo amphfier(wdl be h t e d soon) and theW C - U L Standard-compliant model of servo motor. Unless otherwisespecified, t h e h a n d h g ,performance, specifications, etc. of the WC-TJL Standard-compliant models are the sameas those of the standardmodels. When using the options and auxiliary equipment, use those which confrom to the WC-UL Standard. To comply with the WC-UL Standard, strictly observe the following: (1) Installation Install a fan of lOOCFM air flow 10.16 cm (4 in)above the servo amplifieror provide cooling of at least equivalent capability. (2) Power supply capacity The power supply capacityof the servo amplifier is 5000A maximum. (2) Capacitor dischargetime The capacitor discharge timeis as listed below. To ensure safety, do not touch the charging section for 10 m i n u t e s after power-off. I Servo Amplifier MRJ2-1OC * 2OC-SI00 MRJ2-40C * 6OC-S100 MR-J2-70C to 35OC-S100 I Discharge Time [min] 1 2 3 A- 9 I CONTENTS 1. FUNCTIONSAND CONFIGURATION 12. INSTALLATION AND -2-4 13. SIGNALS 4. OPERATION -3-35 -4-31 1-1-1-15 1 2-1 I 3-1 I 4-1 I ............................................................................. ............................................................... 4.1.2 startup 4.2 AubmaticWrationM& 4.2.1 What is operation 4.2.2 ~ ~ b program-operation ~ ~ t timing i ~chart .................................................... ............................................. 4.4.1 4.4.2 4.4.3 4.4.4 4.4.5 4.4.6 4.4.7 &heofzeroing ................................................................... .................................................................... .................................................................. ............................................................. ................................................................. S.pertypezeroing i g n o r (seweon ~ ~ dezero> ....................................... Automatic zeroing rem function ..................................................... ~ g ~ z e r o i n g &unttypezeming Datasettingtypezeroing 5 . PARAMETERS 5.1 . 4-2 4-6 4-6 4-13 4-17 4-19 4-21 4-22 4-23 4-24 4-25 5-1 -5-21 parameter^ .......................................................................... 5.2.1 Electronicgear ...................................................................... 6. SERVO CONFIGURATION SOFWVARE 5-1 5-16 6 - 1 -6-13 ........................................................................... ..................................................................... .......................................................................... 6.1 Specltip&i0m 6.2 Systemconfiguration 6.3 Stationsetting I I 6-1 6-1 6-2 c 6.7.4ProgramTest .......................................................................6-12 2 7. DISPLAY AND OPERATION FUNCTIONS 18. COMMUNICATION 9. ADJUSTMENT -9-11 7 - 1 -7-6 1 8 - 1 -8-24 I 9-1 I . 11. TROUBLESHOOTING 11-1-11-9 12. SPECIFICATIONS 12-1-12-6 12.1 Servo bpljfier 12.2 OutlineDhensionka-gs 12.2.1 &lrvoamp.ers 12.2.2 spe&mtions .................................................. ........................................................... .................................................................... ........................................................................ .... I 12 . 1 12 . 3 12 . 3 12 . 6 13- 1 .1 3 - 7 13. CHARACTERISTICS I I . 14.2.3 14.2.4 14.2.5 14.2.6 14.2.7 14.2.8 P o w e r f a & r ~ p m ~ g ~ a &.................................................... ~ ........................................................................... &lays Surgeabsorbers No& =dudon techniques LRakagecurrentb reaker ................................................................... ......................................................... ........................................................... E M C ~ t e........................................................................ r 14 14 14 14 14 14 . 15. CALCULATION METHODS FOR DESIGNING 15- 1 15-12 5 -23 -23 -24 -24 -30 -32 1 Optional Servo Motor InstructionManual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in the Servo AmpUier InstructionManual. I1. INTRODUCTION I 2. INSTALIATION I ~ ~~ ~ ~~~~~ ~ 3. CONNECTORS USED FOR SERVO MOTORWRING I 4. INSPECTION I 15. SPECIFICATIONS I 16. CHARACTERISTICS I 17.OUTLINE DRAWNGS I 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MRJ2-C-S100 AC servo ampMer with built-in positioningh c t i o n s is the MRJ2-A general-purpose AC ampmer whch incorporate sing1e-W positioning functions. These functions perform positioning operationby merely setting theposition data (target positions), motorspeeds, acceleration and deceleration timec o n s t a n t s , etc to programming byWindowsRdbased Software (Cofiguration Software). The servo amplifier is the most appropriate to consgUre a simple positioning system orto simpllfy a system, for example. You can choose a cofiguration suitablefor your purpase, e.g. simple positioning systemusing external UO signals (DUO), operation usingDUO and RS-232C or RS-485 serial communication. or multidrop operation using RS-485 serial COIllDlunicatiOIlAll servo motors are equipped with an absolute position encoderas standard. An absolute position detectionsystem can co&gured by merely a d h g a battery to the servo a m p u e r . Once the home position has been set, is not required a t power on, alarm occurrence, etc. zero= 1- 1 1. FUNCTIONSAND CONFIGURATION 1.1.1 Function block diagram The function block diagram of the MELSERVOJZ-C-S100is shown below. Program No.1 Program No.3 MR-BAT (for absolute position) j L. Serw on Start Failure, etc. Controller I amplifier 1- 2 1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration Ths section describes operations usingthe MELSERVOJ2-C-Sl00. You can arrange anyconfigurations h m a single-ards to max. 3 2 - systems. ~ Further, the connector pins in interface sectionallow you to assign the optimum signals to respective systems. (Refer to Sections 1.1.3 and 3.2.3.) The Codiguration Software (refer to Chapter 6) and personal computerare required to change orassign devices. (1) Operation usingexternal input signals (a) Description The following configuration example assumesthat external inputqpals are used to control all signals (devices). The L/O signals are as factory-set. (b) Configuration The following configuration uses external r/O signals. The personal computer is used with the Configuration Software to set, change and monitor the parameters and the motion programming. I External vo I Servo amdifier novk . / / I 1- 3 Personal computer Set-up Software 1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communicationcanbe used to change paramekr values, andcorhrm monitor data, for example. Enkr thestart signal through the externalUO. (b) Codguration 1) One servo amplitier is connected with the personal computer by RS-232C. - Personal External VO Servo amplifier MRJ2-OC Power supply bphase 2OOVAC 23OVAC ,,, Set-up SofMare F L€3 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo ampfiers are connected with the personal computer by -485. Use parameter No. 16 to change the communication system. Personal set-up Software I ~ i ~ - Power supply bPh=- --' 'orsingl . 23OVAC I ~ c ~ ~ t i ~ RS-232CRS-485 converter (to be prepared by the customer) RS-485 External 110 sgnals ~ 1 Power supply bphase 200VA or single-phase 23OVAC To the next axis 1- 5 ~ 1. FUNCTIONS AND CONFIGURATION .- (3) Operation using communication (a) Description Analog input, emergency stop slgnal and othersignals are controlled by external If0 signals and the other controlled through communication. A l s o , you can set change orset parameter values, for example. Up to 32 axes may be controlled. (b) Configuration 1) One servo ampMer is connected with the personal computer by RS-232C. Personal computer External WO signals 1 _I Power supply bphase 2WVAC or single-phase 23OVAC ,,, set-up Software 1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo ampl5ers are connected with the personal computerby RS-485. Use parameter No. 16 to change thecommunicationsystem. -- Pemnal computer External VO sgnals - r3-I jr?i - \ Power suppty RS-23XIRS-485 converter (to be prepared by the customer) 2oovA or sinale-phase 230Vk ' RS-485 sgnals Power suppty bphase 2OOVAC or single-phase 23OVAC set-up Soflware :, , t To the next axis Servo motor 1- 7 1. FUNCTIONS AND CONFIGURATION 1.1.3 I/O devices The MELSERVOJ2-C-Sl00allows devices to be allocated to the pins of connector C N W C N l B as desired. The following devices can be allocated. Fordevice details, refer to Section 3.2. I lnwt devices Device Proximity dog DOG Servo on Forward rotation strokeend Reverse rotation stroke end Forward rotationstart Reverse rotationstart Automatidmanual selection No. selection 1 Program No. selection 2 Program No. selection 3 Emergency stop Alarm reset Override selection External torque limit selection Internal torque limit selection Proportion control Temporary stophstart SON ISP LSN ET1 Manual pulse generator multiplication Program input 1 program input 2 program input 3 sr2 MDO PS1 Program ps2 Ps3 EMG RES OVR TLO TL1 PC SrP Tw Tp1 PI1 PI2 PI3 (2) Output devices d Program output 1 Program output 2 Program output 3 SI’NC synchronous output CNlB-4 OUT1 Program output device OUT2 Program output device OUT3 Program output device SOUT SYNC synchronous output device - - - 1- 8 __ . . ... 1. FUNCTIONS ANDCONFIGURATION 1.2 Function List The following table lists the functions of the MELSERVO-JZ-C-SlOO. For details of the functions, refer corresponding chapters and sections. Function Desarption Dog type, count type, data setting type.stopper type, zero ignorance Up to 32 axes of MRJZcSlOO are controllable simultaneouslyby Rs485 communication. By merely setting the home positiononce,zeroing need not a t each poweron. Vibration of +1 pulse at servo motor stop is suppressed. Manual zeroing Multidrop communication Ahsolute p i t i o n detection system Slight vibration suppressioncontrol The electronicgear is used to make adjustmentso that amplitier setting matches the machine moving distance. Also, changing the electronicgear value allows the machine to be moved a t any multiplication ratioto the moving distance using the servo amplifier. The servo gain is a u t o m a t i d y adjusted to the optimum valueat each s W ~ p . The gain is manually adjustableifthe gain could notbe adjusted ideal valueby real-time auto tuning. Electronic gear Real-time auto tuning Manual gain adjustment Spattern acceleratioddeceleration time constant Analog monitor output Alarm history YO signal selection(Device setting) Torque limit Override (speedlimit) status display ~~ Test operationmode Limit switch software limit Refer To Section 4.4 Section 4.6 Chapter 8 Section 4.5 Section 9.5 Section 5.2.1 Section 9.2 Section 9.2 Acceleratioddecelertion can be made smoothly. Section 5.2.3 The servo status is output in terms of voltage in real time. By using theSet-up Software,the current alarm and five past numbers are stored and displayed. By using the Set-upSoftware,any devicescan be assigned to 9 input, 5 output and 1 UO pins. Servo motor-generated torqueis limited Parameter x 2 limit value Analog input x 1 limit valw The servo motor speed is limited by analog input. The ratioof override to the set speed can be changed between 0 to 200%. The servo status is displayed. The servo amplifier *lay can show up 7 types or 15 types when the Con&guration Software is used. Jog operation, motor-less operation, DO hrced output. The servo motor travel regioncan be limited using the hrward rotation stroke end(LSP) si@reverse rotation Section end signal The travelregion is limited using parameters interms of address. The functionsimilar to that of a limit switchis limited by s o f t w a r e . Section 5.2.4 1- 9 Section 6.8 Section 6.6 Section 3.2.5 Section 3.2.4 Section 7.2 Section 6.7 5.2.5 Section 5.2.8 1. FUNCTIONS AND CONFIGURATION 1.3Model Name Make-up (1) Name plate (2) Model MR-JP OC I TT I Built-in positioning functions Rat& output 1.4 Combination with Servo Motor The following table lists combinations of servo amplifiers and servo motors. The Same combinations apply to the models with electromagnetic brakes,the models with reduction gears, the EN Stan dardcompliant models and the WCUL Standard-compliant models. b 1 servo Amplifier HCMFCI I sem Motcis HA-fFU HCUFUHCRFO HCSW MRJ2-200CS100 1- 10 1. FUNCTIONS AND CONFIGURATION 1.5 Parts Identification (1) MR-J2-1OOCSl00 or less r NamelApplication Refer To section4.5 Batby comector(CON1) Usedtocaaedthebatberyforabsdutepositiondata backup D W Y The far-dgit,sewmrsgment LED shawsthe sew status and alarm nunber. section4.5 ChapBer7 operation section Used to petfmn statur bsplay, dmgnostic, atarm and panmeter seUing operations 0 0 0 SET 0 MODE DOWN UP UO signal connector (CNIA) UsedtoconnectcCigiQlUOsignals. UO signal connedu (CNlB) used to COMBct -1 uo signak. Section3.2 section3.2 . . -C COrnedoT (CN3) Used to COMed a camtand device (RS48yRS-232C) and aApwt amkg mQljtw data. Sectionl.3 Name plate Encoder connector (CN2) Comeclwforamect#noftheseNomotorenccder. Section3.3 Section14.1.2 Main cimit terminal bkdc ( T M ) Usedtocomecttheiqwtpchwrsrpplyandserw Section3.2.1 mator. c m circuitterminal bkdc (TE2) Usedtocom#ctthecontrolarcuit~rsupplyand regenerative brake option Protective earth (PE) terminal ( 0 ) Grwnd terminal. 1 - 11 Secth3.2.1 Section14.1.I Section3.6 1. FUNCTIONS AND CONFIGURATION Name/- Refer To Sectiotrl.5 0 0 0 SET 0 UP DOWN MODE Lused to set data. Chapter7 Usedtochangethe dsplayordatameach mode. I U s e d t O c h a n g e t h e mode. UO signal connect# (CNl A) used to comectd i g i t 3 1 uo signals. section3.2 UO signal ConnectOT (CNl B) used to corned uo sigrars. sedion3.2 . . -C COMecQT (CN3) Used to amnecta cammnd device ( R W Y R S 2 3 2 C ) and output a m k g monitor dab. Name plate Section1.3 stclion3.3 -14.1.2 section3.2.1 contrd c i r a r i t t e r m i n a l bkdr (TE2) Usedtoamnecttheconbdciraitparverstq&and regenerative h k eoption PrOgctive earth (PE) t e r m i n a l ( 0 ) Ground t e r m i n a l . jecthl3.2.1 -14.1.1 Section3.6 1, FUNCTIONS AND CONFIGURATION Reinstallationof the front a v e r Removal of the front a v e r 1) Front 1) Hold down the rwnovingk n o b . 2) Pull the front m e r toward you. 2) Press the front cover against the servo amplifier until the removing knob clicks. 1 - 13 1. FUNCTIONS AND CONFIGURATION 1.6 Servo System with Auxiliary Equipment To prevent an electricshcck, always connectthe protectwe earth (PE) terminal (terminal AWARN~NG marked e) of the servo a m p l m to the protective earth (PE) the control box. (1) MRJZlOOCS100 or less OptDm and Awtikiary Equtpmnt No-ftse b a k e r Magnetic cartacbr Refer To 14.2.2 Section Section 14.25 ChrpBr 6 Regenerative bake option Opbbns and A w l m y EquipmentRefer Cables To Section 145.1 Manual PJSe g e n e f a * ExBrnal digitald m Section 14.1.6 Section 14.1.5 Secficm 6.1.1 Nefuse keaker P e m l To CN2 u L? u conbd cicuiteminal block Regenerah brake Note: I. The HA-FF-UE, HC-SF, HC-RFseries have Cannon cornecbrs. 2. A single-phase 230V p c m a r supplv may be used with the servo amplifier of MRJ2-70C or kss Carnectthe p o w e r Supply to L l and U tembrak and leave U open Nog that this m r suppty cannot be used for a combination with the HCSF52.53 servo motor. 1 - 14 2. INSTALLATION 2. INSTALLATION A CAUTloN Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them d i m or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this I n s M o n Manual. Do not get on or putheavy load on the equipment to prevent injury. Use the equipment wrthin thespecified environmental condition range. Provide an adequate protection to prevent s a e w s , metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier. Do not block the intakdexhaust ports of the servo amplifier. Otherwise, afault may occur. Do not subject theservo amplifier to drop impact shock or loads as they are precision equipment Do not install or operatefaulty a sew0 amplifier. When theproduct hasbeen storedfor an extendedperiod of t i m e , consult Mitsubishi. 2.1 Environmental conditions Environment Conditions Ambient temperature .0 to +55 [“C](non-hezing) Ambient humidity I W%RH orless(non-condensing) storage temperature storage humihty Ambient Altitud Vibration I 32 to +131 [“F](non-freezing) -20 to 6 5 [“c] (non-freezing) -4 to +149 (non-&zing) W%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammablegas,oil mist, dust anddrrt Max. looOm (3280 f t )above sea level 5.9 [ds?(0.6G) or less 19.4 [Ws? or less [“a 2- 1 I 2. INSTALLATION 2.2 Installation direction and clearances I A CAUTloN The equipment mustbe installed in thespecfed direction. OtheNvise,a butt may occur. Leave specified clearances between the servo amplifier and control box inside walls or other eauiwnent (1) Installation of one servo amplifier Conbolk 10m (0.4 in) O T m -1o m (0.4 in) O T m 2- 2 2. INSTALLATION (2) Installation of twoor more servo amplifiers Leave a large clearance between the top of the servo amphfier and theinternal surface of the control box,and install a fan to prevent the internal temperature of the control box from exceeding the environmental condtions. + 3omm (1.2 in) amore lorn (0.4 in) o r - -3om (1.2 in) a m o r e (1.6 in) a m (3) Others When using heat generating equipment such as the regenerative brake option, installthem with full consideration of heat generation so that the servo a m p u e r is not affected. Install the servo ampMer on a p e r p e n d d a r wall in thecorrect vertical direction. 2.3 Keep out foreign materials (1) When i n s t d m g the unit in a control box, prevent drill chips andwire fragments h m entering theservo amplifier. (2) Prevent oil, water, metakc dust, etc. h m entering theservo ampll&r through openingsin the control box or a fan installed onthe c e h g . (3) When installing thecontrol box in a place wherethere are t o ~ gas, c dirt and dust,provide positivepressure in the control box by forcing in clean air to prevent such materials from entering thecontrol box. 2- 3 2.INSTALLATION 2.4 Cable stress (1)The wayof clamping the cable must be fully examinedso that flexing stress and cable's own weight stress are not applied to the cable connection. (2) In any application where the = N O motor moves, the cables shouldbe free from excessive stress. When the= N O motor moves, e.g. the encoder cableand servo motor wiring are contained in a cable bearer, run the cables so that their flexing portionsfall within theoptional encoder cablerange. Fix the encoder cableand power cable of the servo motor. (3) Avoid any probability that the cable sheath rmght be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles. (4) The flexing lives of the cables are shown below. In actuality, provide a littleallowance for these values.For install ation on a machine where the servo motor will move, the flexing radius should be made as large as possible. a : l m g flexing-iife encoder cable MRJCCBLOMH MRJHSCBLOM-H MR-ENCBLOM-H b : StanCBrd encoder cable MRJCCBLOM-L MRJHSCBLOM-L 7 10 20 40 70 100 200 Flexingradius [m] Note: This graph gives calculatedvalues whichare not guaranteed. 3. SIGNALS AND WIRING 3 SIGNALS ANDWIRING ~~ A Any person whois involved in wiring should be fully competent to do thework. Before starting wiring, make sure that the voltage is safe in the tester more than10 minutes after power-off. O t h e r w i s e , you may get ane l m shock Ground the servo amplifier and servo the motor securety. Do notattempttowirethe servo a m p l i r and s e ~ motor o untiltheyhavebeen installed. Otherwise, you may get an electric shock The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Othewise, you may get an electrics h e Wre the equipmentcorredy and securely. O t h e r w i s e , the sew0 motor may misoperate, resutting ininjury Connect cables to correctterminals to prevent a burst,faun, etc. Ensure that polarrty (+, -) is correct Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output should be fdted in thespecmed direction. O t h e f w i s e , the signalis not output due to a fault, disabling the emergency stop and other protective circuits. (DC24V) A CAUTION Control output Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipmentused near the servo amplifier. Do not install a power capacitor, surge suppressor or radio noise fitter (FR-BIF option) with the power lineof the servo motor. When using the regenerawe brake resistor, switch power offwith the alarm signal. Othewise, a transistor fault or the may like overheat the regenerative brake resistor, causing a fire. Do not modrfy the equipment POINT CNLA, CNlB, CN2 and CN3 have thesame shape. Wrong connection connectors will lead to a failure. Connect them correctly. 3- 1 3. SIGNALS AND WIRING 3.1 Connection Diagram 3.1.1 Standard connection example 1 When connecting the e brake option, always disconned the jumper from a w s s P-D. External pulse input r (Note 4) CNlA (Note 4 CN2 1 I ~ (Note 4) CN3 Proxirnty DOG switch &NO on Zero point return completion [ (Note 4) CNlB Fomard rotation strokeend Note 6, Reverse rotation stroke end Program inputI Program input2 (Note 4) CN3 output 1 output 2 Foward start Program No. selection 1 Program No. selection 2 Reset Do not dnned when using an externalpower supply. (Note 7) (Note 8 ) Servo motor Program output 1 Movement complete Alame Ready Override Analog toque limit 3- 2 3. SIGNALS AND WRING Note: 1. To prevent an electric shock,always connect the protective earth @‘E)terminal of the servo amplifier to the protedive earth of the control box. l ibe fad@ and 2. Connect the diode in the correct drection If it is connected reversely, the servo amplifier w (Pa will not output signals, disabhg the emergency stop and other protective circuits. 3. The emergency stopswitchmust be installed. 4. CNIA, CNlB, CN2 and CN3 have the sameshape.Wrong connection of the conn&m will lead to a fault. 5. The s u m of currentsthat flow in the externalrelays should be 8OmA max. If it exceeds N h A , supply interface power h m external. 6. When startmg operation, always connect the forward/reverse rotation stroke end signal ( I S N U P ) with SG. c l s e d contacts) (Normallyo 7. Trouble (AU’vlJ is c o d with COM in normal a a lr m &condition 8. The connection method changes with theservo motor seriw.Refer to W o n 3.3. 9. The pins withthe Same signal name are connectedin the servo amplifier. 10. A sngle-phase 230V power supply may be used with theservo amplifier of MRJ2-70C-S100or less. However, it cannot be used when the servo a m p f i r is combined with the HCSF52/53 sem motor. Connect the power supply to L1 and & terminals and leave & open 11. When using override 0 , make theoverride selection (OVR)device available. 12. When using torque limit (ITA), make theexternal torqueh i t selection (TL) devices avadable. 3- 3 3. SIGNALS AND WlRlNG 3.1.2Common line The following diagram shows t h e power supply and its common line. Manual pulse genera MR-HDW1 G- I3 -7 I L G I ~ -- d I i - 3. SIGNALS AND WIRING 3.2 Servo Amplifier Onty the specified voltage should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. A 3.2.1 Terminal blocks (Power supply system) (1) Signal arrangement Terminal block signals are as listed below: MRJ2-100CSl00 MRJ2-@XS100 n F-l Terminalpositions il T ' 3) Re R N (Phoenixcontadmake) (PhoerrbcContadmake) L Ll I 2 Ls E 2) L l k l 3 U V W 3- 5 3. SIGNALS AND WIRING - (2)Signals , Signal Symbol Main circuit power input terminals Supply L,, and 5 with the following power. MRJ2-1OC to MRJ2-70CS100 MRJ2-1O o c l00 to MRJ2350CS100 Main drcuit power supply (Note) Single-phase 23OVAC, m60Hz Ll*b X _____~~ ~~ ~~ Note: Cannot be used b r combination withthe servo motor HCSF52.53. Servo motor power output terminals Connect to the servo motor power supply terminals (v,V, W). ~ Servo motor output Control circuitpower supply ~~ P,C, D Regenerative brakeoption Control circuitpower input terminals Supply L,, and b,with single-phase200-230VAC, 50/60Hzpower. L,, and k1should be in phase withL,and b,respdvely. Regenerative brakeoption connection terminals C and D are factoryconnected When using the regenerative brake option,always remove wiring h m across P-Dand connect the regenerative brake option across P-C. Do not connect. Ground terminal Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding. & I - Protective earth (PE) I 3. SIGNALS ANDWRING 3.2.2 Connectors (I/O Signals) (1) Signal arrangement CNlA CNlB LG OUT1 Pi5 PS1 CN2 Amplifier's internal wiring T h e connector frames are connected with the PE(earth) terminal inside the servo amplifier. 3- 7 :---+j-# 19 3. SIGNALS AND WIRING (2) Signal explanations 1) CNlA Descnptron VO Division Used to input 24VDC*10% for input interface. Driver power input terminal for digital interface. COM of each connector is connected in the s e w amplSer. When usingan external power supply, connect power a supply of 24VDC 2oomA or moreto this terminal. When using a pulse train in the open collector, supply 24VDC to this 2 12 DOG 8 Common tenninalbr VDD and COM and isolated &om LG. Used to output 15VDC. Power supplyterminal br VC and TLA Common terminal b r VC, TL4, M o l , M02 and P15R USXI to enter a 2-phase pulse t r a i n . 1)In the open collector system (max. input m u e n c y 200kpp-s) A phase pulsetrain a m PP-SG, B phase pulsetrain auuss N'P-SG. 2)In the mrential receiver system( m a x input h q u e n c y 4OOkpp-s A phase pulse train across PG-PP, B phase p u k train aNG-NP Proximity dog signal input terminalfor manual zeroing. When terminals DOG-SG are opened, the proximity dog signal is DI-1 detected.The polarity of dog detection input can be changed with the parameter. Parameter No.8 0000 (initial value) 0100 ZP 18 Polanty of Proxkni Dog Detection Input DOG-SG are openedDOG-SG are Shorted ZP-SG are c o ~ e c t e don completion of zeroing. In the absoluteposition system, ZP-SGare connected when theservo amp&r is ready to operate butare disconnected if 1) SONSG are opened; 2) EMG-SG are opened; 3) RES-SG are shorted; DO-1 4) Alarm occurs; 5) Limit switchopens; 6 ) Zeroing has not been made afterthe purchaseof the product; 7) Zeroing has not been made afterthe occurrence of absolute position erasure (A 2 5 ) or absolute position counter warning (A E3); 8)Zeroing has not been made a h the changing of the electronic gear value; 9) Zeroing has not been made afterthe absolute position system was made valid; ords 10) The ST1 coordinate system(OOOO in parameter No.1) has been SON 19 -SD Plate changed. Operation-ready signalinput terminal. When SON-SG are shorted, the base drcuit is switched onand the servo ampli6er is ready to operate. When theyare opened, the base circuit is shut off and the servo motor coasts. Connect one end of the shielded cable. DI-1 3. SIGNALS ANDWRING 2) CNlB sinal Name -- Desaiptton Symbol Pin No. Used to output +24V*10% to across VDD-COM. 3 VO Division VF Internal power supply VDD Digital YF power supplyi COM 13 P15R 11 3 n t r o l common LG Forward rotation stroke e ISP 5d 16 LSN 17 nput DC15V power supply Digital I/FCommon Reverse rotation s m k e e 10, 20 SG 1 ad When using this power supply for digital interface, connect it with COM. Permissible current: 8OmA Used to input 24VDC*lO% for input interface. Driver powerinput terminalfor digital interface. COM of each connectoris conneded in the servo amplifier. When using an external power supply, WM& a power supply of 24VDC, 2OOmA or moreto thisterminal. Used to output +15VDCto aQoss P15R-E. Used for VWl'LA power supply. t24VDC common terminal fix VDD, OM, etc. and isolated fromL G . Common terminal for VC,"LA, M o l , M 0 2and P15R Forwar&reverse rotation stroke endsignal input terminals. To start operation, short ISP-SG or LSN-SG. When theyare opened, h e servo motor is stopped suddenly andservo-locked. Aacss LS AaossLS PSG NSG PI 1 8 % g r a minput 2 PI2 9 3tart ST1 7 PSO 5 14 Forward rotationstart ?rowNo. selection PS1 I 1 1 0 0 0 1 0 X 0 0 X 1 %gram input 1 Operation CCWdirecbon CWdirecbon X X 0 0 Note. OOpen,l:Short %gram input device terminal 1 luring to running program, signalto commanded SYNC(1). ?roogram input device terminal 2 luring to running program, signalto commanded SYNC(2) start signal input terminal In automatic operationmode, operahn starts as wan as ST1-SG are shorted. [n zeroing mode, zeroingstarts as scan as ST1-SG are shorted. [njog operation mode, the sem motor rotates in the forward rotation W o n while STI-SG am shorted Vote: Forward rotation denotesthe direction inwhich the addressis incremented. ?rogram number selection input terminal ?SO and PS1 relationship betweensignal status and operation are as bllows. I PS2 I PS1 I PSO I Selected program No I It ia necessarg to auocate by parameter No.59 to 63. 1 1 - 1 0 1 1 Program N0.7 Program No.8 0:Open 1:Short 3- 9 DI- 1 DI-1 DI- 1 DI- 1 DI-1 DI-1 3. SIGNALS ANDWIRING - i S’ M I Name Pin No. Programoutput 1 Movement completion 4 PED x Trouble Alarm reset RES 6 18 19 15 UO Division Desaipfion Program output 1device OUT1 is device signal when commanded OUTON(l)/OUT OF(1) in the Program. It is possible turn on time by Parameter No.54 Movement completionsynchronous output device. After the command remainingdistance and smoothing reach zer0,this signal is output (PED-SGare ~ ~ e c t ewithin d ) the drwppulses set in Parameter No. 12 DO-1 Trouble signal output terminaL ALM-SG are disconnected when the protxtivecircuit is activated to shut off the base circuit at power OE They are connected in normal condition at power off Ready output termjnaL RSSG are connected when the servo amplifier is ready to operate without kilure after servwn. Alarm reset signal input device. Short RESSG to deactivate the alarm. When I 3 0 1 0 is set in parameter No.22, the base circuit is shut off while RESSGare shorted The bllowing alarms cannot be deactivated: DO-1 Indication Name Indication Name I I A 12 Memory error 1 A 15 Memory error 2 I 1:; I I I A 16 IEncodererror /Boarderror2 Board 3 error hmde vc 3xternal torque Lmit TL4 Shield SD 1 I I I I Motor output groundfault Regenerative 1 1 :1 I I A 37 Plate 1 I Parametererror I ~Overloadl Overload 2 2 .lo to +1OV is applied to aVCLG to limit the servo motor speed Qply -1OM for O[%] override, O M for loo[%], orlOM b r 200[%]. 12 1 3 to +1OV is applied to across TLA-LG to limit the servo motor-generated brque. Qply O M for 0 torque or l 0 M for max torque. bmect one end of the shielded cable. DO-1 DO-1 DI-1 3. SIGNALS AND WIRING 3) CN3 5 and Rs232C fun&ons cannot be used together. hort "15"and "10" at tbe last axis. 3 - 11 3. SIGNALS AND WIRING 3.2.3 Additional fundon devices By using the Windowsm based Software or parameter, you can assign the signals given in this d o n to the pins of nectors CNlA and CNlB, in addition to the signals in Section 3.2.2. 'ins which accept different signals Input-only pins Output-only pins Note: Terminal CNU-19 can be set as either INPUT or OUTPUT by Parameter N0.58. (2)Assignable devices 1)Input devices Device Name No assigned function Emergency stop - EMG Ovemde selection OVR External torquelimit selection TLO Internal torquelimit TL41 selection Proportion control program input 3 II Reverse rotationstart AutomaticlManual selection Desaipbon Symbol PI3 ST2 1 No function is a s s i g n d Emergency stopinput device. When EMGSG are opened, the servo amplifier is placed in theemergency stop status, the servo switches o g and the dynamic brakeis operated to bring the servo motor to a sudden stop. Short EMG-SG in the emergency stop status to cancel the emergency stop status. Override selection inputdevice. ShortOVRSG to makeovemdevalid External torque limit selection input device. Short TLO-SG to make external analog torque limit valid For more hhnnation, refer to Section 3.2.5. Internal torquelimit selection input device. open TL1-SG to make the torquelimit value set in parameterNo.28 (JY-0) valid, or short themto make the value set in parameter No.29 ("Ll)valid For more information, refer to Section 3.2.5. Pmportion control input device. Short PCSG to switch the speed amplSer from proportional integral type to proportional type. Program input device terminal. During to running program.PI3 is device signal when commandedSYNC(3) Reverse JOG start signal input device. In jog operation mode,the servo motor rotates in the reverse rotation direction while ST2-SG are shorted Note: Reverse rotation denotes the direction in which the addressis decremented. Automatidmanual mode selection signal input terminal. Short MDO-SG to choose the automatic operation mode,or open them to choose the manual operation mode. 3 - 12 VO Division DI-1 DI-1 DI-1 DI-1 DI-1 DI-1 ~~ DI-1 DI-1 DI-1 3. SIGNALS AND WIRING Device Name 'rogram No. selection 2 Symbol I Description PS2 Program number selectionsignal input device. VO Division Dl-1 During theprogram operation mode, it is selected whenST1 signal upedge. remporary stoplmtart STP Note: O:Open, 1:Shot Temporary stoptrestart input device. Short STP-SGduring automatic operationto make a temporarystop. Short STP-SGagain to make a restart. Shorting the f o r w d r e v e r s e rotation start m g d during a temporary stop is ignored. nput pulse m a d c a t i o n election TPO Switching h m automatic mode to manual mode during a temporary stop clears the remainingmoving distance. During zeroing and jog operation, the temporary stoplrestartinput is ignored. Refer to Section 4.2.2, (4). Input pulse magm6cation selection input device. TP1 Input putse magnification 10 times 100 times 1 Note: 0:TPUTF'O-SG open 1: TPlrrPO-SG shorted 3 - 13 DI-1 3. SIGNALS AND WIRING 2) Output devices Devii Name No assigned function Electromagnetic brake in terlock MBR Position range output POT warning WNG Battery warning BWNG Limiting torque TLC Temporary stop PUS Rogram output OUT2 OUT3 SYNC synchronous SOUT DUtoUt - Dymmc brake interlock VO Division Desaptbn No function is assigned, Electromagnetic brake interlock output device. Used to output theinterlock signal for electromagnetic brake. MBR-SG are disconnectedat servo-offor alarm occurrence. range output device. POT-SG are COM& when the numberof actualposition address is in the preset position range. Warning output device. WNG-SGare C O Mwhen ~ warningOOCUZS. Open innormal condition. Battery warning output device. BWNG-SG connected when the open battery cable warning (A 9 2 ) or battery warning (A 9F)occUrs. Open inn o d condition. Torque limitingdevice. when t . the d internally or externally set torque limit value is TLCSG are ~ 0 ~ e ~ reachedTemporary stop device. PUSSG are connected when decelerationto a stop is started by the temporary stop signal PUSSG is disconnected when operationis resumed by making the temporarystop slgnal valid again. Program output device. OUT2 is device signal when mmmandedOUTON(2YOUT OF(2)in the program. OUT3 is device slgnal when commandedOUTON(3)OUT OF(3)in theprogram. SYNC synchronous output device. SOUT-SG are c o d when waitingfor SYNC( ) command Dynamic brake interlockoutput device. DBR DO-1 DO-1 Position DO-1 DO-1 DO-1 DO-1 DO- 1 DO-1 DO-I (3) Notes of output signal If the m a h e is directly driven by the output device of MRJ2-Sl00, you need the following attention. MRJ2-SlOO can have 6 output device (CNIA-18, CNlB-14,-6, -18,-19,and reversibledevice CNIA-19). As for CN1B-6, during amplifier initialkingp e r i o d , it differ from condition ofother output device. Lll,L21 CNl B-6 X CN1El8 X Outpd d pauneter semng fundion . CNlB-19 X- CPU initializing 4 Servo arnplrfer mializing me-lsec 3 - 14 OT less -c ~f parameter s e t t q ~ r of parameter senmg tunam n 3. SIGNALS AND WIRING 3.2.4 Override POINT When using theoverride, make theoverride selection(OW)device available. -- The override (VC)may be used to change the servo motor speed. Thefollowing table lists the signals and parameter related to the override: I Name Item Analog input signal Contact input signal Parameter 1 1 Remarks Ovemde 0 Override selection ( O W No.25 override o f k t Set-up SORware seaing required. I 1-999to999mv (1) Overn.de (VC) By applying a voltage(-10 to +low to the override (VC)termud, change valuescan be set h m outside the ratio of actual speed consecutively. Thefollowing graph shows the relationship between the input voltage and to preset speed. Refer to the following diagram when using the15V power output (PER) of the = N O ampmer: Servo amplifier Override seledion Override (VC)appliation vokage (2) Ovenide selection(OVR) Used to make the override (VC)valid or invalid. (OW) r w I LJ Servo amplifier Override seledion (OW Override (VC) -10 to +lOV 1 1 ~~ Motor Using the override selection(OVR),choose a change value as follows: A I m OW-SG hen Short Speed Change Value No change I Override (VC) setting is made valid I (3) Ovenide offset (parameter No.25) Using parameter No.25, the offset voltagecan be set relative to the inputvoltage for the override (VC). The setting is between -999 to 999mV. 3 - 15 3. SIGNALS AND WRING 3.2.5 Torque limit POINT To use the torquelimit, make the external torquehmit selection (ITLO) device and internal torque limit selection ml)device available. The following table hts the signals and parameters related to the torque limit: kern Analog input signal Contact input signals Name Remarks External torque limit W) External torque limit seledion Internal torque limit selection m) ml) Servo Configuration Software setting required. Contact output signal Limiting torque 0 0 to 1 w m Parameters No.% internal torque limit 1 No.29 internal torque limit 2 No.% torque limit o & e t No.20 selection function 2 Selection of t h e rotation direction in which torque limit is executed OtolOo% -999to999mV The torquelimit is available in two types: internal torque limit setin parameters and external torque h u t using analog inputsignal. This function limits generated torque on the assumptionthat the maximumtorque of the servo motor is 100%. (1) Internal toque limits 1, 2 Use parameter No.28 and 29 to set the internal torque limit values. Thefollowing graph shows the generated torque relativeto the setting. 100 Toque limit value [%I (2) Externaltoque limit VIA) By applying avoltage (0to 1OV) to the external torquelimit (TLA) t e r m i n a l , limit values can be set from outside consecutively. The following graph shows the relationshpbetween input voltage and limit value. Depending on theservo ampMer, thelimit value has about 5% variations to the inputvoltage. As thismay not cause torque to be h t e d sufsciently at less than O.O5V,use ths function at thevoltage of 0.05V or more.Refer to the following diagram when using the 15V power output (€'15R) of the servo amplifier: Servo a m p l i r 1 TLA Application Connection Voltage vs. Example Torque Limit Value 3 - 16 3. SIGNALS AND WIRING (3) External toque limit selectJon (TLO), internal torque limit selection (TI-1) To use the external torqueh u t selection (TL,€))and internal torque limit selection (TLl),make them available using the CodgurationSoftware (refer to Chapter 6). These inputsignals may be used to choose the torque limit values made valid. (a) External torque limit selection ('Il.4) Used to make the external torque limit (TLA) valid or invalid. Servo amplifier I I Externaltoraue limit seledion CnO) Externaltoque limit 0-w 0-1 ov Using the external torque lunit selection (TL,€)),choose the h u t value as follows: A Torque Limit Value m TLGSG open Short No h t E a m a l torque limit (TLA) setting is made valid. (b) Internal torqueh t selection (TL1) Used to change the internal torque hit. Servo amplifier -2zP p Internal torque limit selection C n ) l I Internal torque limit 1 Internal toque Using the internal torque limit selection ("Ll), choose the limit value as follows. When TL1-SG are shorted, the smaller valueof the internal torqueh t s 1and 2 is chosen: AcrossTLlSG open Short Torque Limit Value (Parameter) Internal torque limit 1 Internal torque h u t 1 ifinternal torque h t 1 < internal torque limit 2 Internaltorque limit 2 if internal torque limit 1 > internal torque limit 2 3 - 17 3. SIGNALS ANDWIRING (4) External toque limit offset (parameterNo.26) using parameterNo.26, the offset voltage can be set relative to the input voltage of the external torque limit fIzA). The setting is between -999 to 999mV. (5) Selection of rotation direction for torquelimit execution (parameterNo.20) Using parameter N0.20, the rotation dmction for torque h t execution can be selected. . Parameter No20 Setting Rotation DirectionfotToqueLimit Exearbjon CCW direction CWdirection 0001 0 X non2 X 0 For example, when0001 is set in parameter N0.20,torque h t is executed in the CCW direction but not in CW cb€!CtlOIl. \ CW rotation: Torque limit is not executed. 3. SIGNALS ANDWIRING 3.2.6 Alarm Occurrence Timing Chart A When an alarm has occurred, remove its cause, makesure that the operation signalis CAUTloN not being input, ensure safety, and reset the alarm before restaarting operation. When an alarm OCCUTS in the servo amplSer, thebase circuitis shut off and theservo motoris coated to a stop. Switch off the main circuitpower supply in the external sequence. To reset the a l a r m , switch the control circuit power supply off, then on. However, the alarm cannot be reset unless its cause of occurrence is removed. power supply ON OFF Power off ! t rower on I 0 I Base circuit Dynamic brake R e m v e cause of trouble Precautions for alarm Occurrence 1)Overcurrent, overload1 or overload 2 If operation is repeated by swikhing control circuit power off, then on to reset the overcurrent (A 32), overload 1 (A 50) or overload 2 (A 51) alarm after its occurrence, without removing its c a u s e , the servo ampfier andservo motor may become faulty dueto temperature rise. Securely removethe cause of the alarm and also allow about 30 minutes for cooling before resuming operation. 2) Regenerative alarm If operation is repeated by switching control circuit power off, then on to reset the regenerative (A. 30) alarm after its occurrence, t h e e x t e n dregenerative brake resistorwdl generate heat, resultingin a n accident. 3) Instantaneouspower failure If a powerfailure continues 15msor longer, the undervoltage (A 10) alarm d occur. If the power f d u r e s t i l l persists for 20ms or longer, the control circuit is switched off. When thepower failure is reset in tlus state, the alarm is reset and the servo motorwill start suddenly if the servo-on signal (SON is on. TOprevent hazard, make upa sequence whichwill switch off the servo-on signal (SON) if an alarm OCCUTS. 4) Incremental system When an alarm occurs, the home positionis lost. Whenresuming operation after deactivating the a l a r m , make a returnto home position. 3 - 19 3. SIGNALS AND WIRING 3.2.7 Interfaces This section gives the detailsof the UO signal interfaces (refer to UO &vision in the table) inhcated Sections in 3.2.2 and 3.2.3. Refer to this section and connect the interfaceswith the external equipment. (1) Digital input interface Dl-1 Give a signal with a relayor open collector transistor. Source input is also possible. Refer to (5) . . in this sedion. For use of internal power supply Servo amplifier , I (Note) For a transistor IVDD 73""" ICOM . I 24VDC R:Approx. 4.7kG R: Approx. 4.7kR I i ISON. e62 - SON, e62 SG I V CES1.OV I CEOIlOOpA + I Note: ThLs also applies to the use ofthe e x e td power supply. (2)Digital output interface DO-1 A lamp, relayor photocoupler can be driven. Provide a&ode (D) for an inductive load,or an inrush current suppressing resister(R) for a lampload. (Permissible current:4OmA or less, inrush current: l O o m A or less) 1)Inductive load For use of internal power supply Servo amplifier For use of external power supply Servo amplifier connected as shown, the servo amplifier connected as shown, the servo amplifer COMtr Load y r 2 7 V D C or w ,etc. SG" 3. SIGNALS AND WIRING 2) Lamp load For use of extemal power supply For use of internal power suppty Servo amplifer Servo amplifier (3)Analog input Input inpedance 10-12kn Servo amplifier I , , I i i LG ----_--_--_ b D (4) Analog output output +1ov Max. 1mA Servo amplifier 1Okn Rea Ing In 1 I ;; LG , , one or both direcbons - 1 m A meter 3 - 21 3. SIGNALS ANDWRING (5)Source input interface When using the inputinterface of s o Source output cannotbe provided. type, all DI-1input signals are of source type. Foruseofextdpowersuppiy Servo amplifier * R: Approx. 4.7kn (Note) For a transistor r Approx. 5mA . V CESS1.OV I CEOslOOM Note: Thisalso applies to the use of the externalpower supply. 200mAamae I -1 R: Approx. 4.7kn r 3. SIGNALS AND WIRING 3.3 ConnectJon of Servo Amplifier and Servo Motor 3.3.1 Connectioninstructions AWARNlNG A CAUTloN Insulate the connectionsof the power supply terminals to prevent an electricshock. Connect thewires to thecorrect phase terminals(U,V, W) of the servo amplifier and servo motor. Otherwise, theservo motor will operate improperly. Do not connect AC power suppty directly to the servo motor. Otherwise, a fault may occur. (2) For groundmg, connectthe earthcable of the servomotor to the protective earth (€'E)e t d of the servo amplijier andconnect the ground cableof the servo ampMer to the earthvia the protective earth of the control box. COfdldbOX Sew aw-r SeNo mdor 900 PEtermiral I@ (3) Supply exclusive2 4 W C power to the brakelead of the servo motor with electromagneticbrake. The connection methodM e r s a m r d m gto the seriesand capacity of the servo motor and whether or not the servo motor has the electromagnetic brake. Perform wiring in accordance with ths section. 3 - 23 3. SIGNALS AND WIRING 3.3.2 Connection diagram The following table lists d g methods accordmg to the servo motor types. Use the connection diagram which codorms to the servo motor used. For cables requiredfor wiring, refer to e o n 14.2.1.For enccder cableconnection, refer to Section 14.1.2. For the cable side connector, refer to Chapter 3 of the servo motor technical mformation. -- ConnectDn Diagram Servo Motor SammaoT HCMF053 (B) to 73 (B) (-uE) HA-FFo53 (B) to 63 (B) HCUF13 (B) to 73 (B) Note: 1. To prevent an electric shock, always connect the protective earth (PE)termiual servo amplifier to the protective earth (F'E)of the control box Note: 2. This circuit appliesto the servo motor with electromagnetic brake. 3. For the HA-FF series, mnnect the ground cable to the earth terminalof the servo motor. S HA-FFO53 (B) to 63 (B)-uE HGSF201 (B) * 301 (B) HCSF202 (B) * 352 (€3) HCSF353 (B) HGUF202B Note: 1. To prevent an electric shock, always connect the protectiveearth (PE)terminal servo amplifier to the protective earth (PE)of the control box. Note: 2. This circuit appliesto the servo motor with electromagnetic brake. Sew amplifier Servo mdor HCSF52 to 352 HCSF52B to 152B HGRFlO3 (B) to 203 (B) HC-UF72 to 202 HGUF72B. 152B Vote: 1. To prevent an electric shock, always connect the protectiveearth (PE)terminal servo amplifier to the protectiveearth (PE)of the control box Vote: 2. This circuit applies to the servo motor with electromagnetic brake. 3. SIGNALS AND WIRING 3.3.3 I/O terminals (1) HC-MF(-UE) series Encoder connectorsg~lanangement tad rwnd uinping terminal 1.25-4 mite :vphase Back :wphase 24-310.3m W& en&insubted rwnd crinping termirtal1.25-4 (AMP maka) (2) HA-FF series Eartfi terminaL M3 saew (3)HC-UF 3000r/minseries Encoder connectM s g ~arrangement l u Encoder cable 0.3m / W t h connector , 172169-9 (AMP make) \ \ Power s u ~ ~ lead l v 4-AWG19 0 3m . I , ~ (wth end-Insulated round almplng termlnal 1 25-4) VCTF 2-0.52 0 5m Red U phase ( w ~ t hend-Insulated round mite : phase crlmplng terminal 1.25-4) 5lack w phase [Brake cable 4 ' Greenfyellow : Earth 3 - 25 3. SIGNALS ANDWIRING (4) HA-FF-UE series I I I1 / Encoder conned0 I I I Servo Motor HA-FF053(B)-UE to HA-FF63(B)-L% Power supply connector sig nal arrangement CE05-2.414s-2PD-B Connector For encoder For brake MS3102A.20-29 MS3102ElOSL4P Encoder connectorsignal arrangement Brake connectorsignal arrangeme nt MS3102El.OSL4P @ G H L G - LG P5 - N o t e ) B2 Note: 24iBC wlthout polarih. 3. SIGNALS AND WIRING (5) HC-SF HC-RF * HC-UF2000 r/min series Servo Motor Side Connectors I Mm Servo Motor I/ For power suppty For encoder lrm *rfo i r power is shared Imcon ectorLb I r power is shared CEO5-2422- The connector fo r power is shared CEO5-2A24- hIs3102410SL Power supply connector signal arrangement CE05-2A24-IOPD-B CE05-2A22-23PD-B w I 1 - 1 (Earth) T - Encoder connector signal arrangement MS3102A20-29P MS3102ElOSL4P k Y Pln MRR BAT LG 3 - 27 w v l 3. SIGNALS AND WIRING 3.4 Input Power Supply Circuit IA When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large currentmay cause a fire. Use the trouble signal to switch power off. Otherwise, a regeneratwe brake transistor fault or the likemay overheat the regeneratwe brake resistor, causing a fire. CAUTloN I II (1) Connection example Wire thepower supply and main circuitsas shown below. A n c - h breaker (XTl3) must be used with the input cables of the power supply. st& OFF ON (Note) Three-phase 200 to 230AC or Single-phase 230VAC Note: U s not provided for single-pbse 230V p c m e r supply. (2) Power-on sequence 1j Always wire the power supply as shown in above (1)in thLs section using themagnetic contactor with the main circuit power supply (three-phase 2OOV L1,L, b,single-phase 230V: L1,L+J. Corhgure up az1 external sequence to switch off the magneticcontactor as soon as an alarm occurs. 2 ) Suitch on thecontrol circuit power supply L11,Ll simultaneously with the maincircuit power supply or before switchmg onthe main circuit power supply. If the main circuit power supplyis not on, the &play shows the correspondmg warning. However, by switchmg on the main circuitpower supply, the warningh a p p e a r s a n d the servo a m p u e r d operate properly. 3j Theservo ampfier can accept the servo-on signal (SON) about 1 second after the maincircuit power supply is switched on. Therefore, when SON is switched on simultaneously with the three-phasepower supply, the base circuit udl switch on in about 1 second, and theready signal (RD) will switch on in further about2Oms. m h l g the servo ampl&er ready to operate. (Refer to paragraph (3) in ths section.) 4)\??len the reset signal (RES) is switched on: the base circuit is shut off and theservo motor shaft coasts. 3 - 28 b 3. SIGNALS AND WIRING (3)Timing chart Base circuit (4) Emergency stop Emergency stop (EMG) can be used by malang device setting on the Set-upSoftware.Make upa circuit whch shuts off main circuit poweras soon as EMG-SG are opened at an emergency stop. To ensure safety, alwaysinstall a n external emergency stop switch across EMG-SG. By h n n e c t i n g EMG-SG, the dynamic brake is operated to bring theservo motor to a sudden stop. At t h s time, the*lay shows the servo emergency stop warning (A. E6). During ordmary operation, do not use the externalemergency stop signal to alternate stop and run. Also, ifthe start signal is on or a pulse train is input during an emergency stop, the servo motor wdl rotate as soon as the warningis reset. During a n emergency stop, always shut off the run command. Servo amplifier 3 - 29 3. SIGNALS AND WIRING 3.5 Servo Motor with Electromagnetic Brake Make up the electromagnetic brake operation circuit so that itis actrvated not only by the by an external emergencystop signal. servo amplifier signals but also Shut c4f bj serveon s i g n 1 OFF, alarm or eleclromgnetic brake signal. A Shut ot7 emergency stop signal (EMG). Servo motor CAUTION 24VDC Sote the following when the servo motor equipped with electromagnetic brake is used for applications requiring a brake to hold the motor shaft (vertical hft applications): 1) In the device setting of the Set-up Software, make the electromagnetx brake interlock signal (MBR) available. 2) Do not share the24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designedexclusively for the electromagnetic brake. 3 ) The brake ulll operate when the power (24TiDC) switches off. 4)WMe thereset signal is on, the base circuit is shut off. "hen using the servo motor with a vertical shaft,use the electromagnetic brake interlock signal (MBR). (1J Connection diagram Servo motor Servo amplifier L VDD Emergency 7 COM MBR . (2) Setting 1)In the device setting of the Set-up Software,make theelectromagnetic brake interlock signal (IvlBR) avdable. 2 ) Using parameter N o 3 3 (electromagnetic brake sequence output), set a t m e delay h m electromagnetic brake operation to base circuit shut-off as in the timingchart shown in (3) in t h s sechon. 3.SIGNALS AND WIRING (3) Timing charts 1) Servo on signal command (from controller) ONiOFF The following chart shows theway of holdmg the motor shaft in vertical hft applications. Adjust Tb to minimize a drop after servo-off. The servo motorstarts coasting 'I% after the servo switches off. When using thls sequence. therefore, the servo should be swltched off after the servo motor has stopped. 2) Emergency stop signal (EhlG) OWOFF Servo & o rspeed 3 - 31 3. SlGNALS AND WIRING Servo molor s p e d 4) Main circuit power off Servo mdor speed Base circuit ON OFF I Y A i 3. SIGNALS AND WIRING 3.6 Grounding Ground the servo amplifier and servo motor securely. To prevent an e l m c shock, always connect the protective earth (PE) terminal of the servo amplifierwrth the protecbve earth(PE) of the controlbox. AWARNlNG The servoa m p G e r switches the power transistor on-off to supply power to the servo motor. Dependmg on the wiring and ground cablerouting, the servo a m p u e r may be affected by the switching noise (due to dddt anddv/dt) of the transistor.To prevent such a fault, refer to the following hagram and usea flat mesh copper cable, w h c h is as large as possible (3.5mm2or larger is desirable), for groundmg. To conform to the EMC Directive. refer to the EMC I N S T U A T I O K GUIDELJNES (IB(NA)67310). Conbol box MC (Note) 3-phase 200 to 230VAC v i CN2 - 1 or SignaCphase 230VAC L b# CNIA CNIB ( J I' Must be grocrnQd by cable. Note: U is not provied for single-phase 230V powers w . 3 - 33 3. SIGNALS AND WIRING 3.7 Servo Amplifier Terminal Block (TE2) Wring Method 1)Termination of the cables Solid wire: f i r the sheath hasbeen stripped, the cablecan be used as it is. (Cable size: 0.2 to 2.5mmq l’hsted wire: Use the cable after stnpping the sheath and h i s t i n g the core. At t b time, takeCare to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault.(Cable size: 0.2 to 2.5mmgAlternatively, a bar terminal may be used to put the wires together.(Phoenix Contact make) Bar terminal for 1 cable (Bar terminal ferrule with insulatlon sleeve) Cable Size [ m d 1 AWG I Bar terminal for 2 cable (Twin fermle with insulation sleeve) Bar Terminal Type 1 For 1 cable For 2 cables Cnmping Tool X .410.55-6GT A10.55-8GY 0.55 1 I 1 0 LO 1.5 l6 2.5 14 All-6RD -411-8RD .Lu1.5-6BK A1.5-8BK .M2.5-8BU .U.5-8BU-1000 .41-”WTN2 X O.75SGY .4l-Tu1N2 X 0.75-lOG\AI-TWJN2 X 1-8RD .41-mm2 x 1-1oRD .Lu-?ll?N2 X 1.5-8BIi ill-TWN2 X 1.5-12BK .41-”WQJ2 x2.5-1OBU A-TU7N2 X 2.5-13BU CRTMPFOX-LgG 3. SIGNALS ANDWIRING 2 ) Connechon Insert thecore of the cable into the opening and tighten thescrew with a flat-blade screwdnver so that thecable does not come off. pghtening torque: 0.5 to 0.6N.m) Before inserting the cable into the opening, make surethat the screw of the terminalis fully loose. When usinga cable of l.5mm' or less. two cables may be inserted into one opening. - Flat-bbde suedriver i /. Tip thickness 0.4 to 0.6mrn ;. To loosen. \ Overalwidth 2.5 t~ 3.5mrn ,' I I To tighten. iJ Control cicuitteninal Mock 3.8 Instructions for the 3M Connector When fabricatingan encoder cable or the Lke, securely connect the shelded external conductor of the cable to the ground plate as shown in t h s sec'non and fks it to the connector shell. E x t e r n a l hnductor Shdath SMp the sheath. I ShAath b m a l conductor Pull back the external conductor to coverthe sheath CAre 3 - 35 4.OPEMTION 4. OPERATION 4.1 When Switching Power Onfor the First Time 4.1.1 Pre-operationchecks Before starhng operation,check the following: (1) Wring 1)A correct power supply is connected to the power input terrmnals &I, L, L3j of the servo a n p u e r . 2) The servomotor power supply terminals (v, V, M1 of the servo ampMer matchin phase with thepower input e t d fl, V , W) of the servo motor. 3) The servo motor power supply terminals V, W) of the servo ampMer are not shortedto the power input ( U ? termlMls (L1, LfL, L3). 4)The servo a m p s e r a n dservo motor are grounded securely. 5) When the regenerativebrake option is used, the lead has been removed across D-Pof the control circuit e t d block. A l s o , twisted cables are used for its wiring. 6) When stroke end h u t switches are used, the signals across UP-SG and LSN-SG are on duringoperation. 7 ) 24VDC or hgher voltages are not applied to the pinsof connectors CNlA andCNlB. 8) SD and SG of connectors C N A and CNlB are not shorted. 9) The wiring cables are free fi-om excessive force. (2) Environment Signal cables and power cables are not shorted by wire offcuts, m e u c dust or the &e. (3) Machine 1)The screws in the servo motor installation part and shaft-to-mahe connection are tight 2 ) The servo motor and themachme connected nlth theservo motor can be operated. 4- 1 4. OPEFWTION 4.1.2 Startup ~~~ /F\WARNlNG ~ Do not operate the switches wrth wet hands. You may get an electnc shock. Before starting operation, check the parameters. Some machines may perform unexpe cted operation. During power-on or soon after power-off, do not touch the sew0 amplifier heat sink, regenerative brake resistor,sew0 motor, etc. as they maybe at high temperatures. You may get bumt. A CAUTION Connect the servo motorwith a machme after cogthat the servo motor operates properly alone. For startup reference, a single m a h e structure will be described. Refer to t h s section and start up the machme safely. (1) Machine conditions 4 P - Servo amplifier Redudion ratio MR-J2C P6 I _ Ballscrew P,=lOmm Position data (P) = 20000mm Speed (V)= 2500rhin Acceleration time constant (Ta) = 200ms Deceleration time constant (I%) = 300ms Servo motor H C M F 8192pulseirev Regenerative brake option MR-RB032 + Servo motor Or/min speed Program No. 1 1)Absolute position detechon system used 2) Command resolution: 10pm 3) Command system: Absolute value command system 4) Electronic gear calculation C.Xi(pulse) 8 192 C D V ( p I ) -.p,.1000 1 n -- 8192 8192 1 -.10.1000 2 5000 .................................................. (4.1) CMX = 8192 CDV = 5000 5) For the device command method, external input signals are used by the point table selection, forward rotation start (ST1).servo on (SON) and other commands. 6) Program selection No. 1 is used to execute automatic operationonce. 4 . OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo on (SON) signal. 2) When main circuit power/control circuit power is switched on. "r"(motor speed) appears on theservo ampMer &splay. 01) Test operabon 1 Using jog operatlon in the "test operation mode" of the Servo Configuration Software, make sure that theservo motor operates. (Refer to %&on 6.7.1.) (c) Parameter setting Set the parameters accordmg to the structure and spedcationsof the machme. Referto Chapter 5 for the parameter d e h t i o n s a n dto Sections 6.4 and 7.6 for the settingmethod. Setting Example Parameter Name No.0 I No.1 No2 No.4 No.5 1 Feeding function Descnption Setting Control mode,regenerative brake option selection Second dlgit : Absolute value command system Third digit : MR-RB032 regenerative brake option is used First dlgit : When forward rotation start(ST1) is valid, address is inmmented in CCW dmection. Second diQt : Since command resolution is 10 times, feed length multiplicationfactor of 10 times is selected. Fourth digit : Absolute position d e k t i o n q s t e m From calculation result offormula (4.1) From calculanon result of formula (4.1) 0200 selection Function selection 1 Electromc gear numerator (CMX7 Electromc gear denominator CD13 1000 8192 5000 After setting theabove parameters, switch power off once. Then switch power on again to make theset parameter values vahd. ( 4 fi0gr-g Make the programmingaccordmg to the operation pattern. Refer to Section 4.2 for the program language and to Sections 6.5 and '7.5 for the setting method. Setting Example SPN (2500) STA (200) STB (300) MOV (20000) TIM (1) STOP Servo Motor Speed Acceleration Time Constant Deceleration Time Constant Position Data Dwell Time Program Stop 4- 3 2500[r/min] 200[ms] 300[ms] 20000[x 1O ~ p r n ] l[xlOms] I 4. CIPERATION (e) Servo on Switch the s e n 0 on in the following procedure: 1)Switch on main circuiticontrol power. 2) Switch on the servo on signal (Soh? (short SON-SG). When placed in the servo-on status, the servo ampldier is ready to operate and theservo motoris locked. By using the sequenein the hagnosticmode in Section 7.3,the ready status can be shown on the servo ampMer &splay. In theoperation-ready status, the following screen appears. 4. OPERATION (0Zeroing Before starting positioning operabon, always make home position return. Refer to Section 4.4for zeroin!5 types. -4 arameter setting example for dog type zeroing is gwen here. hird digit : Prom@ dog signal is valid when DOG- After setting the above parameters, switch power off once. Then switch power on againto make the set parameter values vahd. Set the inputsignals as hsted below and switch on the start (ST1) to execute zeroing. OWOFF Device Name Symbol Description MDO Program operation mode is selected. Automatidmanual selection ON PSO Set the zeroing program No. Program No. selection. ON Servo is switched on. Servo on SON OX Forward rotation stroke end Reverse rotation stroke end LSP ON ON LSN Forward rotation sideh i t switch is turned on. Reverse rotation side limit switch is turned on. Note: 1)M D O is internal short withfactory default by the parameterh’o.64. 2) Zeroing program example is two h e s following. ZRT STOP 3) Zero point dose not follow up to SON, EMG-off and RES on. If you need Zero point follow up with incremental positioning system. Set the parameter rU’o.Ol(1000). (g) Automatic operation signals as h t e d below and switch on the s t a r t (ST1) to execute automatic operation in accordance Set the input with Program No. Device Name Automatidmanual selection Servo on Forward rotation stroke end Reverse rotation stroke end Program No. selection. Symbol MDO SON OWOFF ON ON UP ON LSN ON ON PSO Descnptin Automatic operationmode is selected. Servo is switched on. Forward rotation side Lrmt switch is turned on. Reverse rotation side limit switch is turned on. S e t the zeroing program No. 0stop In any of the following statuses, theservo a m p a e r interrupts and stops the operation of the servo motor: 1 j Servo on (SON) OFF The basecircuit is shut off and theservo motor coasts. 2) Alarm Occurrence When an alarm occurs, the base circuitis shut off and thedynamic brake is operated to bring the servo motor to a sudden stop. 3) Emergency stop (E” OFF to bring theservo motorto a sudden stop The basecircuit is shut off and the dynamic brake is operated -4h-m A.E6 occurs. 4)Forwardreverse rotation stroke end (LSP/LSN)OFF The servo motor is brought to a sudden stop and sen~-locked. 4- 5 4. OPERATION 4.2 Automatic Operation Mode 4.2.1 What is automatic operation mode? (1) Command system After selection of preset programsusing the input signalsor communication, operationis started by the forward rotation start (ST1) signal. Automatic operation has theabsolute value command systemand incremental value command system. (a) Absolute value command system As posihon data, set the target address to be reached. Setting range:-999999 to 999999 [ x l P p m ] (STM = feed length multiplication parameter No.1) -999999 999999 n v Y Position data setting range [ X Id?m] @) Incremental value command system As posibon data, set themokulg b a tn c e from the current addressto the target address. Setting range:-999999 to 999999 [ x l P ' p m ] (STM= feed length multiphcation parameter No.1) address Current Target address n ,- Y / /' Position data = parget address - current address1 (c) The Merence between absolute and Incremental By your selection of command mode@arameter No.l),it makes all the ddference. The example is shown as follows. Example program SPN(500) 500[r/min.] Motor speed STC(200) AcdDec t m e 200[msec] MOV(500) Move command 500[ X l P p m] SPN(1000) speed Motor lOOO[r/min.] MOVA(1000) Move command 100O[xlP~m] MOVA(-100) Move command -1OO[x1P~m] STOP Program end Choose the absolute command mode : When using the absolute value commandmodepsitioning is carried out to the set position data for which the zero point hasbeen set as the reference by the MOV or MOVA command. finish start i 7 0 "500 * 01, Choose the incremental command mode : When using the incremental value command,positioning is carried out to the set data for whch the currentposition has been set as the.reference by the MOV or MOVA command. start finish x. 4. OPERATION ( 2 ) Programming (a) Program languagespedcations 1')The language usedin the program operation-e&t window adl be described below. 2 ) Simple languagefor program operation (60 steps programming with Configuration SAT) 3) 8 program numbers w i t h total 60 steps can be selected by external PSO switches or communication. ting I SPY s t h g Range Unit Description I (":Setvalue) I SWf-l -r"-- (Motor speed) I ~ ~~ 0 - tn -- ~ SPN(**) Acceleratiod , , Used to the set command speed gwen I M a . S e d I r'm I Thesetvalueshould to the motor for positioning. be not more than the maximum speed of the motor. Used to set both the acceleration and deceleration time. of the correspondmg servo motor) vime required to reach the rated speed S Aand SI13 mmmandscanset the acceleration and deceleration time I ~~ ZRT Zero point return Tn'ES Program repeat Command STOP Program end ZRT - - Zero pint rem Operabn Set to the h u m g methcd at parameter No.8. Describe TIMES (setdng value) at the headof the program,.And STOP at the end of the program. The programw-iU repeat execusion number of times. 0, Times T h is not required when the programis to be run only once 1 to 10000 The programwill be run inhitelywhen 0 is set. It is not possible to repeatedly run a set part of a program. - Programstopssgnalanditmustbeatendoftheprogram(Requm4 TcrlEs(**) Note: 1)SYNC, OUTON. OUTOF. TFEP and C0L.T commands are availableto be validated during command outputting. 2) SPY. STA, STB and STC commands d be validated, whenthe MOV and MOV-4 command. 3) Ifyou set the parameter by OLTON command. Duringsetting time, h command does not execute following command. 4- 7 4.OPERATION (b) D e d s of programmmg languages 1) Positioning command condtions (SPN, ST4 STB! STC) SPN, STC, STAand STB commands wdl be vahdated, when the MOV and MOVA commands areexecuting. The setting numbers w d be vabdated, expect resetting the numbers. SPN(1000) Motor speed STA(200) Acceleration time 200[msec] STB(300) Deceleration 300(msec] time command MOV(1000) Move time Dwell TIM(10) Movecommand 1 - MOV(2000) Program stop I 1 STOP j 8 - ~ -. I >- ' i 2 1000[~1Ppm] 1OO[msec] ~OOO[XICP~~I , SPN(1000) STA(200) STB(300) MOV(1000) TIM(10) ' SPN(5OO) STC(200) i - MOV(2000) STOP ~ 1000[r/min.] Motor speed Acceleration time Deceleration time Move command Dwell time Motor speed AcdDec time Move command Program end 1000[r/min.] 200[msec] 300[msec] 1000[~1CP~rn] 1OO[msec] 500[r/min.] 200[msec] 2000[ x l P p m ] d 4. OPERATION 2)Move command (MOV, MOVA) - MOVA command is continuous movement commandof MOV / MOVA command. - The changespeed point of MOVA command is a deceleratzon begin point of the previous MOV / MOVA command when execubonby along. - The acceleration/ decelerahon time whencontinuous operation of MOVA command is execution value of previous MOV / MOVA command. ( i fprogramming the MOVA command after the command output completed. setting numberd l be vahdated) - MOVA command is avdable to programming to by along. SPN(500) STA(200) STB(300) MOV(500) SPN(1000) MOVA( 1000) I I f - 1I~ r i I ~ ~ ' 1 11 11 ' ~ I MOVA(0) STOP Motor speed Acceleration time Deceleration time Move command Motor speed Move command Move command Program end 500[r/min.] 200[msec] 300[msec] 500[ XlPpm] 1000[r/min.] 1OOO[ X l P p m] O[ X 1 P p m] - , I - 4 ~ I 1 e4 500[r/min.] -.I 200[m] 2 II 300[msec] 500[ X K P ~ m] lOOO[r/min.] 1 500[msec] 4 1000[x~~pml 1OO[mSec] 500[r/min.] 200[msec] O[ X 1 P p m] Motor speed Acceleration time Deceleration time Move command Motor speed AcdDec time STC(500) MOVA( 1000) Move command Dwell time TIM(10) Motor speed SPN(500) Acc/Dec time STC( 100) MOVA(0 Move command STOP Program end SPN(500) STA(200) STB(300 MOV(500) SPN(1000) r -. 4- 9 ~1i ~ +--i & lnval i d Val i d 4 . OPERATION 3) Input / Output command (SYNC, OUTON, OUTOF) - SYNC, OUTONand OUTOF udl not be checked the command output complete. SPN(500) STA(200) STB(300) MOV(500) OUTON(1) SPN( 1000) MOVA( 1000) ~ 1 - ! 1 OUTOF( )1 llM(10) MOVA( 1500) 1 I - ~ I 1 OUTON(1) STOP Motor speed Acceleration time Deceleration time Move command DO output 1 Motor speed Move command DO output 1 Dwell time Move command DO output 1 Program end - 500[r/min.] -, 200[msec] I 300[msec] 5001x l P p rn] Program outputl-ON 1000[r/min.] lOOO[xlPpm] t Program outputl-OFF 1OO[msec] 1500[x 1 P p m] 1-ON I ! 2 ' r 4) l h p Point instrumon command (TRIP) TRIP command will not be checked the command Motor speed SPN(500) Acceleration time STA(200) Deceleration time STB(300) MOV( 1000) Move command 300[ TRIP(300) Point Trip rOUTON(l) DO output Program 1 output Point Trip I ;' TRIP(500) DOProgram output 1 output 1-OFF 1, SUTOF(1) , ' STOP Program end ~ 1 outputcomplete. 1000[r/min] 200[msec] I > 0 9 -7 1 : I 300[msec] 1ooo[x1~prn]' x l P p m] I-ON 500[ X 1P'k m] ~ 1 ; DO : & @ t a lOutput Progrm ClJtDLTt 1 I I 4- 10 4. OPERATION 5) Esternd Pulse Count command (COUNT) Even If the program is runnjng,COUNT command is vahd. ~ ' ~ , ' 1000(pulse] 500[r/min] 200[msec] 300[msec] J ~OOO[XICBMLLI~] 300[ x 1 P p m] Program output1-ON Counter set Motor speed Acceleration time Deceleration time MOV( 1000) Move command Trip point TRIP(300) DO output 1 OUTON(1) Trip point TRIP(500) DO output 1 OUTOF(1) Counter set COUNT(0) Program end STOP COUNT(500) SPN(500) STA(200) STB(3OO) 1 , 1 ' 7 I i' 500[~1Ppm] Program output1-OFF Counter clear 1 . . $taloutput 6) Zero point return command (ZRT) - Set to parameter the Zero point return operation. - Programming the MOVA command after the ZRT command w h c h wdl be operated after Zeropoint return complete, however it would not be continuous operation. 7) Program control (TIMES, STOP) TIMES command must be at head of the program and STOP command must be at end of the program. If these oommands beat other h e s , it dbe occurred error. 4- 11 4. OPERATION (3) Parameter setting Set thefollowing parameters to perform automatic operation: (a) Command mode selection (parameter No.0) Select the absolute value command system or incremental value command system. I Parameter NO.o Settina - 0000 0010 I Positionina Svstem 1 Absolute value command I I Incremental value command (bj Operahon mode selection (parameter No.1) Choose the servo motor rotation duectionat the time when theforward rotation start (ST1) signal is switched on. 1j Absolute value command r 1 Parameter No.1 Setting I 0000 000 1 Servo Motor Rotation Direction When Forward Rotabon Start (ST1) Is Switched On C O T rotation with + position data CWwith rotation +data wsition 4 I cw 2) Incremental value command system Parameter No.1 Setting Servo Motor Rotation Direction When Forward Rotation Start (ST1) ON 0000 CCW rotation with+ position data O Y rotation with -position data 0001 0%' rotation with + position data C W rotation with -position data * (c) Feed length multiplication selection @mameter No.1) Set theunit multiplication factor (STM) of position data. The actualmoving b a tn c e is the result of multiplying the entered position data by the unit multiplication factor. Parameter No.1 Setting Feed Length MuttiplicationSTM Ftlmes] Position Data Input Range [m] 00 0 0 0010 0020 0030 Position data x Position data x Position data x Position data x 1 10 100 loo0 -999.999 to +999.999 -9999.99 to +9999.99 -99999.9 to +99999.9 -999999 to +999999 4. OPERATION 4.2.2 Automatic program-operation timing chart The following is the t u n i n g chart. Servo on (SON) On (Servo on) Automatidmanual selection (MDO) On (Automatic mode) Movemerrt complete(PED) Program number Motor speed 1 X ' : i n OR +, 1 +3msec or less I ... ... . . No.1 X i ... ... j . . j On ! . . SYNC(1) SYNC(2) Note: Start de\& must turn on ,wheneverprogram change. 4- 13 n 1 No. 2 . . . . . . . . 4.OPERATION (4) Temporary stop/restart When STP-SG are connected during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When STP-SG are connected again, the remaining distance is executed. If the fotwardreverse rotationstart signal is ignoredif it is switched on during a temporary stop. The remaining moving distance is cleared when the operation mode is changed from the automatic mode to the manua mode during a temporary stop. The temporary stop/restart input is ignored during zeroingjogand operation. (a) When the servo motor is rotating Acceleration tune constant in point table No. n Deceleration time constant in point table No. n Servo motor speed Program No. No.n , Start si nal ON ' (tTT1) O F 4 : Temporary stophestart ON (STP) OFT Temporary stop ON (PUS) OFF n n 1 7 j Movement wmpletlon ON -L (PED) OFF (b) During dwell time Program No. n Program No. n b e l l time=ta+tb I 7 7 Program No. +; No.n Start signal ON (ST1) OFF i Temporary stop/restart ON (SF)OFF : Temporary stop (PUS) Movement completion (PED) ON OFF ON OFF ~ I : : 7 I , , I 8 n : n i 4.OPERATION 4.3 Manual Operation Mode For m a h e adjustment, home position matchmg? etc.,jog operation or amanual pulse generator maybe used to make a mohonto any position. 4.3.1Jog operation (1) Setting Set the inputsignal and parameters asfollows a c c o r b g to the purpose of use. In t b case, the Program No. selection 1to 8 signals (PSO to PS3) are i n v d d : Setting Method Item Manual operation mode selection Servo motor rotation &tion Description Jog speed Automatidmanual selection signal (MDO) Parameter No. 1 Parameter No.13 .-2cceleratioddeceleration time constant Parameter No.40 Open MDO-SG (OFF). Refer to (2) in t h section. ~ ~ Set the speed of the servo motor. . Set the acceleratioddeceleration time constants. (2) Servo motor rotation direction 4 Servo Motor Rotation Diredon Parameter No. 1 Setting Forward Rotation Start(ST1) ON Reverse RotationStart (ST2) ON OD00 CCW rotation 0001 CW rotation CW rotation CCW rotation ST1:ON r<"c" ST2:ON ST1 :ON Parameter No. 1 D O 0 0 Parameter No. 1 O D 0 1 (3) Operation By shorting ST1-SG,operation is performed under the conditions of the jog speed set in the parameterand the acceleration and deceleration tune constants in set in the parameter. For the rotahon dxection,refer to (2) in t b sechon. By shorting ST2-SG, the servo motor rotates in the reverse dxectionto ST1. Kote: In jog operation,parameter No.l4(STC) is v&d. 4- 15 4. OPERATION (4) Timing chart ON Servo on (SON) Ready (RD) I OFF ON OFF Trouble (ALM) Automatidmanual mode selection (MDO) ON OFF Movement completion(PED) ON OFF I I I I I I I Motor speed I I Forward rotation Or/min Reverse rotation Forward rotatlon start (ST1) Reverse rotation start (ST2) ON OFF ON I I Forward rotabon ~q 4- 16 4. OPERATION ~~ 4 . 4 Manual Zeroing Mode 4.4.1 Outline of zeroing Zeroing is performed to match thecommand w r d m a t e s with the machmecoordmates. In the incremental system, zeroing is required every tune inputpower is switched on. In theabsolute position detecbon system, once zeroing is done at thetime of installation, the currentposition is retained if power is switched off. Hence?zeroing is not required when power is switched on again. The MRJ2-C-SlOO has the zeroing methods given in t h s section. Choose the most appropriate method for your machme structure and applicabon. The MRJ2-C-S100 has the automatic zeroing return function w h c h executes zeroing by malang an automatic return to a proper position if the machme has stopped beyond or at the proimity dog. Manual motion by jogoperation or the U e is not required. (1) Manual zeroing types Five manual zeroing types are avdable. Choose the optimum zeroing according to the m a h e type, etc. Zeroing Method Dog type zeroing Data setfing typezeroing Stopper type zeroing Zero ignorance (Servoon position as zero) KO&:The >phase With deceleration started a t the front end a proldmity dog, the position where the fist is given past the rear end or a motion has been made over the zero shift dstance startingfrom the Z-phase signal is defined as a home position. With deceleranon started a t the front end a proxmity dog. the position where the first Z-phase signalis pven after advancement over the preset monng&stance after or a motion has been made over the zero shift dstance startingfrom the Z-phase signal 1s defined as a home position. The position reached after any automatic motion is defined as a home position. position where the machine stops whenits part is pressed against a machine stopperby jog operation, pulse generator or the like is d e k e d as a ho me position. The position where servo is ssitched on is defined as a home position. Features General zeroing method using a prordmity dog. Repeatabllity of zeroing is excellent and themach ine is less burdened. Z-phase signal Used whenthe uidthof the proximity dog can be set greater than thedeceleration d ~ ~ t a n of c ethe servo motor. Zeroing method using a proximity dog. Used when it is desired to minimize the length of the proxjmity dog dog No proximity dog required. Since the machme part cohdes\Kith the machine The stopper. zeroing speed must be set to a fully low value and themachme and stopper strength manual must be fully considered. signal is a s g r d reuqnmdin the semo amplifier o n e per ssrvo motor revolutionand cannot be used as an output s& 4- 17 4. OPERATION (2) Zeroing parameter When performing zeroing. set parameter No.8 as follows: ...................................................... 1) 0: Dog type zeroing (dog rear end detection) 1: Count type zeroing (dog front end detection) 2: Data setting type zeroing 3: Stopper type zerolng 4: Zero ignorance (SON position a s zero) directionI Zeroing ...................................................... 0: Address increment diredion 1: Address decrementdirection 2) Proximity dog input polarity ..................................... 0: Dog is detected when DOG-SG are opened. 1: Dog is detected when DOG-SG are shorted. 3) 1) Choose the zeroing method. 2) Choose the starting dxection of zeroing. Set "0" to start zeroing in the h h o n in whch the address is incremented from the currentposition, or "1"to start zeroing in the dmdionin which the addressis decremented. 3) Choose the polarits. at whch the proximi@ dogis detected. Set " 0 ' to detect thedog when theproximity dog device (across DOG-SG) is opened. or "1"to detect thedog when thedevice is shorted. (3) Instructions 1) Before starting zeroing, always make sure that the h t switch operates. 2) c0rh-m the zeroing dxecbon. Incorrect settmg unll cause the machine to run reversely. 3) c0rh-m the proximity dog input polarity.Otherwise, misoperation can occur. 4. OPERATION 4.4.2 Dog type zeroing A zeroing method using a proximim dog. With deceleranon started at the front end of the proximity dog. the posi’non where the first Z-phase signal isgven past the rear end of the dog or a motion has been made over the zero shdt d ~ t a n c estarting fcom the Z-phase signal is defined as a home position. (1) Signals, parameters Set the inputsignals and parameters asfollows: Parameter KO. 11 Zeroing position data Address reached by zeromg is stored automatically. Parameter Ko.42 (2) Length of proximity dog To ensure that theZ-phase signal of the servo motor is generated duringdetection of the dog signal, the proSimi@ dog should have the lengthw h c h satisfies formulas(4.2) and (4.3): L I Z - .V- 60 td 2 ................................................... (4.2) L1 : Proximity dog length [mm] V : Zeroing speed [ d m i n ] td : Deceleration time [SI U=2.AS ...................................................... L2 : Proximity dog length [mm] AS : Moving &stance per servo motor revolution [mm] 4- 19 (4.3) 4. OPERATION (3)Timing chart ON Movement completion (PED), I ur r I ON OFF Zeroing completlon (ZP) I ZerOlng Speed Parameter No 9 Pomt table No. 1 Accelerabon time constant Pomt table No 1 Decelerabon t m e constant 4 Creep speed Parameter No 10 iparameter Zero shiR dlstance ~ No, " ervo motor speed Z-phase ON OFF ON Forward rotation start (ST1) OFF 1 1 Dog (DOG) I I I 1Oms or more 1- The addresson completion of zeroing is the value automakaliy set in parameterNo.42 (zeroing positiondata). (4) Adjustment In dog type zeroing, adjust to ensure that the 2-phasesignal is generated during dog detechon. Locate the rear end of the proximity dog at appro>cimately the center of two consecutive Z-phase signals. The position where theZ-phase signal isgenerated can be monitored in " W i t h one-revolution position" of "Status &splay". Ii Servo motor I Within onerevolution position 0 HC-MF.HA-FF,HC-UF 3000 r/min 4096 0 HC-SF'RF'UF 2000 r/min 0 8192 0 3 Servo motor Z phase I - 4. OPERATION 4.4.3 Count type zeroing I n count type zeroing, a mobon is made over the &stance setin parameter xo.43 (moving &stance after proximiw dog) after detecbon of the proximity dog iiont end.The position where thefirst Z-phase signal isgiven after that is defhed as a home posrhon. Hence,if the dog signal (DOG) is l b s or longer, thereis no restnction on the dog length. Thls zeroing method is used when therequired proximity dog length cannot be reserved to use dog type zeroing or when thedog signal is entered electrically horn a controller or the f i e . (1) Signals, parameters Set the inputsignals and parametersas follows: lanual zeroing mode selection Zero shift distance Parameter No.11 Parameter No.43 (2) Timing chart I ovement completion (PED) g F F : Zeroing ON completion (ZP) OFF Point table No. 1 Acceleration time cons - 1 Potnt table No 1 , , Zero shift distanc Servo motor speed Dog (DOG) ON OFF Forward rotation ON start (ST1) OFF I 1Oms or more ~r The address on completion of zeroing is thevalue automatidy set in parameter No.42 (zeroing position data) 4- 21 4. OPERATION 4.4.4 Data setting type zeroing In data setting Dye zeroing, a motion is made to any posihon by jog operation, manual pulse generator operahon or the hketo make a home position return, and theposition reached is defined as a home posihon. (1) Signals, parameters Set the inputsignals and parameters as follows: Item DeviwParameter Used Description Manual zeroing mode selection Xutomatdmanual selection signal (MDO) Open MDO-SG (OFF). Program selection No. (PSD) Short PSO-SG (ON). Data s e ~ type g zeroing Parameter No.8 DD02:Data setting n-pe zeroing is selected. (2) Timing chart Automatidmanual ON mode selection OFF (MDO) ON Movement completion (PED) Zeroing completion (ZP) OFFPI I I ON OFF I /-\; / Servo motor speed ~ Forward rotation start (ST1) ON OFF Reverse rotation start (ST2) ON OFF 1 , I , 5ms or Zero address ~ / Parameter No ' less \ 42 id lOms or more ~r The address on completion of zeroing isthe value automabcaltyset in parameterNo.42 (zeroing position data). 4. 22 .. . .. . .. . 4.OPERATION 4.4.5 Stopper type zeroing In stopper type zeroing, a machme partis pressed against astopper or the &e by jog operation, manual pulse generator operationor the &e to make a home position return and thatposition is defined as a home position. (1) Signals, parameters Set the inputsignals and parametersas follows: DeviMarameter Used Item Description hlanual selection hutomatidmanual selectlon signal DIDO) Open MDO-SG (OFF). Program selection No. (€'SO) Short PSO-SG (ON). Stopper ~ p zeroing e Parameter N0.8 Stopper time Parameter No.44 0 0 0 3 : Stopper type zeroing is selected. Time from whenthe part makescontact u i t h stopper to when zeroing data is obtained to output zeroing completion (ZP) Set the servo motor torqueb i t value for executi on of stopper type zeroing. Use the accelerationtime constant of point No.1. Stopper type zeroing torque b i t Zeroing acceleration constant Parameter hTo.45 Point table No.1 (2) Timing chart Automatidmanual ON mode selection OFF (MDO) ON ovement completion (PED) Zeroing completion (ZP) OFF ON OFF Point table No.1 Acceleration time constant \ Limiting toque CnC) Torque limit value ' I @j@& , I- I Stopper time I Parameter No. 44 ON I 1 , 1Omsor more I I , 8 Zeroing speed I 1 Parameter No.9 I I Zero address 1 I 1 /' Parameter No. 42 I ON Forward rotation OFF start (STI) I , I OFF Parameter No. 28 x Parameter No. 45 x Parameter No. 28 The addresson complebn of zeroing isthe value automakaliy set in parameterNo.42 (zeroing position data) 4- 23 4. OPERATION 4.4.6 Zero ignorance (servo-on position defined as zero) The posi'non where servois switched onis defined as a home posihon as soon as servo is switched on. (1) Signals, parameter Set the inputsignals and parameter as follows: Item Zero ignorance DevicePammeter Used Parameter No.8 Descnption 1 0 0 0 4 : Zero ignorance isselected. (2) Timing chart Zeroing completion (ZP) Zero address Servo motor speed / Parameter No.42 I . ' - The addresson completion of zeroing is the value automatically set in parameter No.42 (zeroing position data). 4.OPERATION 4.4.7 Automatic zeroing return function If the current posibonis at or beyond the proximiQdog in dog or count typezeroing, you need not makea start after m h g a return by jog operation orthe hke. When the currentposition is at thep r o e Q dog. an automabc returnis made before zeroing. b U ,, ,- Home position - Zeroing start position At a start, a motion is madein the zeroing du-ection and an automatic returnis made on detection of the h t switch. The motion stops past the front end of the proximity dog, and zeroing is resumed at that position. If the proximity dog cannot be detected. the motion stops on detection of the opposite h u t switch and .4.90 occups. Limit switch Limit LS I A \, -Home position Zeroing start position Software h i t cannot be used with these functions. 4 - 25 4. OPERATION 4.5 Absolute position detection system The MRJ2-C-S100 servo ampldier containsa single-axis controller.A l s o , all servo motor encoders are compatible with a n absolute position system. Hence. an absolute position detection systemcan be codigured upby merely loadng an absolute position data back-up battery and setting parameter values. (1) Restrictions A , n absolute posibon detecDon system cannotbe b d t under thefollowing conhtions: 1) Stroke-less cmrdinate system, e.g. rotaryshaft, mfimte positioning. 2) Operation performed in incremental value command type positioning system. ) Specifications L Item Desaiption System Electronic battery backup system Battery 1 piece of lithium battery ( primary battery,nominal + 3.6V Type: MR-BAT or AGBAT -Maximum revolution range Home position 2 32767 rev. m u b speed a t power failure -(Note 1) M 5m/min (Note 2) Battery backup time Approx 10,000 hours (batterylife with power o m (Note 3) Data holdmg time during battery replacement 2 hours a t delivery, 1hour in 5 years after delivery Battery storage penod 5 years &om date of manufacture Sow: 1. Mamnum speed available when theshaft is rotated by external force at the m e of power failureor the like. 2. Tune to hold data by a battery nlth power OE 3. Period dunng which data can be held by the super capaator in the enader after power-off with the battery voltage low or the battery removed. or during which data can be held with the encoder cable disconnected Battery replacement should be h h e d Fiithin period. (3) Structure Component Servo amplifier Servo motor Battery Encoder cable Desaiption Use standard models. MR-BAT or AGBAT Use a standard model. When Eabricating. refer to (2). &&on 14.1.2. 4. OPERATION ~~ (4) Outline of absolute position detection data communication For normal operabon, asshown below. the encoder consists of a detector designed detect a position w l t h m one revolution and a cumulabve revoluQon counter designedto detect the numberof revolutions. it batteryThe absoluteposition detechon system always detects theabsolute position of the machme and keeps backed, independentlyof whether the general-purpose programming controller power is on or off. Therefore, oncethe home position is d e h e d at the timeof machme installabon,zeroing is not needed when power is switched on thereafter. If a power f d u r e or a fault OCCUTS, restoration is easyAlso, the absolute position data, w h c h is batterybacked by the supercapacitor in the encoder,can be retained w i t h the spediedperiod (cumulatwe revolubon if the cable is unplugged orbroken. counter value retaining time) Servo amplifier . Zeromg data Point table selection signal, etc. 4 VO orwit Cumnt p s l t o n Poslbon data, speed data (current poslbon read) power off * - Battery MR-BAT Servo motor I I LS s I ~ detedlOn d 4 4 1x D e t e d m ofposltfon w h m wre revolutlm 4- .____...___.-.---- 1 pulsdrev. Cumulabve revolubon counter Super capaator w b-------.-. High-speed serial comrnunicabon Wlthin one-revolution counter (5) Battery installation procedure POINT The internal circuitsof the servo amphfier maybe damaged by static electrid@. Always take thefollowing precaubons: Ground human body and work bench. Do not touch the conductive areas, such as connector pins andelectrical parts, dvectly by hand. 1)Open the operationwindow. (When the model used is the MR-J2-200C-S100 or more.also remove the front cover.) 2) Install the batteryin the batteryholder. 3) Install the batteryconnector into CON1untd it clicks. Battery Battery holder For MR-J2-100C or less For MR-J2-200C or more 4 - 27 4. OPERATION (6) Parameter setttng Set parameterNo.2 as indxated below to make the absoluteposition detection system vahd: Parameter N0.2 1- Selection of absolute position detedlon system 0. Incremental system 1: Absolute position detection system 4.6 Serial Communication Operation The RS-485 or Rs-232C communication function may be used to operate the= N O a m p m e r from a command deklce (conwller) such as a personal computer.Positioning operation can be performed with the positioning operabodposition s p e d e d by selection of the point tables. Note that theRS-485 and Rs-232Ccommunication f u n c t ~ o mcannot be used at the same me. Ths section providesa data transferprocedure. Refer to Chapter 8 for full d o r m a t i o n on the connection and transferred data between thecontroller and servo amphfier. 4.6.1 Positioning operation in accordance with program By selecting the program No. and switchmg onthe start signal (ST1)using the communication funchon. positioning operabon in accordance with programcan be started. (1) Selection of program No. Using thedevice forced output from the controller (command [9][2]!data No. [2][O]),chooseprogram from among Xo.1 to 8. (2)Timing chart Transmission data 4 Servo motor speed 5ms Program No. 2 No. 1) 2) 3) 3) 5) Transmission Data Program No.2 selection Program No.1 selection Program No.3 selection Forward rotation start (ST1)ON Forward rotation s t a r t (ST1)OFF Program No. 1 Program No. 3 Command Data No. [91 PI [91 PI [93 PI PI PI PI PI PIPI [GI [OI E l 101 191 PI [GI [GI 4 - 28 - .- . .. ... . . .. . __ ___.. 4. OPERATION 4.6.2 Multidrop communication The FS-485 communicakon funmon can be used to operate several servo a m p a e r s on the same bus. I n this case, set the statlon numbersto the servo ampMers to determine the destinabon servo amphfier of the currently transmitted data. Use parameter No.15 to set thestation numbers. Always set one stabon numberto one servo amphfier. Normal communication cannot be made if one stabon number is set to two or more servoampl6ers. Whenusing one commandto operate severalservo ampldiers, use the group designabon funchon described in Section 4.6.3. , ,_c - f to CN3 u - : 1 ~ Axis 1 (Station 0) - 7 - 10 To CN3 ' : lg: i 1 iflTo CN3 @ : : 1 -.E& _9pLz Axis 2 (Station 1) Axis 3 (Station 2) RS-485 For cable connection diagram, refer to Section 8.1 .1. 4 - 29 -1 m T o CN3 .......... I............. ", Controller /' - _ - , u;cl spp J Axis 32 (Station 31) 4. OPERATION 4.6.3 Group designation When usingseveral servo amphfiers, command-dnven parameter settings, etc. can be made on a group basis. You can set upto sis groups. a to f. Set thegroup to each station using the communicahon command. (1) Group settmg example - - - Group a Group b ............................ ...... 3 To 7 __ CN3 ? @ :I * l .............. _ [u To CN3 @ 1'5 * I (Statlon 1) (Stabon 2) ......................................... I Controller RS485 / I' (Stabon 8 ) (SdtlOfl 9) ............................ Group d Servo Amplifier Statlon No. I Statlon 0 Station 1 Station 2 Station 3 Statlon 4 Station 5 Station 6 Stanon 7 Station 8 Stanon 9 (Stabon 6) (Station 7 ) Group c Group Setting A B C n u (Statlon 5 ) ............................................ 1 4 . OPERATION ~~ (2) Timing chart In thefollowing b m m g chart, operationis performed group-by-group in accordance with the values set in K0.l. Station 0 Servo motor speed Station 1 Servo motor n I \ Speed Group a Station 2 Servo motor Speed Station 3 Servo motor Speed Group b Group c A Station 4 Servo motor speed Station 5 Servo motor speed Station 6 Servo motor speed Station 7 Servo motor n Speed Group d A Station 8 Servo motor speed Station 9 Servo motor Speed In adhtion, parameter values common to the stations of each group can be written andalarm reset can be made. for example. (3) Group setting insbctions Only one servo amplher may senda reply in any group.If two or more servoampfiers sendreply data at the same time. they maybecome faulty. 4- 31 5. PARAMETERS 5. PARAMETERS I I Never adjust or change the parameter values extremely as it will make operation ACAUTloN instable, I 5.1 Parameter List 5.1.1 Parameter write inhibit POINT Set 'WOE" when using theServo Conf3guration Software to make device setting. After setting the parameterNo.19 value, switch power off, then onto make that setting vahd. In theMEJ2-C-S100 servo ampMer, its parameters are classfied into the basic parameters(No.0 to 19)and expansion parameters(N0.20 to 68) accordmg to their safety aspectsand hquencies of use. I n the factory setting conhtion, the customer can change the basic parameter values but cannot change the expansion parameter values. When h e adjustment, e.g. gain adjustment, is required, change the parameter Ko.19 setting to make theexpansion parameters write-enabled. Parameter No.19 Settin OOOC OWE Reference 0 write 0 0 0 X Reference Write 0 0 0 0 0 0 5- 1 X 1 5. PARAMETERS 5.1.2 Lists For any parameter whose symbol is preceded by *, set the parameter value and switch poweroff once, then switch it on again to make that parameter setting vahd. For detadsof the parameters, referto the correspondmg items. (1) item list Class No. 1 19 Name and Fundion Symbol I 'BLF; 1 Parameter b l d InitialValue 0000 Customer S unit etting I I 5. PARAMETERS 5- 3 5. PARAMETERS (2) Detail list Name and function Setting Rnge Refer Tc bntrol mode.Fkgeneradve brake optionselection Use to select the control mode and regenerative brake option. OOOOh to 061l h u -7 - L Programediting 0: Valid 1: lnvaltd Selection of command mode 0: Use in absolute posibon detection system 1: Use in incremental posiboningsystem S e l e d the regenerative brake option 0:Not used 2iMR-RB032 3:MRRB12 4:MR-RB32 5:MR-RB30 6:MR-RWO .%don 4.2 Section 14.1.1 'eedmg system selection Jsed to set the feed length multiplication factor and hemal pulse multiplication factor. 1 i 1 1 1 1 I I *OP1 I - 1 'unction selection 1 Jsed to select the inputfilter and absolute position detection system. lo1 I OOOOh to 1231h Coordinate systems e m n 0: CCW(address increase) 1: CW (address increase) Feed length rnultjplication factor(STM) 0 : l tlme 1:lO times 2:o l 0times 3:1000 times External pulse input magnification setting 0: 1 time 1: 10 times 2: l o 0 times SON-off,EMG-off follow upfor absolute value command in incremental system 0: Invalid 1: Valid . - T _ - Section 4.2.1 Section 5.2.1 Section 4.3 OOOO to 1002h I If external inputsgnal To noise, etc., inputfilter is used to suppress it 0: None 1: 1.77msec 2: 3 . 5 5 m Unrt of posrtrondata 0: mm 1: inch 2: pulse Absolute positioningsystem 0: Use in incremental 1: Use in absolute position detection system OOOOh Section 4.5 - - 5. PARAMETERS Unit Name and Fundron AUT Jut0 tuning :sed to set the response level, etc. for esecubon of auto tuning. jetting Ran ge OOOOh to 02 15h iefer To zhapter 9 or generates large Increase the set value e.g. shorten the settling time. Seled the machine For example, used to improve the position settling characteristic when fndion is large. 0: Ordinary machine 1: Machine with large friction -Auto tuning selection 0: Interpolation axis control (For speed loop only. Not used normally.) 1: Executed for both position and speed loops 2 : Not exewted Electronic gear numerator 1 1 to 32767 Section 5.2.1 1 to 32767 Section 5.2.1 Chci Note: Set in the range of - & ~ < 2 0 . *CDV 1 chn exceeded. a parameter error udl o c c u r . [f m < ~ < 1 0 is0 Electronic gear denominator Setting example Roll h m e t e rX: m m Reductlon ratio: 317 Number of pulses: 1638-1pulses h'umber of pulses ( C h a ) 16381 Moving &stance (CDV) - 50 x Z X 3/7 x 1000 =- 7168 9375, 7 168 k' 29452 Hence. set 7168 to CM); and 29452 to CDY. PED - Note: h l e n there is a fraction, perform a carq within the setting range and roundoff that fraction. Movement completion output rang Used to set the droop pulse range when themovement completion (PED) signal is output. 5- 5 0 to 10000 - 5. PARAMETERS - Name and Function Symbol PG1 Position loop gain 1 Used to set the gain of posibon loop 1. Increase the gam to improve n a c h g performance in response to the position command. Initial Value Unit 36 rad/s T+ jetting Ran I I qefer To Chapter 9 O00Oh 0014 zeroing wpe ge 4 to 1000 - Used to set the zeroingsystem.zeroing drrection and proximity dog input polant?.. Zhapter 9 to 0114h Ii ?IZeroing system 0: Dog type zeroing (dog rear end detection) 1: Count type zeroing (dog front end detectron) 2: Data setting type zeroing 3: Stopper type zeroing 4: Zero ignorance (SON position as zero) Zeroing direction 0: Address increment direction 1: Address decrement directlon L-Proximity dog input polanty 0: Dog is detectedwhen DOG-SG are opened 1: Dog is detectedwhen DOG-SG are shorted Zeroing speed Used to set the motor speedfor zeroing. Creep speed Used to set the creep speed after proximity dog detection. kro shift dstance Lsed to set theshiR distance starting at theZ-phase pulse JOG - ietection position inside the encoder. Spare Jog speed >sed to set the jog speed command. *STC S-pattern acceleratioddeceleration time constant ‘SNO - Section 4.4 w o n 4.4 Section 4.4 k t when insertinga n S-pattern time constantinto the acceleration/ leceleration time constant of the point table. rhis time constantis invalid for zeroing. RS-485 station number setting LTsed to spec$ the stabon numberfor FS-485 nultidrop communication. Uways set one stationto one axis of servo ampMer. If one station lumber is set to two or more stations, normal communication x n n o t be made. + I 0 Maxspeed I 0 Section 52.3 5. PARAMETERS Setting Ran Name and Fundon Symbol *BPS Communication baudrate Used to select theRS-485lRS-232C communicadon baudrate and choose various conditions for communication. ge OOOOh to 11 12h qefer Tc Section 5.2.5 RS485RS-232C baudrate selection 0: 9500[bps] 1: 19200[bps] 2: 4800[bps] Protocol checksum selection 0:Yes (checksum added) 1: No (checksum not added) RS485RS-232C communication standard selection 0: RS485 used 1: RS-232C used Communication response delay time 0: Invalid, reply sent in less than 400Ps 1: Valid, reply sent in 400Ps or more MOD . h a l o g monitor output Used to set thesignal provided IO the analog monitor output. I [oj / o j T OOOOh to OAO.4.h Section 5.2.4 T I 1 Setting Analog Monitor Output Selection chl ch2 0 Servo motor speed (%V/max. speed) 1 Generated torque (+8V/max. torque) 2 Motor speed (+8V/max. speed) 3 Generated torque (+bV/max. torque) 4 I Current command (i8V/max. current command) 5 Speed command (+8/max. speed) 6 Droop pulses (*lOV/128 pulses) 7 Droop pulses (*10V/2W8 pulses) 8 Droop pulses (*lOV/8192 pulses) 9 Droop pulses (*lOV/32768 pulses) A Droop pulses (+lOV/l31072 pulses) 5- 7 - 5. PARAMETERS Setting Ran Name and Fundon ge Status &splay selection, alarm histon. clear Used to select the status &play shown a t power-on and choose alarm histon clear. i Refer T8 OOOOh to 10E6h L Status display on servo amplifier display at power-on 0: Motor speed (initial value) 1: Regenerative load ratio 2: Effective load ratio 3: Peak load ratio 4: Wlthin one-revolution position 5: ABS count Section 7.2 Status display of MR-DPGO 0: Current position (initial value) 1: Command position Section 7.2 2: Command remaining distance 3: Point table No. 4: Cumulative feedback pulses 5: Motor speed 6: Droop pulses 7 : Override 8: Torque limit voltage 9: Regenerative load ratio A: Effective load ratio 8: Peak load ratio C. Within one-revolution position D: ABS counter E: Load inertia moment Alarm history clear 0: Invalid (not cleared) 1: Valid (cleared) When alarm history clear is made valid, the alarm history is cleared at next power-on. ARer the alarm history is cleared, the setting is automatically made invalid (reset to 0). 'arameter block Jsed to select the reference and u-riteranges of the parameters. Reference LVrite 0 he Senv Tote: Set t h parameter ~ when Configuration S o h a r e . 5- a kction 5.2.6 OOOOh kction to OOOEh 5.1.1 5. PARAMETERS Name and Fundion Symbol *OP2 jetting Ran ge Function selection 2 Used to select slight nbratlon suppression control 101 I I I Refer To OOOOh to 1102h Io1 I I - I Rowm Secnon 3.2.5 Dvedlm n W~ch Towe hi:Is Made Valld X Slight vibration suppression control selection 0: Invalid 1: Valid Section 9.5 *OP3 For manufacturer setting *OP4 Function selection 3 Used to select stop processing a t LSPILSN signal off and choose the machine resonance suppression filter. UTn T OOOOh to 7011h T T Stopping method used when LSPLSN device or software limit is valid 0: Sudden stop 1: Slow stop - Section 5.2.5 Processing of base circuit performed when alarm reset (RES) device is valid 0: Base circuit not switched off 1: Base circuit switched off Machine resonance suppression filter 1125 Chapter 9 1 2 563 3 37 5 4 282 5 225 6 188 7 161 5- 9 - 5 . PARAMETERS - - Syfllbo’ *SIC Name and Fundron Serial communication dme-out selecbon Used to choose the time-outperiod of communication protocol. Setting 0 lto60 FFC Initial Value 0 Description No time-out check h e - o u t check period setting Check period = setting (S) Feed forward gain Used to set the feed forward gain. When it is set to loo%,droop pulsesd lnot be generated in constant speed operation. Note that suddenacceleratioddeceleration w l i increase overshoot. &len settingthis parameter, alwaysset auto tuning (parameterNo.3) 0 to ‘WO”. s‘co TM TL1 TU *BKC hI0 1 5102. Override o h t Used to set the o f f k tvoltage to analog ovemde. Torque h u t offset Used to set the ofbetvoltage to analog torque h i t . spare Internal torquel h t 1 Used to limit servo motor-generated torque on the assumption that the maximum torqueis loo?&LjXen 0 is set, torqueISnot produced. Internal torqueh t 2 Used to h t servo motorgenerated torqueon the assumption that the maximum torque is 100 %. When 0 is set, torque is not produced. blade valid by suitchmg on themternal torque h t selection signal. Backlash ampensation Used to set the backlash compensation made when the command h e c h o n is reversed. rhis function compensatesfor the numberof backlash pulses in the 3pposite direction to the zeroing cllrecdon. In the absolute position ietection system, thls function compensatesfor the backlashpulse m m t in the direction oppositeto the operafingcllrecdon a t power-on. . h a l o g monitor c h l o h t Used to set the offset voltageof the analog monitor chl output (Mol). .halog monitor ch2o&t Used to set the o h t voltage of the analog monitorch2 output ( M 0 2 ) . 0 0 0 100 100 0 0 0 - c 5 . PARAMETERS MBR Initial Name and Fundion Symbol Value Electromagnetic brake sequence output Used to set the delay time between when theelectromagnetic brake interlock signal QIBR) switches off and when thebase circuit is shut 100 Unit Setting Ran Refer Tc ms Qe O t o lo00 ~0.1 0 to 1000 Chapte~ 9 1 to 500 Chapte~ 9 Section 3.5 Off GD2 PG2 *ZPS Ratio of load inertia moment to motor inertia moment: Used to set the ratioof the load inertia momentto the servo motor shaft inertia moment. When auto tuningis selected, the resultof auto tuningis automatically set. Position imp gain 2 Used to set the gain of the position loop. Set this parameter to increase the position response level to load bturbance. Higher setting increases the response level but is liable to generate vibration andfor noise. When auto tuningis selected, the resultof auto tuning is automatically set. Speed loop gain 1 Normally h parameter setting need not be changed. Higher setting increasesthe response level but is liable to generate vibration andior noise. When auto tuningis selected, the resultof auto tuning s automatically set. Speed loop gain 2 Set this parameter when kibrationoccurs on machines of low rigdig or large backlash. Kgher setting increases the response level but is hable to generate vibration and/or noise. When auto tuning is selected, the resultof auto tuning is automatically set. Speed integral compensation Used to set theintegral time constantof the s p e d loop. When auto tuningis selected, the resultof auto tuning is automatically set. Speed differential compensation Used to set the difFerentlal compensation. hfade valid when theproportion control signal is witched on. operation acddec time constant Used to set theacceleraioddeceleration time whenjog operation. Zeroing operation acddec time constant Used to set the acceleratioddeceleration time whenzeroing operation. Zeroing position data Used to set the current position on completion of zeroing. Moving &stance after proximity dog Used to set the mobing &stance after proximity dog in count Q-pe 5 - 11 70 times 30 radfs radis 20to 5000 216 714 radfs 20 to 8000 Chapte; 9 20 ms 1 to 1000 Chaptel 9 0 to 1000 Chaptel 9 980 Chapte~ 9 ms 100 1Jog to20000 lto20000 0 x l p !Jm 1000 x l p l Pm ms 100 -32768 to 32767 Section 4.4 0 to 6 X 3 5 Section 4.4.3 5. PARAMETERS - - Clas Symbol Name and Function Unit Stopper type zerorng stopper time In stoppertype zeroing, used to set the d e &om when the machine h u t set in part is pressed against the stopper and the torque parameter No.45 (2") is reached to when the homeposition is set. Stopper type zeroing torque h i t Used to set the torqueh i t value relative to the m a . torque in ["?I in stopper tqpe zeroing. S o h a r e lunit + Used to set the address increment side software smoke lunit. The software h i t is made invalidif this value is the sameas in "sofhv are h t -"_ Set the samesign to parameters No.& and 47. Setting of different signs & i l lresult in a parameter error. Settmg Ran Refer 1 ge 5 to 1000 - 1 to 100 SeCtlOl SeCtiO 4.4.5 4.4.5 -999999 to sectlo1 5.2.9 999999 Set a d d r e s s : 0 0 0 0 0 0 --c Upper 3 L b w e r 3 digits digits -Parameter No. 47 Parameter No. 46 Software h t Used to set the address decrement side software stroke h i t . The softwareh i t is made mvalidif t h s value 1s the sameas in "sofhvare Lirmt +',. Set the samesign to parameters No.48 and 49. Setting of M e r e n t signs w d result in a parameter error. -999999 0 to Secnor 5.2.9 999999 - Set address: OC30000 Upper 3 X e r 3 digits digits -Parameter No. 49 Parameter No. 48 - Position range output address+ 0 Lised to set the address increment side position range output address. k t the samesign to parameters K0.50 and 51. jetting of dBerent signswill result in a parameter error. -999999 to 999999 - Set a d d r e s s : U O 0 0 0 0 UP= digits Lower 3 digits Parameter No. 51 Parameter No. 50 ~ - 'osition range output address0 Jsed to set the address decrement side position range output address. k t the samesign to parameters N0.52 and53. jetting of M e r e n t signs uill result in a parameter error. -999999 to 999999 -- 3 Set address:DOOODO Upper 3 digits Lower digits ~ _ I Parameter No. 52 _ Parameter ~ No. 53 5 - 12 .... I I --. ..-. . . I 5. PARAMETERS - - Unit Name and Function Symbol Setting Ran selecuon OLT 1 OLT1 output tune ThLs parameter turnon OLTl during theset time. If set 0, OUT1 turnon to OUT OF(1) command. lOms ge 0 to 2000 OCT2 OUT2 outputm e selecnon This parameter turnon OLT2 during the set time. If set O,OL7T2 turn on to OUT OF(2) command. OUT2 OUT3 output timeselection This parameter turnon OUT3 during theset time. If set O,OUT3 turn onto OUT OF(3) command. lOms 0 to 2000 lOms 0 to 2000 'DIO SP= Input'Output devlce selection Used to select the CNL4-19 pin to output device or Input device. - OOOOh to lOOlh CNIA-19 pin 0: Input device 1: Output device External dynarniobrake selecbon 0: Invalid 1: Valid L When selectedthe external dynamic-brake output at parameter No.62,63,64,it must be set"1". Note: Sunikr Function couldbe reahzed with configuration SAT *DI1 Input de\+= selection 1 Used to select the function of CNL4-8 pin and CKlA-19 pin - 'DI2 0209 OOOOh to lFlFh Set to the fundion of CNlA-8 pin Set to the f u n m n of CNl A-19 pin Note: Sunikr Function couldbe realized with configuration S/W Input dekice selecbon 2 Used select the function of CKlB-5 pm and CNlB-7pm. Set to the fundon of CN155 pin Set to the funcbonof CN157 pin Jote: Sirmlar Functlon could be reahzed with configurationS W 5 - 13 OOOOh to lFlFh Refer Tc 5. PARAMETERS - - Class Symbol 'D13 -Initial Name and Fundron Input d e n e selection 3 Used select the functionof CNlB-8 pm and CNlB-9 pin. Unit jetting Ran ge OOOOh to lFlFh 1615 Set to the functionof CNlB-8 pin Set to the functionof C N I E S pin 'DI4 Note: Similar Function could be realized with configuration W Input device selecI30n 3 Used s e l e c t the function of a 1 B - 1 4 pin and CNlB-15 pin. OOOOh to lFlFh Set to the funcbon of CN1E 1 4 pin Set to the functionof CN1E 1 5 pin 'DI5 Note: Similar Function could be reahzed with configuration SAT Input de\<= selection 5 Csed s e l e c t the function of CNlB-16 pinand CNlB-17 pin. ~~ ~ OOOOh to lFlFh Set to the funcbonof CN1516 pin of CN1E 17 pin Set to thefundon Sote: Slrmlar Function could be realzed with configuration SAY *DI6 Input'Output device selection 6 Selected to the functiondevice signal t u r n s on automatically. Emergency stop Servo on Forward stroke limit Reverse stroke limit Automatic/ manual seledion Program numberseledion 1 Program numbers e M o n 2 ' [ -i -l [ l T____ Program number s e w o n 3 Ovenide seledron I External toque limit selection 0:lnvalkl 1:Valid Note: S& Function could be realized Hith configuration 9%' OOOOh to FFFFh iefer To 5. PARAMETERS - - ‘DI7 Unit Name and Fundlon Symbol ietting Ran ge nputioutput device selecnon 7 klected to the function dek-ice signal t u r n s on automaticdy. OOOOh ZImQ FFFFh to L Proportionalcontrol 0:lnvalid 1:Valid *DO1 Note: Similar Function couldbe realized with configurationSM’ Output device selection 1 Used to s e l e c t the function of CNlA-18 pin and CNLA-19pin. OOOOh to IlzlZn lFlFh Set to the function of CNl A-18 pin Set to the fundon of CNl A-19 pin - - Note: Sirmlar Function could be reahzed Hith configuration SI” *DO2 Output devlce selection 2 Used to s e l e c t he functionof CNlB-6 pin and CNlB-4 pin .10D OOOOh to n lFlFh L Set to the fundon of CN1 E 4 pin Set to the fundon of CNlE-6 pin - ru’ote: Similar Function couldbe realized with configurationSA%’ ‘DO3 Output device selection 3 Used to select he function of ChTIB-18pin and CNlB-19 pin CIIn 3102 OOOOh to 1FlFh L Set to the function of CNlE-18 pin Set to the fundon of CN1 E 1 9 pin Note: Similar Function couldbe r e h d wlth configurationW 5 - 15 tefer To 5. PARAMETERS .- 5.2 DetailedExplanation 5.2.1 Electronicgear ljse theelectronic gear (parameters No.4. 5) to make adjustmentso that theservo amph6er setting matches the moving &stance of the machme.Also, by chang-mg the electronic gear value, the machmecan be moved at any multzp lication ratioto the moving &stance on the servo ampMer. CM)( - Parameter No. 4 CDT' Parameter No. 5 , - +. ,Encoderfeedback pulses Electronic gear Parameters No. 4 , 5 Enxder _.____...__............_......... The following examples are usedto explain how to calculate the electronic gear value: (1) Ballscrew setting example Machme spedcations Ballscrew lead: P b = 10 [mm] Fteduhon raao:n = 1/2 Servo motor resoluhon: Pt = 8192 [pulseirev] Servo motor 8192[pulse/rev] ,- -CMX - - - - P, 1024 - pt 8192 8192 ---CDV AS n * Pb * 1000 1/2 10 * IOOO 5000 625 Hence, set 1024to Ch4X and 625to CDT'. (2) Conveyor setting example Machme spedcations r=160[mrn] Pulley hameter: r = 10 [mm] n = 1/3 ratio: Reduction Servo motor resolution: P, = 16384 Ipulseirev] n Servo motor n=NLNM=1/3 -C-h-m- - Pt 16384 16384 pt ----- 4096 - 2048 CDV AS n * r * x* 1000 1/3* 1 6 0 . x * 1000 16'7551.61 41888 20944 Reduce CDV to 32'767 or less and roundoff the first decimal place. Hence, set 2048 to CMX and 20944 to CDV. - , , ' ' 5. PARAMETERS 5.2.2 Changing the status display screen The status &splay item of the servo ampldier &splay and the -lay item of the external& @ t a l&splay PTR-DPGO) shown a t power-on can be changed by changmg the parameterKo.18 settings. In theinitlal condbon, theservo ampldier &splay shows themotor speed and the hTR-DP60 shows the currentpositlon. For &splay detads! referto Section 7 . 2 . - Parameter No 18 T T Status display on servo amplifier display at power-on 0: Motor speed (initial value) 1: Regenerative load ratio 2: Effective load ratio 3: Peak load ratio 4: Wlthin one-revolution position 5:ABS counter 6: Load inertia moment Status display of MR-DP6O 0: Current position (initial value) 1: Command position 2: Command remaining distance 3: Pomt table No. 4 ' Cumulative feedback pulses 5: Motor speed 6 : Droop pulses 7: Override 8: Torque limit voltage 9: Regenerative load ratio A: Effective load ratio B: Peak load ratio C: Wthin one-revolution position D: ABS counter E: Load inertia moment ratio 5.2.3S-pattern accelerationldeceleration In servo operation, linearacceleratioddeceleration is usually made. By setting the S-patternm e constant (parameter No.14), a smooth start'stop can be made. When the S-pattern time constant is set,smooth positioning is executed as shown below. Note that the tune equivalent to the S-pattern time constant setting increases und positioning is complete. Preset +-------, Ta+Ts Ta: Time until preset speed is reached Tb: Time until stop Ts: S-pattern time constant (parameter No. 14) Setting range 0 to 100ms 5 - 17 5. PARAMETERS 5.2.4 Analog output The servo status can be output to two channels in terms of voltage. Use t h s function when using an ammeter to monitor the servo status or synchronizing the torquelspeed with the otherservo. to CH2. The settmg can The servo ampMer is factory-set to output themotor speed to CH1 and the generated torque be changed as listed below by changing the parameterNo.17 value: Settin! 0 Output Item Motor speed Description A CCW dlrecbon Setting 6 Output Item Droop pulses Description (128pulse) / 128lpuIse] Max. speed ........ 7 CW direction 1 A Generated torque 8M -<OM CCW alrecbon ------/ Max. torque 2048[pulse] 1........ CW dtrectton' -'OM 2 Motor speed cw Droop pulses (8192pulse) ccw lOM !.CCW ..-./ dtreaon / 8192[pulse] / 3 Generated brque cw ccw 9 u diredlon 8M, diredlon ................. Max. toque 4 , ......... - 1 O M CW direction - Current command (Torque command) D m p pulses (32768pulse) CCW dlredon 1 0 M 4........ 7 0 Max. t o q u e c......... r -1w CW direction A W a x . command current :Max. torque Droop pulses :131072pulse) current (Max torque ......... CW dirmon' Lmmand speed Max speed -'OM 5 . PARAMETERS Change the following & gitsof parameter No.17: Parameter No. 17 I Analog monltor c h l output selection (Signal output to across Mol-LG) 1 Analog monitor ch2 output selection (Signal output to across M02-LG) Parameters No.31 and 32 can be usedto set the offset voltages to the analogoutput voltages.The setting rangeis between -999 and 999mV. Parameter Description Parameter No.31 Used to set the o&t voltage for the analog monitor Panmeter No.32 Used to set the o&t Setting Range (mv] CHI output. voltage for the analog monitor CH2 output. -999 to 999 5.2.5 Changing the stop pattern using a limit switch The servo amphfier is factory-set to make a sudden stop when the h t switch or software h t is made vahd. When a sudden stopis not required,e.g. when thereis an allowance from the h u t switch installabon position to the permissible moving rangeof the m a h e , a slow stop may be selected by changing the parameter No.22 setting. Stopping Method Parameter No.22 Setting OOC10 ( i n i b a l value) 0001 r Sudden stop Droop pulses are reset to make a stop. Slow stop Droop pulses are drawn out to make a slow stop. 5.2.6 Alarm histoly clear The alarm b t o r y can be conlinned by using the Set-upSoftware or communication function. Theservo ampMer stores one current alarm and five past alarms from when its power is switched on first. To control a l a r m s w h c h wdl occw during operation, clear the alarm b t o r y using parameter Ko.18 before starting operation. Parameter No. 18 - - - Alarm history clear 0: Invalid (not deared) 1: Valid (cleared) 5 - 19 5. PARAMETERS 5.2.7 Selectton of communication specifications When the RS-483M-232C communication functionis used to operate theservo. choose the communication spedcations u?th parameter No.16. (1) Communication baudrate Choose the communication speed. Match t h s value to the communication speed of the sendmg end (master station). Parameter No. 16 Em3 Communication baudrate 0: 96oo[bps] 1:192OO[bps] 2: 4800[bps] (2) Checksum The checksum addedto data can be deleted. When the checksum is not needed for the communication spedcaQons of the master station, delete the checksum with tlm parameter. Parameter No. 16 I 1 Checksum 0: Yes (checksum added) 1: No (checksum not added) (3) RS-485/RS-232Cserial interface selection Select the RS-485 or RS-232C communicaaon standard.RS-485and RS-232C cannot be used together. Parameter No. 16 RS485RS-232C communication standard selection 0: RS485 used 1: RS-232C used (4) Communication delay time Set the tunefrom when the servo amphiier (slave station) receives communication data to when it data. Set "0"to send back data in less than 400 p s or "1"to send back data in 4001-1 s or more. Parameter No. 16 UTI3 Communication delay time 0: Invalid, reply sent in less than 400~s 1: V a l d reply sent in 400ps or more 5. PARAMETERS (5) Serial communication time-out No communication for a e v e n period of time between the master and slave stations may be judged as a communicatlon cable or master station faultto stop the servo motor. Setting 0 1 to 60 Description Xo time-out check Time-out check period setbng Check period = sethug (S) 5.2.8 Software limit -4h t stop using a software h t is made as in stroke end operation. When a motion goes beyond the setting range, the motor is stopped and servo-locked. ‘ITUS function is made vabdat power-on but made invahd duringzeroing. “Ius function is made hvahd whenthe s o h a r e h i t + setting is the same as the software h t - setting. Current position Software limit 5 - 21 6. SERVO CONFIGURATION SOFTWARE 6. SERVO CONFIGURATION SOFTWARE The Servo Configuration software uses the communication function of the servo a m p u e r to perform programming, parameter settingchanges graph &splay, test operation, etc. on a personal computer. 6.1 Specifications Item Communication signal Baudrate (Note 2) Monitor Alarm Diagnostic Parameters Test operation Program Data File operation Others (Note 1) Description Conforms to Rs-232C. 19200bps, 9600bps Batch display, high-speed &play, graph display Alarm display, alarm hstory, data &splay at External I/O signal display, function device &splay, cumulative power-on time display, software number display, tuning data display, ABS data display Data setting, list display, change list display, detailed dormation display, I/O Devices Jog operation, motor-less operation, output signal forced output, program test Programming, editting Data read, save, print Station setting, help display Note: 1. On =me personal computers, t h software ~~ may not run properly. 2. M m h u m resolution changes with the promsingspeed of the personal computer. 6.2 System configuration (1) Components To use t h software,the following components are required in adhtion to the servo a m p u e r and servo motor: I Model 1 Descriation ~~ Personal computer os Display Keyboard Mouse Printer Communication cable Which contains a 80386 or higher CPU and on which Windows 3.1-95 runs (80486 or higher recommended).Memory: 8MB or more, hard disk: 1MBor more, serial port used. Windows 3.1095 640X 400 or more color or 16-scale monochrome &play which can be used with Windows 3.1.95. W c h can be connected to the personal computer. Which can be used with Windows 3.1.95. Note that a s e d mouse is not used. Which can be used with Windows 3.1.95. MR-CPC98CBUM.MR-CPCATCBL3M When these cannot be used, refer to Section 14.1.2 and fabricate. Note: Windows is a b d e mark ofXcmoft Corporation. (2) Configuration diagram Servo amplifier Personal computer Corrmunication cable CN3 Servornotw CN2 A TO RS-232C c ~ n t l e d ~ 6- 1 3 6. SERVO CONFIGURATION SOFTWARE (3) Parameter value batch-read( 3) ) Press theRead All button to read and&splay all parameter valuesfrom the servo ampldier. (4) Parameter value batch-write( 4) ) Press theWrite All button to write all parameter valuesto the servo ampMer. (5) Parameter change list display ( 5) ) Press theChange List button to show the numbers, names, initial values and currentvalues of the parameters whose initial value and currentvalue are Merent. Inthe ofolne mode, the parameter change list is not shown. (6) Parameter detail information( 6) ) Press theHelp button or double-click the &play field to show the detailed explanationof each parameter. (7) Parameter default value indication ( 7) ) Press theSet to default button to show the initial value of each parameter. (8) Parameter value change( 8) ,9)) Choose the parameterto be changed, enter anew value intothe "Parametervalue" input field, and press the return key or Enter Data button. (9) Parameter data fileread Used to read and d q l a y the parametervalues storedin the file. Use the Beselection window to read. (10) Parameter value storage Used to store all parameter values being displayed on the window into the s p e d e d B e . Use the file selection window to store. (11) Parameter data list print Used to print all parameter values being displayed on the window. Use theFile menu on the menu barto print. (12) Parameter list window closing ( 10) ) Press the Close button to close the window. If the Close button is pressed without (1) parameter value write or (4) parameter value batch-write being performed, the parameter valuechanged is made invahd. 6- 4 .. 6. SERVO CONFIGURATION SOFTWARE (5)Function assignment changing (a) Function assignmentchanging Drag the pin number whose function assignment is to be changed and drop it in the new function to change the setting.Automatic on setting cannotbe dragged. (b) Automatic on setting Double-&ck the pin number field to set the function assignmentto the automatic on mode. Double-clickit again to cancel the automaticon mode. to automatic on, that When the pin number has already been assigned afunction and the setting changed is pin becomes empty. (c) Automatic assignmentof empty pin Double-&ck the function name field to assign the function to the currently empty pinautomatically. Double-&& it again to cancel the assignment.When there is no empty pin, no assignment is made. (6) CNlA-19 selection ( 7) ) Select whether the CNlA-19 pin is used as aninput or output pin. n outputpin. I n the initd setting, it is d e h e d a s aempty When this selection is changed, the CNlA-19 pinis set as theempty pin of the chosen one. ( 7 ) Indmtion of the pinsto whch functions are currently not assigned ( 5) ) Press the_FreePins button to show the currently empty pin numbers. (8) Closing of UO device setting window ( 6) ) Press theClose button to close the window. slose button makes thefunction assignment When (1)function assignment batch-writeis not made, pressing the change invalid. 6- 7 6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting( 1) ) Enter a new valueinto the "Motor speed" input field and press the return key. (2)Acceleratioddeceieration time constant setting( 2 ) ) Enter a new value into the "AcceUdecel time" input field and press the return key. (3) Servo motor start ( 3),4) ) Hold down the Forward button to rotate the servo motor in the forward rotation dnection. in the reverse rotation dnection. Hold down the Reverse button to rotate the servo motor (5) Jog operation window closing ( 5) ) Press the Close button to cancel the jog operation mode and close the window. 6- 9 7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display Flowchart Use the &splay (4-&git, 7-segment E D ) on the front panelof the servo a m p u e r for status &play, parameter setting, etc. Set the parametersbefore operation, hagnose an alarm, confirm external sequences, and/or c o h the operation status. Press the“MODE” “UP’ or “DOWN” button once to move to the next screen. To refer to or set theexpansion parameters,make them vahd with parameterNo.19 (parameter write &sable). @) button r t n n n c lVlUUC ’ I f \ Basic parameters CI equence are version ratio [“h] L [”/.I H i U arameter No.0 [rlmin] arameter error p , d h a n s i o n paramete J j arameter No.1 \ ’ T ararneter No.20 arameter No.21 are version L [“4 arameter No.18 parameter i arameter No.19 p ararneter ‘ 3 1No.53 N0.52 position [pulse] counter [rev1 G Loa Inertia moment ratto [times] L 7- 1 L 7. DISPLAY AND OPERATION 7.2 S t a t u s Display The servostatus duringoperation is shown on the 4-&git, '7-segmentLED &splay. Press the"UP or "DOVVN" button to change &play data as desired. When the required data is selected, the correspondmg symbol appears. Press the "SET" button to &splay its data. gitsof Seven data itemssuch as themotor speed. The servoa m p u e r &splay shows the lower four & In addition, use of the optional external & g i t a l&play (MR-DPGO) allows the statuses of 15items to be shown in up to six &gib.For the usage and parameter settingmethod, refer to Section 5.2.2. The following table lists &splay examples: Item status Servodisplay amplifier I I Forward rotation a t 3ooor/min llotor speed Reverse rotation at 300or/min >ad inertia noment 15.5t i m e s 11252pulse WBS counter -12566pulse 7- 2 DisDlaved Data MR-DPGO 7. DISPLAY AND OPERATION - The following table lists the servo statuses that may be shown: Display Range una Description Servo amplifier Display Current position Command position Command remaining distance Cumulative feedback pulses Motor speed mm - mm The current position from the machine home position of 0 is displayed. The position data in the point table or the presetcommand position is &played. During operation, the remaining distance h - mm m the current positionto the command positionis m l a y e d . During a stop, thenext feed &stance is &splayed. Feedback pulses fromthe servo motor encoderare counted and m l a y e d . When the value exceeds k9999999, it returns to zero. - Press the Clear button to reset the display value to zero. The servo motor speed is displayed. is added to the speed of the servo motor rotating in the reverse direction. The number of droop pulses in the deviation counter is displayed. "-" is added to the droop pulses in the reverse direction. I r 'I-" The override settingis d q l a y e d . - 100% is displayed when ovemde is invalid. The voltage of the torque limit command ("LA)is displayed % Override V Torque limit voltage Regenerative load % The ratio of regenerative power to permissible regenerative po wer is displayed in %. MR-DPGO Cannot be -999999 to 999999 -999999 to 999999 &played. Cannot be displayed. Cannot be -999999 to 999999 displayed. I Cannot be -9999999 to 9999999 displayed. -5400 to 5400 I -5400 to 5400 Cannot be displayed. Cannot be displayed. -9999999 to 9999999 1 Oto200 Cannot be 0.00 to 10.00 o ta 100 0 to 100 0 to 300 0 to 300 0 to 300 0 to 300 HC-MF K4-FF . HC-UF HC-MF . HA-FF . HC-UF 300or/min: 0 to 8191 300or/min: The continuous effective load torqueis m l a y e d . Effective loadratio Peak load ratio % Ib % - Rated torque is defined as 100%and the effective value for the past 15 seconds is &played. is m l a y e d . The peak torque Rated torque is defined as 100%and the peak torque for the past 15 seconds is &played. Position within one revolutionis displayed in encoder pulses. Within onerevolution position ABS counter CY Ls P* When the value exceedsthe m ~ pulses, it returns to 0. The servo ampMer &play shows the 4 lower digits of the actual within one-revolution position. Moving distance from the home positionin the absolute position detection system is &splayed in terms of the absolute position detector's counter value. The estimated ratio of the load inertia moment to the servo Time: motor shaft inertia moment is &played. rev dcLoad inertia moment ratio u number m 7- 3 HC-SF FP . UF2000r/min: 0 to 9999 * 0 to 8191 HC-SF . RF UF2000r/min: 0 to 16383 -9999 to 9999 -32768 to 32767 0.0 to 100.0 0.0 to 100.0 7 . DISPLAY AND OPERATION 1 7.3 Diagnostic Mode Name 1I, Display ~ - - I I I- Not ready. Indicates that the servo ampli6er is being initialized or an alarm has. Sequence I Ready. Indicates that the servo was switched on after completion initiahzation and theservo ampliiier is ready to operate. I I Software version Low I Software version High Indicates the version of the software. Indicates the system number of the software. L I I 7.4 Alarm Mode The current alarm, pasthstory and parameter error are &played. The lower 2 &gibon the &splay indicate the alarm numberthat has occurred or the parameter numberin error. Display examples are shown below. I Name Display 1I I II I - Description I Current alarm I 1. Indicates the Occurrence of alarm 33 (over voltage). Flickers a t occurrence of the alarm. J -1 I I I I I Parameter error IE.1 Indicates that the data of parameter No.1 is faulty. Function a t Occurrence of an alarm (1)Any mode screen &play the current alarm. (2) The otherscreen is visible during occurrence of a n alarm. At t b time, the decimal point in the fourth dgit fickers. (3) To clear any alarm, switch power off, then on or press the“SET’ button onthe current alarmscreen. Note t h a t t h should s be done after removing the cause of the alarm. I 7. DISPLAY AND OPERATION 7.5 Parameter Mode Change theparameter settingswhen: - The regenerative brakeoption is used; The numberof pulse per servo motor revoluixon is changed (When the numberof pulse perservo motor revolution has been set to the position command unit, set number of pulses in the parameterof the position command unit unless the maximum number is restricted); or - The m a c h e mounted with theservo motor hunts or operational performance is further improved. - (1) Operation example 1)4digit parameter The following example shows the operation procedure performed after power-on to change the zero setting system into the data settingtype. v n o / I I -0 1- 1- Press MODE @ fw times.Select p a r a m e t e r No.8 with ......The p a r a m e t e r nmber is displayed 8 wDP& to ~ F s s Press w SET 8or Do@w, change the number. twice. . .... .The set v a l u e d the specified p a r a m e t e r w n b e r f l i e r s . g twice. 0 Press ... . ..During flickering, the set v a l u e can be changed Use’SOr @ UP DOWN’ (0002: Data setting type) press @ toenter. SET To shift to the nextparameter, press the“UP” or “DOWN” button. When changingthe parameterNo.8 setting, change its set value, then switch power off once and switch it on again to make the new value vahd. 7- 5 7. DISPLAY AND OPERATION ~ ~~ ~ 2) 5-hgi.t parameter The following example shows the operation procedure (parameter No.5) into “12345”: Call the &splay screen shownafter power-on. Upper 2 digii setting MgEonce. i”---? ~~ ~~ performed to change the electronic gear denominator setting Press ‘I I n Press E, m. SET ..The screen flickers.. . Change the set MILE MSw@ UP DOWN’ Press @ m. U SET %’or pressup 0 . DOWN To the next parameter When changing the parameter No.5 setting, change its set value, then switch power off once and switch it on againto make the new value vahd. (2) Expansion parameters To use the expansion parameters, change the setting of parameter No.19 (parameter writeh a b l e ) . - 8. COMMUNICATION FUNCTIONS 8. COMMUNICATION FUNCTIONS The MRJ2-C-S100has the RS-485 and RS-232C serial communication functions. These functionscan be used to perform servo operation,parameter changing,monitor funcfxon, etc. However, the RS-485 and RS-232C communication functions cannot be used together. Select between RS-485 and RS-232C with parameterNo.16. (Refer to Section 5.2.7.) 8.1 Configuration 8.1.1 RS-485 configuration (1) Outline UP to 32 axes of servo amphfiersfrom stations 0 to 31 can be operated on thesame bus. ServoamplifierServoamplifierServo MR-J2-UC MR-J2-UC amplifier MR-J2-CIC Cantrnller such as personal computer T rl mc RS-485 Unavailable as option. “To be prepared by customer. (2) Cable connection diagram Wire as shown below: (Note 3) 30rn maw. (Note 1) Axis 1 servo amplifier CN3 connector (Note 1) AXIS 2 servo amplifier CN3 connector ~ ~ ~ RS-485 Note: 1. 3”s CN3 connector example is Connector: 1020-3OOOvE Shell kt: 10320-52F0-008 2. In the last*, connect TRE and RDK. 3. 30m m a . in environment of little noise. 8- 1 (Note 1) Axis 32 (last axis) servo amplifier CN3 connector 8. COMMUNICATION FUNCTIONS 8.1.2 RS-232C configuration (1) Outline A single axis of servo amplitier is operated. Servo amplifier MR-J2-OC Controller such as personal computer (2) Cable connection diagram Wire as shown below. The communication cable for connection with the personal computer (MR-CPCATCBLSM MR-CPC98CBL3M)is avdable. (Refer to Section 14.1.2.) Personal computer connector D-SUB25 (socket) ' (Note 3) 15m rnax. -_ _ _ - (Note 1) Servo amplifier CN3 connector D-SUB9 (socket) for PC-AT DSR compatible controller U Note: 1. 3"s CN3 connector example is Connector: 1020-3OOOVE Shell kit: 10320-52F0-008 2. For the PC-98WC) series. The PC-98(NEC) series also has the half-pia type. 3. 15m max. in environment of little noise. - 8. COMMUNICATION FUNCTIONS 8.2 Communication Specifications The MELSERVO-JZ series is designed to send a reply on receipt of a n instruction. Thedevice whch gives ths instruction (e.g. personal computer) is called a master station and the device whch sends a reply in response to the instruction (e.g. MR-JZ-C-S100servo a m p ~ e ris) called a slave stabon. When fetchmg data successively, the master station repeatedly commands theslave station to send data. Itern Baudrate I Description 4800/9600/19200 asvnchronous svstem I Start bit Transfer code Transfer protocol Data bit Parity bit Stopbit Character : 1bit : 8 bits : 1bit (even) : 1bit system,half-duplex communication system Data 1 frame (11 bits) ~ 8.3 Protocol Since up to 32 axes maybe connected to the bus, add a station number or group to the command, data No., etc. to determine the destinationservo ampldier of data communication. Set the station number orgroup to each servo is valid for the servo amphfier of the specfied station number a m p u e r using the parameter. Transmission data or group. When is set as the stationnumber added to the transmission data, the transmission data is made vahdfor all servo a m p a e r s connected. However, when return datais required h m the servo ampMer in response to the transmission data,set " 0 ' to the station numberof the servo amphfier whch mustprovide the return data. "*I' (1) Transmission of data from the controllerto the servo -----1 I 10 frames + (data) Controller side (Master station) E H 0 X No. Data' X Check sum / ,Station number or group I I '\ Servo side (Slave station) \ Station number or group S $ T L x E Check sum $ x 1 6 frames Positive response: Error code = A Negative response: Error code = other than A 8- 3 8. COMMUNICATION FUNCTIONS (2) Transmission of data requestfrom the controllerto the servo 10 frames I S Controller side 2 0 5 H 0 I I 13 C x Data No. E X I I ,Station number Check sum */ I \ \\ Servo side \ Station number or group 1 or group I I s g T 0 x $ f Data' L I x I ..... I Check sum I 6 frames + (data) (3) Recovery of communicationstatus by time-out EOT causes the servo to return to the receive neutral status. Controller side Servo side 7 1 Data: Choose the data length from among 4, 8, 12 and 16 frames (data length depends on the command). Or 4 frames or 12framesor 16frames 8 frames 8- 4 .. 8. COMMUNICATION FUNCTIONS 8.4 Character Codes (1) Control codes Hexadedmal (ASCII code) Code STX ETX 01H 02H 03H EOT 04H SOH Description Personal Computer Terminal Key Operation (General) start of head s t a r t of text end of text end of transmission ctrl + A ctrl+B ctrl+C ctrl+D (2) Codes for data ASCII unit codes are used. I , I , 1 2 3 4 6 6 7 (3) Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used stations. Example: Station number"0" (axis1) Transmit "30H" in hexadecimal. (4) Group I Group a ASCllde l a I b 1 c I d I e I f I Allgroup Ib Ic 1 d le If I * Example: For group a Transmit "61H" in hexadecimal 8- 5 8. COMMUNICATION FUNCTIONS ~~~ c 8.5 Error Codes Error codes are used in the following cases and anerror code of single-codelength is transmitted. On receipt of data from the master station, the slave station sends the errorcode correspondmg to that datato the master station. Negative response 8.6 Checksum Checksum range Station number or group .......___ STX or ~ Checksum range ' d The check sum is a ASCII-coded hexadecimal representing thelower two &gits of the sum of ASCII-coded hexadecimal numbersup to ETX, with theexception of the f i s t control code (STX or SOH). (Example) 7 30H + 41 H + 31 H + 32H + 35H + 46H + 03H = 152H -r Lower 2 digits 52 is sent after conversion into ASCII code [5][2]. 8. COMMUNICATION FUNCTIONS 8.7 Time-out Operation The master station transmitsEOT when the slave station does notstart reply operation(STXis not received) 300[ms] after the masterstation has ended communicationoperation. 100[ms] after that. the master station retransmits the message. Time-out occurs fi the slave station does notanswer after the master stahon has performed the above operation three tunes. (Communication error) Controller (Master station) - ,300ms m E 2 0 m T f 01 f IOOms 100ms 100ms 300ms m - 300ms - 01 E a, 0, E u) 0 VI 0 T 2 ln u) *Time-out 300ms m 01 m lo f T T Servo (Slave station) 8.8 Retry Operation When a faultoccurs in communication betweenthe master andslave stations, the error code in the response data from the slave station is a negative responsecode (PIto F], fo] to [fl). In t h case, the masterstation retransmits the message whch was sent at the occurrence of the fault(Retryoperation). A communication error occurs if the above operation is repeated and results in the error three or more consecutivetimes. m Controller (Master station) Servo (Slave station) 0 al m CU m VI m VI VI v1 VI 2 s u) 2 S S T X X A Station number or group 'Communication error m . Station 'number or group T S T T X A Station number or group Similarly, when the master station detects a fault(e.g. checksum, parity) in the response data from the slave station, the master station retransmits the message whch was sent at the occurrence of the fault. A communication error occurs if the retry operation is performed three times. 8- 7 8. COMMUNICATION FUNCTIONS 8.9 Initialization After the slave stationis switched on,it cannot replyto communication untd the internal i n i t d z a t i o n processing terminates. Hence, a t power-on, ordmary communication should bestarted after: 1) Is or more time has elapsed after the slave station is switched on;and 2 ) M h g sure that normal communication can be made by readmg the parameter or other data whch does notpose any safety problems. 8.10 Communication Procedure Example The following example reads the set value of parameter X0.2 "function selection I" from the servo amphiier of station Description Value Data Item Station number Servo Command Data No. a m p E e r station 0 Axis No. Command Data No. Procedure I ! Data make-up = [Ol[o1[51 [01[21pJ Checksum calculation and addition Checksum=30H+30H+35H+02H+30H+32H+O3H~~H~ Addition of SOH to make up transmission data Transmission I- I Data transmission I Data receive ,/ Master station + slave station Master station + slave station I consecutive times. Master station ther than error co Yes 100ms after EOT transmission No consecutive times. No Tes I Receive data analysis i . Error processing ' f I Error processing I I End 8- 8 .- --f slave station 8. COMMUNICATION FUNCTIONS 8.11 Command and Data No. List 8.11.1 Read commands (1) Status display (Command[O][l]) I 1 Dl 111 [Ol Dl [SI [A] Dl [11 [SI V [01[11 PIP I [8]p ] I I [SI p ] [SI PI (reeenerative load ratio) Status display data value andprocessing information (effective load ratio) Status display data value and processing information (peakload ratio) Status display data value and processing mformation (withinonerevolution position) I Status display data value and processing mformation ( B S counter) Status display data value andprocessing information (load inertia momentratio) 12 12 12 12 12 (2) Parameter (Command[0][5]) Command Data No. [01[51 [O][O][3] [5] Description Current value of each parameter (Decimal number of data No. corresponds to the parameternumber.) Frame Length 8 (3) External I/O signals (Command[1][2]) Command Dl P I Dl P I [I1P I 11112-31 PI Data No. Descn’ption Frame Length 8 [O] [O] Input device statuses [4][0] External input pin statuses 8 [SI [O] Statuses of input devices switched on through communication Output device statuses 8 [8][O] [C][O] [I1 External output pin statuses 8 8 8- 9 8. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Data No. [31[31 [31[31 [31PI [l][O] [1][1] [1][2] [1][3] [31[31 [31[31 [1][5] Description Alarm number in alarm history (most recent alarm) .4a l rmnumber in alarmhistory (fist alarmin past) Alarm number in alarmh tory (second alarm in past) .4larm number in alarmhistory (third alarm in past) A.larm number in alarmhistory (fourth alarm in past) Alarm number in alarmhstory (fifth alarm in past) [2][0] [2][1] [2][2] [2][3] Alarm occurrence time inalarm history (most recent alarm) Alarm occurrence time in alarm hstory (first alarm in past) Alarm occurrence timein alarm history (second alarm in past) Alarm Occurrence time in alarm hstory (third alarm in past) [2][4] [2][5] Alarm occurrence timein alarm history (fourth alarm in past) Alarm occurrence timein alarm history (fifth alarm in past) PIPI [1][4] [31[31 [31 [31 [31P I 131[31 [31 [31 [31[31 Frame Length 4 4 4 4 4 4 8 8 8 8 8 8 - (5) Current alarm (Command[0][2] [3][5]) Command Data No. [OI P I [O][O] [31[51 [81[ol [31[51 [31El I I [81[11 [81[z1 Status &play data value and processing information a t alarm occurrence 1 I [81[41 [31 [SI [81[51 (31[51 [81[61 P I [51 ""' [31[51 [31[51 [31[51 I 1 [31[SI (cumulative feedback pulses) Status display data value and processing informationat alarmOccurrence (motor speed) Status &play data value and processing informationa t alarm Occurrence (droop pulses) Status display data value and processing informationat alarmOccurrence (override) Status display data value and processing information alarm at occurrence [81[81 (torque limit voltage) Status display data value and processing information a t alarm Occurrence [81[91 (regenerative load ratio) Status &play data value and processing dormation at alarm occurrence [81[A4J (effective load ratio) Status display data value and processing informationat alarmOccurrence [811B1 (peak load ratio) Status display data value and processing information at alarm occurrence 1 1 Status &play data value andprocessing informationat alarmOccurrence P I 151 [31[51 4 (current position) Status display data value and processing d o r m a t i o n a talarm Occurrence (command position) Status &play data value and processing informationat alarmoccurrence (command remaining distance) Status &play data value andprocessing d o r m a t i o n a talarm Occurrence (minttable No.) Status display data value and processing information at alarm Occurrence [31[51 [31[51 1 [811' Frame Length Description Current alarm number 1 Status display data value and processing information at alarm Occurrence (load inertia moment ratio) 8- 10 12 12 12 I 12 12 12 12 12 12 12 12 12 12 12 8. COMMUNICATION FUNCTIONS (12) Group setting (Command[I][Fl) Command Frame DataLength No. Dl Fl [O] [O] Description Reading of group settmg value 4 (13) Others Command Data No. P IP I to1 P I [9][0] Description Servo motor end pulse unit absolute position [9][l] Command unit absolute position Frame Length 8 8 8 - 11 - 8. COMMUNICATION FUNCTIONS 8.11.2 Write commands (1) Status display (Command [8][1]) Command Data No. r81r 101101 u Setting Range Description Status d d a v data clear 1EA5 Frame Length 4 (2) Parameter (Command [8][4]) Command Data No. [81[41 [ol[ol[3][5] Setting Range Description Each parameter write (Decimal number of data No. corresponds to the parameter number.) Frame Length Depends on the parameter. 8 (3) External 110 signal (Command(9][2]) Command Frame Data No. [91PI [6][0] Description Communication input device signal Setting Range Length 8 (4) Alarm history (Command [8][2]) Data No. Command Frame [SI P I [2][0] Description Alarm history clear Setting Range 1EA5 Length 4 Setting Range Frame Length 4 (5) Current alarm (Command [8][2]) Command [83P I Data No. [O][O] Description Alarm reset 1EA5 (12) Group setting (Command[9][F]) Command 191m Data No. [O][O] Setting Range Description Group setting 8 - 12 - Frame Length 4 8. COMMUNICATION FUNCTIONS 8.12 Detailed Explanations of Commands 8.12.1 Data processing When the master station sends command a and dataNo. or a command, data No. and datato the slave station,the servo amphfier sends back a reply or data accordmg to the purpose. These transmissiondata andreceive data maybe as decimal and hexadecimal numbers. l k s mformation is also included in used to represent numerical values such the data sentback. Receive data used shouldbe the data whchhas been processed by numerical conversion or decimal point operation. Data transmittedshould be the dataprocessed accordmg to ths rule. Example : To obtain datato &splay the analog speed command voltage on the&splay device ofthe masterstation in terms of voltage IV]. f Procedure 1 Transmission data is made upto obtain numerical data and conversion information using command [O][l] and data No. [8][5]. Transmission Master station -+slave station Receipt of data and data information Master station + slave station I Display When the&play type is 0,8-character datais converted &om hexadecimal into decimal and is provided with a decimal point accordmg to the decimal point position mformation. unchanged. When thedisplay typeis 1,8-character data remains Example : Receive data is DD3000000929 Since 00000929H is converted into 2345 and thedecimal point position is 3 (lower h r d hgit), the &splayvalue is 23.45. Whether datashould be processed or not and theprocessing method depend onthe monitoring, parameters, etc Follow the correspondmg detaded explanations. 8 - 13 8. COMMUNICATION FUNCTIONS 8.12.2 Status display (1) Status display dataread When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sendsback the datavalue and dataprocessing dormation. 1)Transmission Transmit command [O][l] and the dataNo. correspondmg to the status&splay item to be read. Refer to Section 8.11.1. 2 ) %Ply The slave station sends back the status &splay data requested. t Data 32 bits long (represented in hexadedmal) (Data conversion into display type is required) Display type [O]:Used unchanged in hexadecimal [l]: Conversion into decimal required Decimal pointposition [O]:No decimal point [l]: Lower first digit (usually not used) 121: Lower second digit 131: Lower thirddigit [4]: Lower fourthdigit [5]:Lower fifth digit [6]:Lower sixthdigit (2) Status display data clear The cumulativefeedback pulse data of the status&splay is cleared. Send ths command immediately after r e a h g the status dqlay item. Thedata of the status &splay item transmitted is cleared to zero. Transmission Example : After sending command [O][l] and dataNo. [8][0] and receiving the statusdisplay data, send command [S][l], data No. [O][O] and data[1EA5] to clear the cumulativefeedback pulse value to zero. 8. COMMUNICATION FUNCTIONS 8.12.3 Parameter (1) Parameter read Read theparameter setting. 1)Transmission Transmit command [O] [5] and the dataNo. corresponhg to the parameter No. Command IO1[51 I Data No. [ol[ol[3][5] I Data No. Definition I Corresponds to the parameterNo. 2) %Ply The slave station sends back the data andprocessing dormation of the requested parameterNo.. clImIm TT Data is transferred in hexadecimal. Tr Decimal point position [O]: No decimal point [l]: Lower first digit [2]: Lower second digit [3]: Lower third digit [4]: Lower fourth digit [5]:Lower fifch digit Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required Parameter write type 0: Valid after wnte 1: Valid when power is switched on again after write I Read enable/disable 0: Read enable 1: Read disable Enable/&sable dormation changes accordmg to the setting of parameter No.19 "parameter write dubit". When the enable/d.uable setting is read &sable,ignore the parameter data part and process it as unreadable. 8 - 15 8. COMMUNICATION FUNCTIONS (2) Parameter write Write the parameter setting. Write the value w i t h the setting range.Refer to Section 5.1 for the setting range. Transmission Transmit command [8][4], the dataNo. corresponding to the parameter So., and the set data. When the datato be written is handledas decimal, the decimal point position must be specdied. If it is not specfied, datacannot be written. When the datais handled as hexadecimal, spec& 0 as thedecimal point position. Write the dataafter m h g sure that it is w i t h the upperllower h i t value range given in Section 5.1.2. Read the parameter datato be written, confu?n the decimal point position, and create transmission datato prevent error occurrence. On completion of write, read thesame parameter datato venfy that data has been written correctly. Command Data No. I L D e c i m a l point position [O]: No decimal point 111: Lower first digit [2]: Lower second digit [3]:Lower third digit [4]: Lower fourth digit [5]:Lower fifth digit Set Data I 8. COMMUNICATION FUNCTIONS 8.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statusesof the inputdevices. 1)Transmission Transmit command [ 11[a] and dataNo. [O] [O]. I Command I I Dl P I I Data No. I [Ol[OI I 2) Reply The slave station sendsback the statusesof the inputpins. b31 b l bO 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data bit 0 1 2 3 Signal Name bit Signal Name 10 11 Forward rotation s t a r t (ST1) Servo on (SON) Forward rotation stroke limit(ZSP) Reverse rotation strokeh i t (ZSh? External torque limitselection (TL) 4 Internal torque limit selection (TU) 5 Proportion control selection(PC) '6 Alarm reset (RES) 7 I la1 bit Signal Name 20 Program No. selection 2 CpS1) 12 Reverse rotation start (ST2) 13 14 15 16 Emergency stop (EMG) 17 Automatidmanual selection @ D O ) 18 Proximity dog (DOG) 19 Program No. selection 1 (PSO) 21 22 23 24 25 26 27 28 29 (2) External input pin status read Read the ON/OFF statuses of the external input pins. 1)Transmission Transmit command [1][2] and dataNo. [4][0]. 2) &Ply The ON/OFF statuses of the input pinsare sent back. b31 b l bO 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. bit External Input Pin 0 CSlB-16 1 ICNlB-17 3 4 CNlB-5 CNlB-14 bit 5 External Input Pin CKlA-8 Program No. selection 3 (PS2) Program No. selection 4 (PS3) Ovemde selection ( O W ) Temporary stop/restart (STP) External pulse multiplication1 (TPO) External pulse multiplication2 (TP1) Program input 1 811) Program input 2 (PI2) Program input 3 (PI3) 8. COMMUNICATION FUNCTIONS (3) Read of the statuses of input devices switchedon through communication Read the OMOFF statuses of the inputdevices switched on through communication. 1)Transmission Transmit command [1][2] and data No. [S][O]. Command Data No. 2 ) Reply The slave station sendsback the statusesof the inputpins. b l bO b31 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. bit Signal Name 20 Program No. selection 2 (PS1) 21 Program No. selection 3 (PS2) 22 Program No. selection 4 (PS3) bit Signal Name 0 Servo on (SON) 1 Forward rotation stroke limit (LSP) 2 Reverse rotation stroke limit 3 External torque limit selection (TL) 4 Internal torque h i t selection (TL2) 5 Proportion control selection (PC) 6 ium reset (RES) 7 8 23 24 25 26 27 28 29 9 (4) External output pin status read Read the ON/OFF statuses of the external output pins. 1)Transmission Transmit command [1][2] and dataNo. [ q [ O ] . EGJ Command Data No. 2) Reply The slave station sendsback the ONOFF statuses of the output pins. b31 b l bO 1:ON 0:OFF Command of each blt is transmitted to the master station as hexadecimal data. Override selection (OVR) Temporary stop/restart (STP) External pulse multiplication 1 (TPO) External pulse multiplication 2 (TP1) Program input 1 (pI1) Program input 2 (PI2) Program input 3 613) 8. COMMUNICATION FUNCTIONS (5) Read of the statusesof output devices Read the ONOFF statuses of the output devices. 1)Transmission Transmit command [l][2] and dataK O . [8][O]. I Command I DataNo. I The slave station sends back the statusesof the outputde>ices. bl bO b31 1 ON 0 OFF Command of each bit is transmitted to the master s t a t m as hexadecimal data 8.12.5 Device ON/OFF Each inputdevice can be switched odoff. However, when the device to be switched off exists inthe external input signal, also switch off that inputsignal. Transmission Send command [9][2], data No. [6][0]and data. Command Data No. [91PI [6][O] Set Data See below. b l bO b3 1 l:ON 0:OFF Command of each bit is transmitted to the slave station as hexadeamal data. bit Signal Name 0 Servo on (SON) 1 Forward rotation strokeh i t U P ) 2 Reverse rotation strokeh i t (LSh? 3 External torque limit selectionCTL) 4 Internal torque limit selection (TU) 5 Proportion control selection(PC) 6 Alarm reset (RES) c i 8 9 bit Signal Name 10 11 Forward rotation start(ST1) 12 &verse rotation start (ST2) 13 14 15 16 Emergency stop(EMG) 17 Automatidmanual selection @?DO) IS Prosimity dog (DOG) 19 Point table selection 1 0 1 0 ) 8- 19 bit 20 21 22 23 24 25 26 25 28 29 Signal Name Program No. selection 2 PS1) Program No. selection 3 (PS2) Program No. selection 4 (PS3) Override selection (OVR) Temporary stopirestart (STP) Esternal pulse multiplication1(TPO) Eswrnal pulse multiplication 2 (TPl) Program input 1 (PI1) Program input 2 (PIZ) Program input 3(PI3) 8. COMMUNICATION FUNCTIONS 8.12.6 Alarm history (1) Alarm No. read %ad the alarm No. whch occurred in the past.The alarm numbers andOccurrence tunes of No.0 (last alarm) to No.5 (sixth alarm in the past) are read. 1)Transmission Send command [3][3] and data No. [l][O] to [1][5]. Refer to Section 8.11.1. 2 ) %Ply The alarm No. correspondmg to the dataNo. is provided. L Alarm No. is transferred in decimal. Example: A.32 : 0032 A.50 : 0050 A.- : OOFF (no alarm) (2)Alarm Occurrence time read Read the occurrence time of alarm which occurred in the past. The alarm occurrence time correspondmg to the dataNo. is provided in terms of the totaltime beginning with operation start, with theminute unit omitted. 1)Transmission Send command [3][3] and dataNo. [2][0] to [2][5]. Refer to Section 8.11.1. I I I I I I I I I L The alarm occurrence time is transferred in decimal. Hexadecimal must be converted into decimal. Example: For data [0][1]F][5], the alarm occurred in 501 hours after start of operabon. 8. COMMUNICATION FUNCTIONS (3) Alarm history clear Erase the alarm hstory. Transmission Send command [8][Z] and dataNo. [2][0]. No. Command PI PI P I 101 Data Data [11[El[AI [51 8.12.7 Current alarm (1) Current alarm read Read the alarm whxh isoccurring currently. 1)Transmission Send command [0][2] and dataNo. [0][0]. 2) &Ply The slave station sendsback the alarm currently occuning. L Alarm No. is transferred in decimal. Example: A.32 : 0032 A.50 : 0050 A.- : OOFF (no alarm) (2) Read of the status display at alarm Occurrence Read the status &splay data atalarm occurrence. When the dataNo. correspondmg to the status -lay item is transmitted, the datavalue and dataprocessing dormation are sent back. 1)Transmission Send command [3][5] and any of data No. [8][0]to [8][E] correspondmg to the status display item to be read. Refer to Section 8.11.1. 2) %Ply The slave station sendsback the requested status &splay data atalarm occurrence. 8 - 21 8. COMMUNICATION FUNCTIONS 0 0 TT Data 32 bits long (represented In hexadecimal) (Data conversion into display type is required) Display type [a]: Conversion into decimal required [I]: Used unchanged in hexadecimal Decimal point position [O]: No decimal point [ l ] : Lower first digit (usually not used) [2]:Lower second digit [3]: Lower third digit [4]: Lower fourth digit [5]:Lower fifth digit [6]: Lower sixth digit (3) Current alarm clear As by the entryof the RES signal, reset theservo a m p u e r alarm to make the servo ampMer ready to operate. After removing the causeof the a l a r m , reset thealarm with no command entered. Transmission 8. COMMUNICATION FUNCTIONS 8.12.8 Servo amplifier group designation With group setting made to the slave stations,data can be transmitted simultaneously to two or more slave stations set as a group through FS-485 communication. (1) Group setting write Write the group designation valueto the slave station. Transmission Transmit command [9]m, data No. [O][O] and data. I Command I I [91FI I Data No. [O][O] I Data 1 See below. I I LGroup designation [O]:No group designation [l]:Group a [2]:Group b 131: Group c [4]: Group d [5]:Group e [6]:Group f Response command enable Set whether data can be sent back or not in response to the read command of the master station [O]: Response disable Data cannot be setback. [ I ] : Response enable Data can be set back. (2) Group setting read Read theset group designation valuefrom the slave station. 1)Transmission Transmit command [11F] and dataNo. [O][O]. 2) &Ply The slave station sends back the group setting of the point table requested. LGroup designation [O]:No group designation [I]: Group a [2]: Group b [3]: Group c [4]: Group d [5]: Group e [6]: Group f -Response command enable [O]:Response disable [I]: Response enable 8 - 23 8. COMMUNICATION FUNCTIONS 8.12.9 Other commands (1) Servo motor end pulse unit absolute position Read the absoluteposition in the servomotor end pulse unit. 1)Transmission Send command [0][2] and data No. [9][0]. [OI P I 2 ) &Ply The slave station sends back the requestedservo motor end pulses. Absolute value is sent back in hexadecimal in the servo motor end pulse unit. (Must be converted into decimal) Example: Data "000186AO" is 100000 b d s e ] in the motor end pulse unit. (2) Command unit absolute position Read the absolute position in the command unit. 1) Transmission Send command [0][2] and data No. [9][1]. 2) %Ply The slave station sendsback the requestedcommand pulses. Absolute value is sent back in hexadecimal in the command unit. (Must be converted into decimal) Example: Data "000186AO" is 100000 Ipulse] in the command unit. 8 - 24 ~ 9. ADJUSTMENT 9.1 What Is Gain Adjustment? 9.1.1 Difference between servo amplifier and other drives Besides the servo a m p a e r , there are othermotor dnves suchas aninverter and stepping dnver. Among these dnves, the servo amphlier requires gain adjustment. The inverter and steppingdnver arein a n open loop (actual motor speed and posihon are notdetected on the dnver side). Hence, the dnverside supplies operation power independently of the motor and m a c h e motions. Load Inverter 4 Servo motor I On the other hand, the servo ampMer always detectsthe positions and speeds of the motor and machme using the servo motor encoder, and exercises control to match the position and speedcommands with the actualmotor (machme) position and speed.In theservo system, adjustment is needed because: Load 1)Control performance changes aecordmg to the inertiamoment of the machme; 2) Detected speed varies due to the resonance point, etc. pecuhar to the machine; or 3) Operation is delayed to meet theaccuracy spedcations due to differences i n operation delay and accuracy spedcations between machmes. 9- 1 9. ADJUSTMENT Position command generation section Speed vperatlon ...... . . .-. Servo motor ~ . . . . ~ ..-.......~ ~ ~ .. .. ~~..............._.._ VG2 PG2 + pattern Deviation - Position : + counter control section ~ Current Speed control control section ?section ~ -c>8 - ~ Power - control section ~ ,?: , , Current loop ' Position loop - . ~ ... Speed loop VIC - ~ . . . . ~_........_..__._ .............................. . ... _. ~~~ 1 A general servo system coni3guration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop. Amongthese threeloops, the response of the inside loop must be increased 4 to 6 times higher. If t h s con&tion is notsatisfied, vibration wdl be generated. If the conhtion furtherworsens, hunting will occur. (1) Current loop For theMELSERVOJ 2 - C , the response level of the currentloop is factory-set to a highvalue and need not be adjusted. If the motor is installed to the machme,the response of the currentloop wdl hardly vary. (2) speed loop Response d vary acmrdmgto the inertia momentof the m a c h e . When the load inertia moment increases, the response of the speed loop wdl reduce. Use the speed loop gain (VG2) to compensate for the reduction of the response level. Amplifier gain setting VGB[rad/s] Speed loop response f,[rad/s] = l+m m: Load inertia moment ratio JL= load inertia moment JM= servo motor shaft inertia moment (3) Position loop The responselevel wdl not vary a c c o r h g to machme conhtions. Position loop response f,[rad/s] = amphfier gain setting PGZ[rad/s] When themotor is installed to the machine, the gainmust be adjusted to satisfy f, = 4 to Sf, a m r d m g to the load inertia moment ratiom. 9. ADJUSTMENT 9.2 Gain adjustment 9.2.1 Parameters requiredfor gain adjustment c Parameter No. Symbol wo.3 ATU PG1 *OP4 No.7 No.22 Ko.34 No.35 No.36 Tu'o.3'7 No.38 Name Autotuning Position loop gain 1 I I Function selection 4 ( m a b e resonance flter) Ratio of load inertia momentto motor inertia moment GD2 Position loop gain 2 PG2 VG1 Speed loop gain 1 Speed loop gain 2 Speed integralcompensation VG2 VIC 9.2.2 Block diagram Model section .... ........ I I I I I I- I Actual loop section The block hagram of the MELSERVO-J2-C-S100servo control section is shown above. (The current loop is omitted.) 1) Actual loop section A control loop designed to control the actualmotor and actsto control the servo system stablyin response to the load torqueof the machme. 2) Model section Acts to provide the idealoperation valuesto the currentloop in response to the command. 3) Auto tuning section Judges theload inertia momentof the machme fitted withthe actual motor f?om the operation errorof the motor to change eachcontrol gain in real time. The gainschanged by auto tuning arePG1, VG1, PG2, VG2 and VIC. 9- 3 9. ADJUSTMENT 9.2.3 What is auto tuning? The angular speed (0) and torque 0are estimatedin accordance with the equationof motion (9.1) used for motor acceleratioddeceleration. In actuahty, the acceleratioddeceleration characteristics of the model and those of the actual motor are compared to estimate the inertiamoment of the load in real m e . d u T ............................ J-= (9.1) dt J : Inertia moment o : Angular speed T : Torque Real-time auto tuningis performed in thefollowing procedure: 1) When the motor makes acceleratioddeceleration, load inertia moment JL is estimated in the above method to calculate the load inertia moment ratio(GD2). 2) Each gain (PG1, VG1, PG2, VG2,VIC) to the calculated load inertia moment ratio(GD2) is changed accordmg to the response level set in parameter h’o.3. Note that these gains have been patterned beforehand to satisfy the aforementioned stabhation conhtion. 9- 4 . ... . 9. ADJUSTMENT 9.3 Gain Adjustment by Auto Tuning 9.3.1 Adjustment method In thefactory setting of the servo amphfier, auto tuningis vahd and the response setting is"2". "he initial settmgsprovide suflicient tunmg for general machmes.Higher-level tuning can be provided by adjusting the response setting (parameterNo.3) according to machme rigi&ty. The following table Lists guidehes for response setting to dnve systems. Choose slow response when using a reduction gear having backlash: Main Drive System (Note) Middle Response Fast Response Slow Response < Direct c o u p h g Ballscrew < With reduction gear Direct coupling Rack & pinion With reduction gear Direct coupling Timing belt < < With reduction gear Direct coupling Chain > With reduction gear < < > < < > > > > > > The following is how to adjust theresponse setting to machme phenomena: II Actual Machine Operation Settl;lg time long Large overshoot at stop 1 Ideal Machine Operation Parameter No.3 Setting 1 Reduce settling time. 1 Increase response settmg. Reduce overshoot. IGear sound generated from machine I Reduce gearsound I Decrease response setting. Set machineselection setting to "large fiction". Decrease response settmg. II I Note: Setthg time indicatestime h m zero command pulse to servo motor stop. 9.3.2 Valid conditions 'Rus section provides constraints on the operation pattern to enable excellent auto tuning.If the conhtionsin t h section cannot be satisfied, normalauto tuningmay not be performed. In t h . ~ case, ~ after executing auto tuningin operation whch satisfies the condrtions given in t b section, make auto tuninginvahd to &sallow the gain setting from being changed. (1) Operation pattern 1)Set theacceleration time (time until the presetspeed is reached) to 5s or less and the acceleratioddeceleration current to 50% or more. 2) Perform operation several timesuntd the cumulative acceleratioddeceleration time is 1s or more. 3) Set theservo motor speed to 5OOr/min or more. 9- 5 9. ADJUSTMENT 9.4 Manual Gain Adjustment On some machmes, gain adjustment may not be made by auto tuningor excellent gain setting may not be made if gain adjustment isperformed by auto tuning. Int h s case, adjust the gains manually. Use any of the methods given in t h s section to adjust thegains. 9.4.1 When machine rigidity is low (1) Machine condition Because of low m a h e rigid@, the response setting of auto tuningis set to slow response and it takes too much time to reach the target position. When the machme or motor shaft is moved lightly a t a stop, it moves easily. (2) Adjustment procedure Adjustment 1 1)Execute auto tuning withthe response settingof the level at whchmachme d not vibrate. Set 0101 in parameterNo.3. 2) Set “Not executed’’auto tuning in parameter No.3. 3) Gradually decrease the speed integral compensation VIC (parameter No.38) setting. Adjustment 2 1)Perform auto tuning with the response settingof slow response. Set 0101 in parameter No.3. 2) Set 563Hz or 375Hz to the m a c h e resonance filter. Set 2 0 0 0 or 3000 in parameter N0.22. 3) Alternate a start and a stop several times, execute auto tuning, andcheck whether the machine does not vibrate. 4)If the machme condition doesnot become excellent after the above adjustment, reduce the settingof speed integral compensation as in Adjustment 1. 9. ADJUSTMENT 9.4.2 When the machine vibrates dueto machine resonance frequency (1) Machine condition The servo motor shaft is oscdlating a t h g hfrequency (100Hz or more). The servo motor shaft motion cannot be c o h e d visually. However, if the machme generates largenoise and vibrates, make Adjustment1. If hgher "response setting" of auto tuning increasesvibration, make Adjustment2. (2)Adjustment procedure Adjustment 1 1)Perform auto tuning with the response setting of slow response. Set 0101 in parameter No.3. 2) Set 563Hz or 375Hz to the machme resonance flter. Set 2 0 0 0 or 3 0 0 0 in parameter N0.22. 3) Alternate a s t a r t and a stop several times,execute auto tuning, andcheck whether the machinedoes not vibrate. 4)Increase the machme resonance filter value gradually and repeatstep 3). The optimum valueis provided at the point just before vibration increases. 5) To further shorten thes e t t h g time, gradually increasethe response setting in parameter No.3 and repeat steps 1)to 4). Adjustment 2 1)Choose the response setting of slow response. Set 0101 in parameter No.3. 2) Set theload inerha moment ratio( m a c h e inertia moment ratioin parameter No.34). enter an approximate value. If an exact m a h e inertia moment ratio is &own, When the valueis set in t h s parameter, thefollowing parameters areset automahcally. When there is no machme resonance, the value of each parameter is set to the ideal gain for the parameterNo.34 value. Parameter No. Symbol No.7 PG1 PG2 VG1 VG2 VIC No.% No.36 No.37 No.38 Name Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 Speed integral compensation 3) Alternate a start and a stop several times, execute auto tuning, andcheck whether the machmedoes not vibrate. 4) Decrease the speed loop gain 2 (parameter No.37) to a value about1000 smaller than the automati-dy set value and repeat steps2) to 4)in Adjustment 1. The optimum valueis provided at the point just before vibration increases. 5 ) When there is no machme resonance, check the operating status andgradually increasethe speed loop gain 2 (parameter No.37) and repeat steps2) to 4)in Adjustment 1. Set the value about50 to 100 smaller than thevalue at whchgear sound begins to be generated. Increase thlS gain if there is variation in the machme because a timing beltor the f i e is used. 6) To further shorten thes e t t h g time, gradually increasethe response setting of parameter No.3 and repeat steps 1)to 5). 9- 7 9. ADJUSTMENT 9.4.3 Load inertia moment is 20 or more times (1) Machine condition The machme inertia moment is 20 times or more and the servo motoro s d a t e s at low frequency (5Hz or more). At t h s time?servo motor shaft vibration can be c o b e d visually. T h s adjustment methodis vahd for the following machmes: 1)Machme in whcha timing belt is dnven without reduction gear P Rotor A 0 ervo motor ervo motor 2) Machine in w h c h a czlsc is rotated without reduction gear Servo motor 3) Machme of w h c h ballscrew lead is long Servo motor Ballscrew (2) Adjustment procedure 1) Choose the response settingof slow response. Set 0101 in parameter No.3. 3) Set the load inertia moment ratio (machme inertia moment ratio in parameter No.34). If a n exact machme inertia moment ratio is unknown, enteran approximate value. When the value is set int h s parameter, the following parameters are set automatically. When there is no machme resonance, the value of each parameter is set to the ideal gain for the parameter No.34 value. Parameter No. NO. 7 No.% No.36 No.37 No.38 Symbol PG1 Name PG2 Position loop gain 1 Position loop gain 2 VG1 VG2 VIC Speed loop gain 1 Speed loop gain 2 Speed integralcompensation 3) Alternate a start and a stop several times, execute auto tuning, and check whether them a h e does not vibrate. 4)If vibrahon s t d l persists, repeat steps2) and 3). 5 ) If vibrationstdl persists, make Adjustment1and Adjustment2 in paragraph (2)of Section 9.4.2. 6) After the endof the above adjustment, make Adjustment 1i n Section 9.4.1to further improve performance. 9- 8 9. ADJUSTMENT 9.4.4 When shortening the settling time (1) Machine condition The settlLng tune wdl be increased by the gains provided by auto tuning. (2) Adjustment procedure 1) Choose the response setting of slow response. Set 0101 in parameter No.3. 2) Alternate a start and a stop severaltunes, execute auto tuning, andcheck whether themachme does not vibrate. 4) Set theload inertia moment ratio(machme inerha moment ratio in parameterNo.34). If an exact machme inertia moment ratiois unknown, enter an approximate value. When the value is set in ths parameter, thefollowing parameters are setautomatically. When there is no machme resonance,the valueof each parameteris set to the ideal gainfor the parameterNo.34 value. Parameter No. h-0.37 Symbol PG1 PG2 VG1 VG2 hjo.38 VIC No. 7 No.35 N0.36 Name Position loop gain 1 Position loop gain 2 Speed loop gain 1 Speed loop gain 2 Speed integralcompensation 4)Set 02UU in parameter No.3 to make auto tuning invahd. Make the parameterNo.7,35 to 38 settings manually adjustable. 5) Check the operatingstatus and adjust the following parameter values: Parameter No. No.7 No.% No.36 No.37 No.38 Symbol PG1 PG2 VG1 VG2 VIC Name Description Position loop gain 1 Higher setting shortens the settling time isbut liable to cause overshooting. Position loop gain 2 Speed loop gain 1 Higher settingimproves the servo responseleve 1but is liable to cause vibration. Speed loop gain 2 Speed integral compensation Lower setting keeps the speedconstant to load disturbance and increases holding force at a stop (servo rigidity) but is liable to cause overshooting. Make adjustmentby gradually increasing the parameterNo.7,35 to 37 settings at the same ratioand reducing the speed integral compensation (parameter No.38). The optimum valueis provided at the point just before vibration increases.Use of the machme resonance 6lter (parameter N0.22) may increase the h i t point. Note that since the maximum valueof the speed loop gain is "2000",do not set a value greaterthan that. 9- 9 9. ADJUSTMENT 9.4.5 When the same gain is used for two or more axes (1) Machine condition To perform interpolation operation with two or more axes of servo a m p a e r s , t h eposition loop gains ofthe axes are set to the same value. (2) Adjustment procedure 1) To adjust the gainsof each axis, adjust the gainsof all axes in the adjustmentprocedures in Sections 9.4.1 to 9.4.5. 2) Set 00170 or 0 2 0 U in parameter xo.3. 0 0 0 0 : Interpolation control * * The following parameter values change at the nextstart'stop. - -- - Parameter No. No.7 Ko.35 N0.38 Name Symbol PG 1 PG2 Position loop gain 1 Position loop gain 2 VIC Speed integral compensation 0 2 0 0 : hTo auto tuning.. .. . . .. ..... .Make auto tuning invahd and set each gain manually. 3) Match position loop gain 1to the minimum value of each axis to make the gains of all axes equal. 9._ 10 ._- 9. ADJUSTMENT 9.5 Slight vibration suppression control The slight vibration suppression control mode is used to reduce servo-spedic+1pulse vibrationat thetime of a stop. l h s mode producesan effect especially when the ratio of load inertia momentto servo motor inertia moment is small (2 to 5 times). Note that whenvibration is attributable to looseness (such as gearbacklash) or m a c h e resonance, use the machme resonance suppression mter in parameter No.22. The slight vibration suppression control mode should be usedafter real-time auto tuning or manual gain adjustment. Usage First, perform real-timeauto tuning or manual gain adjustmentso that vibration falls w i t h 22 to 3 pulses. mode at the timeof a stop. Set U1UU in parameter No.20 to enter the slight vibration suppression Parameter No.20 1 Slight vibration suppression control execution 9- 11 IO. INSPECTION I O . INSPECTION Before starting maintenance and/or inspection, make sure that the chargeis lamp off more than 10 minutes after power-off. AWARNING Then, confirmthat the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, youmay get an electric shock. For repair and parts replacement, contact your safes representative. POINT Do not test the servo amphfier witha megger (measure insulation resistance), or it may become faulty. Do not dxassembleand/or repair the equipment on customer side. (1) Inspection It is recommended to make thefollowing checks periohcally: (a) Check forloose terminalblock screws. Retighten anyloose screws. (b) Check the cables and the hke for scratches andcracks. Perform periodx inspectionaccordmg to operating conhtions. (2) Life The following parts must be changed perio&cally as listed below. If any partis found faulty,it must be changed immehately even when it has not yet reached the end of its life, w h c h depends on the operating method and sales representative. environmental con&tions. For parts replacement, please contact your Part Name Standard Life Smoothing capacitor 10 years Relay Servo amplifier 10,000 to 30,000 cooling fan Absolute position battery (a) Smoothmg capacitor hours (2 to 3 years) 10,000 hours Remarks Standard life is given for your reference. If the part has not yet reachedthe endof its standard Me, it must be changed as soon as it , s found faulty. : Affected byripplecurrents, etc. and deteriorates in characteristic. The Me of the capacitor greatly depends on ambient temperature and operating conhtions. The capacitorwdl reach the endof its Me in 10 years of continuous operation in normal air-conhtioned environment. : Their contacts d wear dueto switchmg currents and contact faults occur. Relays reach the endof their Me at cumulative 100,000switchmg times (switchmg Me), whch dependson the power supply capacity. (c) Servo amphfier coohg fan : The coohng fan bearings reach the end of their Me in 10,000 to 35,000 hours. Normally, therefore,the fan mustbe changed in a few years of continuous operation as a guidehe. It mustalso be changed if unusual noise or vibration is found during inspechon. I O -1 1I.TROUBLESHOOTING 1I. TROUBLESHOOTING 11.1 Trouble at Start-up Excessive adjustmentor change of parameter settingmust not be made as it will make ACAUTION operation instable. The following faults mayoccw at start-up. If any of such faults occus, take the correspondmg action. No. - ~~~ Start-up Sequence ?ower on 1 I Fault LED is not lit. LED flickers. Investigation Not improved if connectors CNlA, CNlB and CN2are dmonnected. Improved when connectors CNlA and CNlB are disconnected. Improved when connector CN2 is disconnected. 2 Switch on servo-on Signal. 4 Cyclic operation Refer To Possible Cause 1)Power supply voltage fault 2) Servo ampli6er is faulty. Power supply of CN1 c a b h g is shorted. 1) Power supply of encoder cabling is shorted. 2) Encoderis faulty. Power supply is shorted. Improved when connector CN3 is disconnected. Refer to Section 11.2 and remove cause. Section 11.2 Section 11.2 .Alarm occurs. Refer to Section 11.2 and rem0 ? cause. Servo motor shaftis Check the dsplayto see if the 1) Servo on signalis not input. Section 7.3 not servo-locked servo amplifieris ready to (Whing mistake) (is free). operate. 2) 24VDC power is not supplied to COM W e gain adjustmentin the Gain adjustment fault Chapter 9 following prccedure: (speed fluctuations) are large at low speed 1) Increase the auto tuning response level. 2) Repeat acceleration and deceleration several times to complete auto tuning. W e gain adjustmentin the Gain adjustment fault Large load inertia Chapter 9 moment causes the following procedure: servo motor shaft to If the servo motor maybe run oscillate side to side. with safety, repeat accelerati on and deceleration several times to complete auto tuning. Position shift OCCUTS C o n h the cumulativecomm Communication command error, Section 11.2 and pulses, cumulative machme slip, etc. feedback pulses and actual servo motor position. ~ 11 - 1 ~~ ~~ ~ ~ ~~ 1j.TROUBLESHOOTING 11.2 When Alarm or Warning Has Occurred 11.2.1 Alarms and Warning list When a fault occurs during operation, thecorrespondmg alarm or warningis &splayed. If any alarm or warning has occurred, referto Section 11.2.2 or 11.2.3 and take the appropriate action. Note: 0:Deactivation by alarm reset (RES) or power OFF+ON x: Deactivation by power OFF+ON 11- 2 11. TROUBLESHOOTING 11.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, ACAUTION and restart operation. Otherwise, injury may occur. Y POINT *When anyof the following alarms has occurred, always remove its cause and allow about 30 m i n u t e s for cooling before resuming operation. I If operation is resumed by switchmg control circuitpower off, then onto reset the a l a r m , the servo a m p u e r , servo motor and regenerative brake option may become faulty. - Regenerative alarm (A. 30) - Overload 1(A. 50) - Overload 2 (A. 51) Deactivate the alarm by switching poweroff, then on. When alarm reset (RES)is made validin "I/O Devices" on the Servo Con- I figuration Software,alarm reset (RES) may be used to deactivate the alarm. When an alarm occurs, the trouble signal ( LM switches ) off and the display showsthe correspondmg alm number. The servo motorcomes to a stop. Removethe cause of the alarm in accordance with t l u section. The optionalConfiguration Software may be used to refer to the cause.The "0"mark in the "Deactivation by Alarm Reset (RES)"field in the hst inhcates that the alarm may be deactivated notonly by switchmg poweroff, then on butalso by using alarm reset (RES). Name Display Definition Deactivation by Alarm Reset Action Cause (RES) L. 10 Undervoltage I - 11 - 12 13 L 15 ~ I Power supply voltage 1. Power supply voltageis low. Review the power supply. 2. Power failed instantaneouslyfor dropped. 160V or less E m s or longer. 3. Shortage of power supply capacity to caused the power supply voltage drop at start,etc. 3. Power switched on within 5s after it had switched off. 5. Faulty parts in the servo amplifier [Change the servo ampli6er. Checking method Alarm (10) occurs if poweris switched on after all connectors Board error 1 Printed board fad& Faulty partsin the servo amph6er Memory error 1 R A M , ROM Checking method fault Alarm (any of 11 to 13 and 15) Clock error Printed board fault Memory error2 EEPROM fault after all connectors are - V Change the servo amplifer. X L 16 Encoder error 1 Communication error 1. Encode connector h o n n e c t e d . occurred between 2. Encoder fault encoder and servo am 3. Encoder cablefaulty plifier. m i r e breakage orshort) 11- 3 Connect correctly. Change theservo motor. Repair or change cable. 11. TROUBLESHOOTING Display Name Definition Cause Adon I L 17 L 18 L L 20 24 L 25 L 30 b a r d error 2 b a r d error 3 hcoder error 2 :pu/parts fault 'rinted board fault 'aulty parts in the servo amplifier Checking method IChange the servo amplifier. X Alarm (A. 17 or A . 18) occurs if power is switched on after all connectors have been hmmunication error 1. Encoder connector disconnected ccurred between ncoder and servo 2. Encoder cable faulty mpli6er. (wire breakage or short) X Connect correctly. Repair or change the cable. dotor outout grc ;round fault occurre 1.Power input cable and servo motor Connect correctly. output cable are making contact a t ! at theservo motor Ind fault the main circuit terminal block (TE1). utputs (U,V and W Ihases) of the servo !.Servo motor power cable insulation Change the cable. mpliiifer. deteriorated. 1. Reduced voltage of super capacitor in -4fter alarm has occurred, bbsolute position ulbsolute hold power on fora few encoder lata in error )ositionerase minutes, and switch it off once, then on again. Make home position return again. 2. Battery voltage low Change battery. Make home position return 3. Battery cable or battery is faulty. nrrn;n bgenerative llarm 'ennissible bgenerative power 'f the built-in egenerative brake esistor or egenerative brake 'ption is exceeded. leadivation b Alarm Reset (RES) X X 1. Wrong setting of parameter No. 0 1 s t correctly. 1. B d t - i n regenerative brake resistor ICoMect correctly or regenerative brake option is not connected. 3. High-duty operation or continuous 1. Reduce the frequency of positioning. regenerative operation caused the 2. Use the regenerative permissible regenerative power of brake option of larger the regenerative brake option to be capacity. exceeded. 3. Reduce the load. Checking method 1Call the status display and check the regenerative load ratio. 0 bgenerative transist sr fault Checking method 1)The regenerative brake option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative brake resistor or h o l i n g fan stop MRJ2-200c-s100 . 35OC-S100) fan stop amplifier or cooling f a n 2. Reduce ambient 11. TROUBLESHOOTING Display 31 L 32 L Name herspeed hercurrent Definition ;peed has esceeded he instantaneous bermissible speed. Cause 1. Input command pulse frequency exceeded the permissible instantaneous speed frequencv. 2. Small acceleratioddeceleration time constant caused overshoot to be large. 3. Servo system is instableto cause overshoot. 4. Encoder faulty. Current thatflew is 1. Short occurred in servo ampMer higher than the output phases U, V and W. permissible current 2. Transistor @I") of the servo of the servo amplifier amplifier hulty. Checking method Action Set command pulses :orrectly. [ncrease acceleration/ jeceleration time constant. 1. Re-set servo gain to propel value. 2. If servo gain cannot be set to proper value: 1)Reduce loadinertia moment ratio; or 2) Reexamine acceleratior /deceleration constant. Zhange the servo motor. krrect thewiring. i & 33 35 hervoltage Ianual pulse rror Converter bus voltage exceeded 400V. 0 krrect thewiring. rake noise suppression neasures. 1. Change lead. 2. Connect correctly. Zhange servo amplifier 1. ,Forwire breakage of built-in regenerative brake resistor, change servo amplifier. I 2. For wire breakage of regenerative brake option, change regenerative brake option. 3. Capacity of built-in regenerative %ddregenerative brake brake resistor or regenerative brake )ption or increase capacity. option is insufficient. 1.Pulse f?equency of the manual pulse Zhange the command pulse Input pulse kequenq of the enerator input is too high. generator iequency to a proper value. 2.Noise entered the pulsesof the rake action against noise. manual pulse generator is too high. manual pulse generator. 3.Manual pulse generator f d u r e Zhange the manual pulse renerator. 11- 5 0 Zhange the servo amplifier. Alarm (A. 32) occurs if power is switched on after U, V and W 3. Ground fault occurred in servo amplifier output phases U, V and W. 4. External noise caused the overcurrent detection circuit to misoperate. 1. Lead of built-in regenerative brake resistor or regenerative brake option is open or disconnected. 2. Regenerative transistor faulty. 3. Wire breakage of built-in regenerative brake resistor or regenerative brake option leadivation b Alarm Reset (RES) 0 0 11. TROUBLESHOOTING + Display Definition Cause Adion Deactivation b Alarm Reset (RES) 'arameter setting is 1. Servo ampl&er fault caused the Parameter setting to be rewritten. c-rong. 2. Regenerative brake option not used wlth servo ampMer was selected in parameter No.0. 3. Point table data is in error. Change the servo amplifier. Set parameter No.0 correctly X . Set thepoint table data correctly. ~ 'rogram sum check nor krvo motor emperature rise tctuated the h e m a l protector. Program sum check is different a t the Check the program power on. 1. Ambient temperature of servo motor Review environment so that ambient temperature is 0 to is over 40°C. ~~ 2. Servo motor is overloaded. 3. Thermal protector in encoder faulty. 1. Servo ampmer is used in excess of its continuous output current. Bad exceeded lverload protection haracteristic ervo ampUier. Bad ratio300%: 2. Servo system is instable and hunting 2.5s or morc Bad ratio200%: 100s or mor( krvo motor locked 1s or more 3. Machine struck something. 4. Wrong connection of servo motor. Servo ampmer's outputterminals U, V, W do not match servo motor's input terminalsu,v, w. 5. Encoder faulty. Checkmg method 1. Reduce load. 2. Review operation pattern. 0 3. Use servo motor that provides larger output. Change servo motor. 1. Reduce load. 2. Review operation pattern 2. Use servo motor that provides larger output. 1. Repeat accelerationl deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set autotuning to OFF and make gain adjustmen manually. 1. Review operation pattern 2. Install limit switches. Connect correctly. Change the servo motor. When the servo motor shaft is rotated slowly with the servo off, the cumulative feedback pulses should varyin proportion to the rotary angle. If the indxation skips or returns midway, the encoder is faulty. 11- 6 - X . . 0 11. TROUBLESHOOTING Display Name Definition Cause Adion Deactrvation by Alarm Reset (RES) L 51 herload 2 1. Review operation pattern. Aachine collision or 1. Machine struck somethmg. 2. Install h i t switches. he hke caused max. utput currentto 3. Wrong connectionof servo motor. Connect correctly. low successively for Servo ampliijer's output terminals everal seconds. U, V,W do not match servo motor's 1. Repeat acceleratiod deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuningto OFF and make gain adjustment manually. 4.Encoder faulty. C h e c h g method - When the servo motor shaft is rotated slowly with the servo off, the cumulative feedback pulses should vary in proportion to the rotary angle. If the indication skips or returns midway, the encoder is faulty. L 52 :mor excessive 0 i h o p pulse value of 11. Acceleratioddeceleration time I ncrease the he deviation counter is too small. deceleration time constant. constant Increase the torque limit xceeded 8Ok pulses. 2. Torque limit value (parameter No.28) is too small. value. 3. Motor cannotbe started dueto 1. %view the power supply torque shortage causedby power capacity. 2. Use servo motor which supply voltage drop. provides larger output. 0 4.Position control gain1 (parameter Increase set value and No.7) value is s m d . adjust to ensure proper operation. 4. Servo motor shaft was rotatedby 1. When torque is hited esternal force. increase theh i t value. 2. Reduce load. 2. Use servo motor that provides larger output. 6 . Machine struck somethmg. 1. Review operation pattern. 2. Install limit switches. 11- 7 11. TROUBLESHOOTING Display Name Definition Cause Action leadivation b Alarm Reset (RES) ~ L 52 L 63 - SA L 8E 3rror excessive kroing ncomplete :n absolute position ietection system: 1. Positioning operation was performed without zero setting. ?.Zero setting ended abnormally. krial lalid command has ommunication lot been transmitted ime-out rom communication Levice (e.g. personal .omputer) to servo Imph6er within time-out period. jerial :ommunication mor 888 Droop pulse value of 7 . Encoder faulty the deviation countel 8. Wrong connection of servo motor. exceeded 80k pulses. Servo amplifier's output terminals U. V, W do not match servo motor's input terminalsU, V, W. [n incremental 1. Positioning operation was performec jystem: without zeroing. 1. Positioning 2. Zeroing speed could not be operatio was decreased to creep speed. erformed without 3. Limit switch was actuated zeroing. during zeroing starting a t other 2. Zeroing ended than position beyond dog. abnormally 0 . Positioning operation 1. Communication connecto dmonnected. 2. Communication cable fault 1. Valid command has not been transmitted from communication device (e.g. personal computer) withn time-out period. %rial 1. Communication cable fault mmmunication error (Open cable or short circuit) murred between servo ampmer and :ommunication 3. Communication deblce (e.g. persona ievice (e.g. personal computer) faulty :omputer). was performed without zeroing. I. Zeroing speed could not be decreased to creep speed. Lmut switch was actuate1 during zeroing starting a t other thanposition beyonc doc. . Perform zero setting. . Review zero setting speedbeep speedlmoving distance after proximity dog. 8. 1. Positioning operation was performec without zero setting. 2. Zero setting speed could not be decreased to creep speed. 3. Limit switch was actuated during zero setting starting at other than position beyond dog. 0 h n e c t correctly. apair or change the cable. 'ransmitvalid command .om communication device !.g. personal computer) v i t h time-out period. Lpair or change the cable. 0 - 0 :hange the communication .evice (e.g. personal omputer). Yatchdog CIPU, parts hulty Fault of parts in servo amplifier C h e c h g method Alarm (8888) occurs ifpower is - Zhange the servomotor. hnnect correctly. switched on after all connectors are h o n n e c t e d . :hange servo amplifier. X 11. TROUBLESHOOTING 11.2.3 Remedies for Warnings If a warning occurs, the servo ampMer does not go into a servo off status. However, if operation is continued in the warning status, an alarm may occur or proper operation not performed. Elminate the causeof the warning accorhgto t h s section. Use the optional set-up softwareto refer to the cause of w h g . Display A 92 Open battery cable warning A 96 A 98 A 9F A EO Definition Cause Name Repair cable or change battery. system battery voltage is low. Change battery. 2. Battery voltage dropped to 2.8V or less. Zero setting error 1. In incremental system: Droop pulses remaining are greater than the in-position range setting. Zeroing couldnot be made. 3. In absolute position detection system: Zero setting could not be made. Software limit Command position exceeded software limit. warning Remove the cause of droop pulse occurrence. Battery warning Battery Voltage of battery for absolute position detection system reduced. Excessive There is a possibility that regenerative load regenerative power may warning exceed permissible regenerative power of built-in regenerative brake resistor or regenerative brake option. Change the battery. voltage fellto 3.2V or less. Regenerative power increased to 85%or more of permissible regenerative power of built-in regenerative brake resistor or regenerative brake option. Checkmg method Overload warning There is a possibility that Load increased to 85%or more of overload alarm 1or 2 may overload alarm 1or 2 murrence level. occur. Cause, c h e h g method A E3 Absolute position Absolute position encoder counter warning pulses faulty. A E9 1. Review the operation pattern. 2. Review the softwarelimit 1. Reduce frequency of positioning. 2. Change regenaratiove brake option for the one with larger capacity 3. Reduce load. Call the status &play and che A El A E6 Action Absolute position detection 1.Battery cable is open. Refer to A 3, A 51. 1. Noise entered the encoder. Take noise suppression measures. 2. Encoder faulty. Change servo motor. Servo emergency EhqG-SG are open. External emergency stop was made valid. Ensure safety and deactivate emergency stop. (EMG-SGopened.) stop Main circuit off Servo was switched on Switch on main circuit power. with main circuit power off warning 11- 9 12. SPECIFICATIONS 12. SPECIFICATIONS 12.1 Servo Amplifier Standard Specifications -so0 -I Voltage/kequency 2 Permissible voltage fluctuation +4 5 2 Permissible frequency fluctuation Power supply capacity System Dynamic brake 40C -300 60C SI00 70C -SlOO IOOC 350C 200C -SI00 SI00 Three-phase 200 to 230L7.4C, 30/60Hz -SI00 Three-phase 200 to 23OVAC, 5016OHz or single-phase230VAC, 50/60Hz(Note) Three-phase 200 to 230VAC: 170 to 253VL4C Three-phase 170 to 253L’AC Single-phase 230VAC: 207 to 253Va4C W i t h *5% Refer to Sectionl3.2 Sine-wave PWvf control, current control system Built-in Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay),servo motor overheat protection, encoder fault protection, reganerative fault protection, undervoltage, instantaneous power M u r e protection, overspeed protection, excessive error protection 25OHz or more Simple programming language Programming withconfiguration S N ) . Programming capacity: Up to 8 programs,60steps maximum Set by simple programming language. 1-point feed length setting range:i l b m ] to 1999.999[mm] Set by simple programming language. S-pattern acceleratioddeceleration time constantis set in parameter No.14. Absolute value command, incremental value command Positioning using external input or RS-485(232C) communication data 5 0 20c -SI00 1 Protective functions k e d freouencv response ~~~~ Operational specifications Pmgrammi ng Position command input Speed command input System Operational specfications Manual ope ration Jog mode Jog operation is performed in accordance mith the parameter-set speed command by contact input or through RS-485 (232C) communication. Dog type (rear enddeteztion) Manual zer oing mode Count ( h n t end detection) Data setting type Stopper type Zero ignorance (SON position as zero) Other functions I Zeroing is made starting with Z-phase puke after passage of proximity dog. Zero address may be set. Zero shift distance may be set. Zeroing direction may be selected. Automatic at-dogzeroing returdautomatic stroke return function Zeroing is made by counting encoder pulses after contact withproximity dog. Automatic at-dog zeroing returdautomatic stroke return function Zeroing is made withoutdog. Home position may be set at anyposition by manual operation,etc. Zero address maybe set. Zeroing is madeby pressing machine part against stroke end. Zero address maybe set. Position where SON signal is switched on is defined as home position. Zero address may be set. Absolute position detection,backlash function Overtravel prevention usinge x - m a l limit switch Software stroke b i t , override using external analog signal 12- 1 ~ 12. SPECIFICATIONS SI00 20c -SI00 40C SI00 Structure IAl II I II ;1 4 2 ,$ storage humidity Ambient Altitud Vibration Weight 1oOC -SI00 200C -SI00 350C SI00 ODen I I P O O ) 32 to +I31 [“F](non-freezing) 1 9O%M (non-condensing) less or storage temperature > 70C SI00 0 to +55 [“C] (non-freezing) Ambient temperature Ambient humid@ 60C SI00 [ 1 -20 to +65 [“c] (non-freezing) -4 to +149 [“F](non-freezing) 90%RH (noncondensing) lessor Indoors (no drect sunlight) Free &om corrosive gas, flammable gas,oil mist, dust anddirt Max. IOOOm (3280R) above sea level 5.9 [ d s ? (0.6GI or less 19.4 [Ws? or less 1.7 0.7 1.1 1.1 1.7 P ~ I 0.7 2.4 3.75 1.5 3.75 [Ib] 1.5 2.4 1 Note: The single-phase WVAC power supply cannotbe used when the servo amplifier is combined with the HCSF52’5.3. 12- 2 .- I 2.0 2.0 4.4 4.4 12. SPECIFICATIONS 12.2 Outline Dimension Drawings 12.2.1 Servo amplifiers (1) MR-J2-1OC-l00 to MR-JZ-60C-Sl00 70 (2.76) A [Unit rnrn] ([Unit in]) 135 (5.32) d Terminal layout (Terminal a v e r open) TEI L-i\ TE2 /PE terminal (0.24) Servo AmplifierModel MR-J2-10c-s100 MR-J2-20C-S100 MRJ2-4OC-S100 MR-J2-60C-S100 Variable Dimensions A 6 Weight [kgl(Ilbl) 50 (1.97) 6 (0.24) 0.7 (1.54) 70 (2.76) 22 (0.87) 1.1(2.43) 1 Terminal screw: M4x0.7 Tightening torque: 1.24 [N.rn] (175.6 [oz.in]) I I I I I Tightening torque: 0.5 to 0.6 [N.m] (70.8 to 85.0 [oz.in]) FRONT MSTB2,!35-ST-5,08 (Phoenix Cartact make) Terminal screw: M4x0.7 Tightening torque: 1.24 [N.m] (1 75.6 [oz.in]) 12- 3 u 12. SPECIFICATIONS (2) MR-J2-70C-S100 * MR-J2-1OOC-SI00 [Unit mm] $ 6 ($0.24) mounting hde r 70l2.76) 70(2.76) r - ([vnit in]) lgO(7.48) Terminal layout 1I (Terminal cover open) r J- - n Name plate I u Servo Amplifier Model v w I U Weight MR-JZ-7OC-SlOO MRJ2-100GS100 (3.75) Terminal .%few: M4x0.7 Tightening twque: I.24 [Nm] (175.6 [oz.in]) I FRONT MSTB2,5/6-ST-5,08 + Front Tightening torque: 0.5 to 0.6 [Nm](70.8 to 85.0 [ o ~ i n ] ) @ Terminal screw M4x0.7 Tightening torque: 1.24 [Nm](175.6 [ozin]) 12- 4 II 12. SPECIFICATIONS (3) MR-J2-200C-S100 * MR-JZ-350C-SlOO - [vnit mm] ([vnit in]) 70(2.76) lSS(7.68) 1 Terminal layout m MlTSUElSHl :B Weight Servo Amplifier Model MR-J2-20OGSlOO (4.41) I ~~ L l U U U V W Terminal screw M4x0.7 TigMening torque: 1.24 @+m](175.6 [oz.inn Terminal screw M4X0.7 TigMening torque: 1.24 Warn] (175.6 [ozinD L l l I21 D P C N Terminal screw M4x0.7 Tightening torque: 1.24 [N.m] (175.6 [=.in]) 12- 5 12. SPECIFICATIONS 12.2.2 Connectors (1) Servo amplifierside Signal connector <Smitomo 3M make> Model [Unit: mm] Connector : 10120-3000VE Shell kit : 10320-52FO-008 Model (tUnit: in]) [unit mm] Connector : 10120-6000EL Shell kit :10320-3210-000 ([Unit in]) 12.0(0.47) 14.0 (0.55) 22.0 (0.87) are indicated here. 7 I I (2) Personal computer side ~HondaTsushin Kogyo make> F A [Unit: mm] ([unit: in]) n rCable enby dimensions I Cableentrvdirnensions GM-9L GM-25L (Note) I A 1 B I C I D I E 1 F 33 24.99 18.5 33 6 (1.30) 55 (0.98) 47.04 (0.73) 40 (1.30) 46 (0.24) 10 17.9 (0.70) 20.6 (2.17) (1.85) (1.57) (1.81) (0.39) (0.81) I Note: The PG98 (NEC)Notes having connectors of D-SLJB2.5pins and half-pitch 14 pins are avadable. For the half-pitch 14 pins, use the following model (3"s connector). Connecto : 10114-3000 Shell ht : 10314-52F0-008 13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload Protection Characteristics An electronic thermal relay is b u l t in the servo amphfierto protect the servo motor and servo ampldierfrom overloads. The operation characteristicsof the electronic thermal relay are shown below.Overload 1 alarm (A. 50) occurs if overload operation performedis above the electronic thermal relay protection curve shownbelow. Overload 2 alarxn (A. 51) occurs if the maximum currentflew continuously for several seconds dueto machme coUlsion,etc. Use the equipment on the left-hand area sideof the m n b u o u s or broken h e in the graph. (1) MR-J2-IOC-S100 to MR-J2-1OOC-S100 a: FH-MF series HA-FF series (300W or more) HC-SF series HC-UF series 1000 - 100 d 5 P -z lo 5 8 0 1 0.1 0 50 100 150 200 250 30 Load ratio ph] Fig 13.1 Electronic ThermalRelay Protection Characteristics b: HA-FF (200W OT l e s s ) 1000 0.1 0 .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. .. I I I I I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50150 100 200 250 300 Load ratio Ph] Fig. 13.2 Electronic ThermalRelay Protection Characteristics 2 13- 1 13. CHARACTERISTICS (2) MR-J2-200CSlOO to MR-J2-350C-S100 HC-SF series HC-RF series HC-UF series . . . . . . . . . , . . . . \ . , I . . . . ! . . . . ! . . . . I . . . . I . . . . . . . . I ! . . ' . . ! . . ? . . ! I 1 0.1 0 50 100 150 200 250 300 Load ratio ph] Fig 13.3 Electronic Thermal Relay Protection Characteristics3 13- 2 . . . .- 13. CHARACTERISTICS 13.2 Power Supply Equipment Capacityand Generated Loss (1) Amount of heat generatedby the servo amplifier Table 13.1 indcates servo amphfiers' power supply capacities and losses generated under ratedload. For thermal design of a n enclosure, use the values in Table 13.1 in consideration for the worst operafing conhtions. The actual amount of generated heatWLU be intermedate between valuesat ratedtorque and zero torque a c c o r h g to the duty used during operation. When the servo motor is run at less than themaximum speed, thepower supply capacity wdlbe smaller than the value in the table, but theservo a m p u e r ' s generated heat wdl not change. Table 13.1 Power Supply Capacity and GeneratedHeat Per Servo Amplifier at Rated Output MR-J2-1OC-S100 MR-J2-20C-S100 MRJ2-40C-Sl00 MRJ2-60C-SlOO Note: 1. SufEcient heat-related capacity &VA) dues are indicated in Table for the power supply. However, since instantaneouspower 2 to 2.5 times hgher than the rated v,dl be e r q d for servo motor acceleration, use a power supply with small voltage fluctuation whch will provide the voltage w i t h the permissible voltage fluctuation at theL1, L2and L3 tenninaLs of the servo amplifier. Note that the power supply capacity wdl vary amrdrng to the power supply impedance. 2. Refer to Table for the currentcapacity of the power supply. 3. When using multi-axes, add thepower capacity per ads. 4.Heat generated during regeneration is not included in the servo amplifier-generated heat To calculate heat generated option, use Equation 14.1 in W o n 14.1.1. 13- 3 13.CHARACTERISTICS (2) Heat dissipation areafor enclosed servo amplifier An enclosure or control box for the servo amphfier should be designed to operate a t the ambient temperatureof 40°C (104°F) within a temperature rise of 10°C (50°F'). (With a 5°C (41°F') safety margin, the system should operate w i t h a maximum 55°C (131°F) h i t . )The necessary enclosure heat dmipation area can be calculated by Equation 13.1: A= P ................................................................................ K*AT (13.1) where, A : Heat dssipation area [mZ] P : Loss generated in the control box Iw] AT : Difference between internal and ambient temperatures ["C] K : Heat dissipation coefficient [5to 61 When calculating the heat dmipation area with Equation 13.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 13.1 for heat generated by the servo amphlier. "A" indcates the effective area for heat &sipation, but if the enclosure is directly installed on an insulated wall, that extraamount must be added to the enclosure's surface area. The requiredheat dxsipation areawdl vary wit the con&tions in theenclosure. If convectionin theenclosure is poor and heatb d d s up, effective heat bsipationWLU not be possible. Therefore, arrangement of the equipment in the enclosure and theuse of a fan should be considered. Table 13.1lists the enclosure dusipation area for each servo amplifier when the servo amphiier is operated at the ambient temperatureof 40°C (104°F) under ratedload. (Outside) (Inside) Temperature Fig. 13.2 Temperature Distribution in Enclosure When air flows along the outer wallof the enclosure, effective heat exchange d be possible,because the temperature slope inside and outside the enclosure will be steeper. 13. CHARACTERISTICS 13.3 Dynamic Brake Characteristics When an a l a r m , emergency stop or power fadure occurs, the dynamic brakeis operated to bring theservo motor to a sudden stop. Fig.13.3 shows the patternin whch theservo motor comes to a stop when the dynamic brake is operated. Use Equation13.2 to calculate an approximate coasting &stanceto a stop. The dynamic brake time constant T varies with the servo motor and machme operation speeds.(Refer to Fig. 13.4and Table 13.2.) Emergency & d E W L.. Time Fig. 13.3 Dynamic Brake Operation Diagram 60 ............................................................ 13- 5 (13.2 13. CHARACTERISTICS 0.02 0.018 . I u1 500 1000 1500 0 A 0.035. I UL 2000 2500 3000 0 50 Speed [rlmin] I 1000 500 Speed [dmin] a. HC-MF Series b. HC-SF1 000r/minSeries 0.12 1 0.1 . '0 0.08. 500 1500 1000 ' 0 2000 50 Speed [rlmin] Speed [r/min] c. HC-SF2000dmin Series 0.01 8 0.01 6 500 10001500 2000 2500 3000 d. HC-SF3000dmin Series HC-RF103 \ 0.07 0.01 0.008 0.006 HC-UF73 HC-RF203 0.004 0.002 500 '0 1000 1500 2000 2500 3000 Speed [rlmin] 0.1 , e. HC-RF Series I HC-UF72 0.07 0.06 HC-UF43 HC-UF13 HC-UF152 HC-UF202 0.03 0.02 0.01 '0 0 50 500 1000150020002500 3000 Speed [rlrnin] 500 1000 1500 2000 2500 3000 Speed [r/min] f. HC-UF 2000r/min Series g. HC-UF3000r/minSeries Fig. 13.4 Dynamic Brake Time Constant 13- 6 13. CHARACTERISTICS ~~ ~ ~~~~~~~~ ~ ~~ ~~~~ Table 13.2 HA-FF Dynamic BrakeTime Constant 1 Servo Motor Brake Time Constant HA-FF053. 13 0.02 HA-FF23 0.05 K4-FF33 0.07 HA-FF43 0.09 0.12 HA-F”63 T Is1 I Use the dynamic brake a t the load inertia momentinhcated in the following table. If the load inertia moment is h g h e r t h a n t hvalue, s the b d t - i n dynamic brake may burn. If there is a possibhty that the load inertia moment may exceed the value,contact Mrkubish. Servo Amplifer Load Inertia Moment Ratio [times] MRJ2-10c-s100 MRJ2-200c-s100 MRJ2-35OC-S100 1 16 13- 7 1 14. OPTIONS AND AUXILIARY EQUIPMENT ~~~ ~ ~ ~~~ 14. OPTIONS AND AUXILIARY EQUIPMENT Before connectingany optionor auxiliary equipment, make sure that the charge lamp is AWARNlNG off more than 10 minutes affer power-off, then confirm the voltage with a tester or the like. Otherwise, youmay get an electnc shock. Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault I 14.1 Options 14.1.1 Regenerative brake options The specified combinationsof regenerabe brake options and servo amplifiers may only be used. Otherwise, a fire may occur. (1) Combination and regenerative power w o k ) Regenerative P o w e r w Servo Amplifier Builtin regenerative brake resistor MR-BO32 [40~1 MR-RBlB [4001 [~OQI MR-RB50 MR-RB30 MR-RB32 ~ 3 ~ ~1 3 ~ MRJ2-6OC-S100 10 30 100 X X X m-J2-70c-s100 20 30 100 300 X X X MRJ2-100C-Sl00 20 30 100 300 X MR-J2-200c-s100 100 X X X 300 500 MR-J2-350C-S100 100 X X X 300 500 1 Note: This value isnot the permissible value of the resistor. (2) Selection of the regenerative brake option 1) Simple selection method In horizontal motion applications, select the regenerative brakeoption as described below: When the servo motor is run without load in the regenerative mode from the running speed to a stop, the permissible duty is as indcated in the standard spedcations (Section 12.1). For the servo motor with a load, the permissible duty changesaccordmg to the inertia momentof the load and can be calculated by the following formula: duty = permissible duty for servo motor with no load (value indication Section 12.1) (m+U ratedspeed 1 running speed j [thedmin] where m = load inertia moment/servo motor inertia moment From the permissible duty, h d whether the regenerative brakeoption is required or not. Permissible duty> number of positioning times [times/&] Select the regenerative brakeoption out of the combinations in (1)in t h s section. 14- 1 14. OPTIONS AND AUXILIARY EQUIPMENT 2) To make selection accordmg to regenerative energy Use the following method when regenerationoccurs continuously in vertical motion applications or when it is desired to make 3) an in-depth selection of the regenerative brakeoption: a. Regenerative energy calculation Use the following table to calculate the regenerative energy. Friction brqw TF Formulas for Calculating Torque and Energy in Operation b. Losses of servo motor and servo amphfier in regenerative mode The following table hts the efficiencies and other dataof the servo motor and servo ampMer in the regenerative mode. :Efficiency includmg some efficiencies of the servo motor and servo ampfier when rated (regenerative) torque is generated a t rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%. Capacitor charging (Ec) :Energy charged into the electrolyhc capacitor in the servo ampldier. Inverse efficiency (q) 14- 2 14. OPTIONS AND AUXILIARY EQUIPMENT Subtract thecapacitor charging from the resultof mulbplying thesum total of regenerative energiesby the inverse efficiency to calculate the energy consumed by the regenerative brakeoption. ER[J=V*ES-EC Calculate the power consumption of the regenerative brake option on the basis of single-cycle operation period tf select the necessary regeneratwe brakeoption. PR[Wl = E...................................................... (14.1) [SI (3) Connection of the regenerative brakeoption When using the regenerative brake option, always remove wiring from across P-D and install theregenerative brake option across P-C. Set parameterNo.0 accordmg to the option to be used. The regenerative brake option WLLI generate heat of about 100°C.Fully examine heat hssipation,installation position, used cables, etc. before installLng the option. For wiring, use &e-retardmg cables and keep them clear of the regenerative bralie option body. Always use twistedcables of max. 5m length for connection with the servo ampMer. Parameter No.0 ~~~n Z e k c t i o n regenerative 0: Nct used 2: MR-RB 032 3: MR-RB 12 4: MR-RB 32 5: MR-RB 30 6: MR-RB 50 Servo a m p l i r y Always remove the lead from across P-D. A x -/ Regenerative brake opbn J G3.G4: Thermal proQctor t e r m i n a l s Abnormal heating m’ll disconnect G3-G4. Note: Make up a sequence which w i l l switch off the magnetic contactor (MC) when akKxmal heating occurs. 14- 3 to 14. OPTIONS AND AUXILIARY EQUIPMENT (4)Outline drawing 1) MR-RB032.MR-RB12 [unit rnrn (in)] q y r Q 1 0 LC Regenerative Brake Option Regenerative Powem Resistance MR-FBO32 30 40 MR-€312 100 40 2) MR-RB32.MR-RB30 Dl Variable Dimensions LB LC 30 119 15 (1.18) (4.69) (0.59) 40 15 169 (6.69) (0.59) (1.57) I LA I ll- 1 3.2(0.13) 318(12.52) I 1 I Regenerative eh! ;geR Brake Option MR-RB32 MR-RB30 1 1) (3.9 99) 149 (5.87) p n i t mm (in)] 7'14 slot * LD 3) MR-RB50 [vnit rrrn (in)] 1- I 300 300 I 17(0.67) - Resgnce Regenerative Brake Option 40 I 2.9 I 6.4 13 2.9 6.4 MR-RB5O Regenerative 500 I Weight 1 Fg] 1 [Ib] 0.5 1.1 1.1 2.4 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Cables and connectors (1) Cable make-up The following cables are used for connectionwith the servo motor and othermodels. Servo amdifier Personal computer Controller I L A _ _ _ _ _ - n HC-MF HC-MF-UE I I I , HC-UF 2000rhin Note: Those indicated by broken lines are not available as options. 14- 5 14. OPTIONS AND AUXILIARY EQUIPMENT Product Model Standard encoder MR-JCCBLUM-L cable Refer to (2) in this section. Long flesing life encoder cable Description Servo amplitier side connector (3M or equivalent) Connector: 1020-3OOOVE Shell h t : 10320-5-0-008 MR-JCCBLUM-H Refer to (2) in this section. Standard encoder MR-JHSCBLOM-L %rvo amplitier side connector cable Refer to (2) in this :3M or equivalent) section. annector: 1020-3OOOVE Shell kit: 10320-52FO-008 Long flexing life MR-JHSCBLOM-H encoder cable Refer to (2) in this section. IP65compliant MR-ENCBLOM-H jervo a m p u e r side connector encoder cable Refer to (2) in this :3M or equivalent) section. knnector: 1020-3OOOVE Shell kit: 10320-52F0-008 Amlication Encoder side connector (3M or equivalent) Housing : 1-172161-9 Connector pin : 170363-1 Standard flesing life Long flesing life 7 Encoder side connector (Japan Aviation Electronics) Connector: MS3106B20-29S Cable clamp: &IS-3057-124 Standard flexing Me Long flexing life Encoder side connector (DDk? Connector Long flexing life : MS3106A20-29S(Dl90 IF'65 Cable clamp compliant : CE3057-12A-3(D265 Back shell: (2302-20BS-S Encoder connector MRJZCNM set jervo a m p u e r side connector :3Mor equivalent) knnector: 1020-300OVE Shell kit: 10320-52F0-008 Encoder side connector (3M or equivalent) Housing 1-172161-9 Pin : 170363-1 Cable clamp: "TI-0002 IP44 compliant Encoder connector MRJ2CNS jet krvo ampMer side connector 3M or equivalent) hnnector: 1020-3ooOVE Shell h t : 10320-52FO-008 Encoder side connector (Japan Aviation Electronics) Connector: MS3106B20-29S Cable clamp: MS-3057-12A P44 :ompliant D Encoder connector MR-ENCNS jet krvo a m p u e r side connector 3M or equivalent) h n e c t o r : 1020-3000VE ;hell h t : 10320-52FO-008 all Encoder side connector (DDK) P65 Connector: MS3106A20-29S0190) :ompliant Cable clamp: CE3057-12.4-3 (D265) Back shell: CE02-20W-S a 14. OPTIONS AND AUXILIARY EQUIPMENT Product No. 9) Control signal connector set Model MR-JZCN 1 Junction terminal MR-JZTBL05M block cable Refer to (3) in this section. 10) Junction terminal MR-TBPO 13) Maintenance junction card Communication cable Jz- Communication 3M or equivalent Connector: 1020-3OOOVE Shell kit: 10320-52FO-008 MRJZCNSTM /Refer to Section 14.1.4. For maintenance junction card connection I Personal computer side connector (Honda Tsushin) Connector: GM-2SLM For COM€&On with PC-98 WC) personal computer MR-CPCATCBLSM Servo amplifier side connector Refer to (5) in this (3M or equivalent) ;ection. Connector: 1020-3OOOVE Shell kit: 10320-52FO-008 Personalcomputerside connector (Honda Tsushin) Connector: GM-9LM For connection with PC-ATcompatible personal computer rn-PWCF Power supply connector set KR-PWCNS1 lconnector set -I-19) 1 s t 3-34 or equivalent Connector: 1020-3OOOVE Shell kit: 10320-52F0-008 MR-CPC98CBL3M Servo ampl5er side connector Refer to (5) in this equivalent) (3M or section. Connector: 1020-3OOOVE Shell kit: 1032042FO-008 Power supply connector set Brake connector I IRefer to Section 14.1.5. MR-JZHBUSOM Refer to (4) in this section. MR.-PWCNSZ 18) Description Application Servo ampMer side connector (3M or equivalent) Connector: 1020-3OOOVE Qty: 2 each Shell !at: 10320-52FO-008 Junction termmal block side Servo ampMer side connector For junction connector @hose Electric) (3Mequivalent) or terminal Connector: HIF3BA-20D-2.54R Connector: 1020-3OOOVE block Shell h t : 10320-52F0-008 connection CIR-BKCN Connector: CEOS-GAlQS-PSD-B(DDM Cable connector:YS014-9-l1(DaiwaDengyo) 40 a a Connector: CE05-6A22-23SD-B-BSS Cable clamp:CE3057-12A-3(D265) (DDM Connector: CEO5-6A22-10SD-B-BSS Cable clamp: CE3057-16-44 (D265) (DDM Plug: MS3106A10SL4S (D190) (DDh3 Cable connector: YS010-5-8(Daiwa Dengyo) 14- 7 compliant 1r;ltandard -compliant IP65 compliant EN Standard compliant IP65 compliant EN Standard -compliant IP65 compliant EN Standard 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable I If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation or explosion may occur. Generally use the encoder cable avadableas our options. If the required length is not foundin the options, fabricate thecable on the customer side. (a) Selection The following table lists the encoder cablesfor use with theservo motors. Choose the appropriateencoder cable accordmg to your operating conhtions.The connector sets arealso avadable for your fabrication. Standard Encoder Cable Servo Motor Model HC-MF-UE HC-FF HC-UF H-k-FFO C-UE HC-SF I Connector Set Use forE W L Standard (Note 1) Model life IP65 compliance Long Rexing IP65 compliance MRJCCBLUM-L 0 X X MRJCCBLOM-H 0 0 X MR-JHSCBLDM-L 0 X X MR-JHSCBLOM-H 0 0 X IMR-ENCBLOM-H I MR-J2CNM X MRJBCNS X 0 Note: 1.13 indicates the cable length 2,5,10,20, Wm). 2. Ifthe IP65compliant option is used with the HA-FFOCUE,the p r o M o n system (TPN)of the servo motor is not improved (b) MRJCCBLOM-LMR-JCCBLUM-H 1)Model explanation Model: MR-JCCBLOM-13 Standard flexing life Symbol 2 5 10 20 30 Cable Length [m] 2 5 10 20 30 2) Connection & g r a m For the pin assignment on the servo a m p E e r side, referto Section 3.2.2. Encoder cable supplied to servo motor Servo amplifier Encoder connectorII,' Encoder cable :" i ' (option or fabricated) servomotor 7 CN29-w 30cm 1 Encoder connector 172161 -9 (AMP) r! n ' MDR CONT MR ~ M R R BAT MD 14- 8 _. . -- . . . _- Model 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBUM-L MR-JCCBL5M-L MR-JCCBUM-H MR-JCCBL5M-H Servo amplifier side Encoder side MR-JCCBL1OM-L MR-JCCBL20M-L MR-JCCBL30M-L Servo amplifier side P5 P5 LG P5 LG 19 11 20 12 LG LG P5 LG P5 LG MR MRG MD MDR BT LG MR MRF MD MDF BT LG 7 17 6 16 9 P5 SD Servo amplifier side Encoder side P5 LG P5 LG P5 LG qa 2 SD I Encoder side MR-JCCBL1OM-H MR-JCCBL20M-H MR-JCCBWOM-H 1 MR MRG MD MDR BT LrG Plate SD I When fabricating an encoder cable, use the recommended wires given in Section 14.2.1 and the MRJBCNM connector set for encoder cable fabrication, and fabricate a n encoder cable as shown in the following wiring dagram. Referring to this wiring diagram, you can fabricate an encoder cable of up to 50m length includmg the lengthof the encoder cable supplied to the servo motor. Refer to Section 14.2.8 and choose the encode side connector according to the servo motor installation environment. For use of AWG24 Servo amplifier side (3M) Encoder side P5 LG P5 LG P5 LG For use of AWG22 Servo amplifier side (3M) Encoder side P5 LG P5 LG P5 LG 3 MR MRR 1 BT LG 3 BT LG SD 3 SD MR MRF 2 - 14- 9 14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-JHSCBLOM-L * MR-JHSCBLOM-H MR-ENCBLOM-H 1)Model explanation a Model: MR-JHSCBLnM-• T T Standard flexing life Model: MR-ENCBLn M-H - - Long flexing life 1 2 2 1 I 2) Connection d.mgram For thepin assignment on the servo a m p u e r side, refer to Section 3.2.2. 14- 10 . ... . . -- 14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBL5M-L MR-JHSCBLZM-H MR-JHSCBL5M-H MR-ENCBL2M-H MR-ENCBL5M-H Servo amplifier side Encoder side P5 19 LG 11 P5 20 LG 12 MR 7 MRR 17 P5 18 LG 2 BT 9 LG 1 MR-JHSCBLl OM-L MR-JHSCBL20M-L MR-JHSCBLSOM-H Servo amplifier side P5 LG P5 LG P5 LG - MR-JHSCBLlOM-H MR-JHSCBL20M-H MR-JHSCBL30M-H MR-ENCBLIOM-H MR-ENCBL20M-H MR-ENCBL30M-H Encoder side Servo amplifier side Encoder side 19 11 20 12 18 2 S P5 LG P5 LG P5 LG R C D MR 7 MRR 17 MR MRf BT LG BT LG F SD SD N SD (Note) Use of AWG24 (Less than 10m) Note: AWG28 c a n be used for 5m or less. Use of AWG22 (1Om to 50m) G Use of AWG24 (1Om to 50m) When fabricatingan encoder cable, use the recommended wires given in Sectzon 14.2.1 and the MRJSCNS connector set for encoder cable fabrication, and fabricate an encoder cable in accordance with the opbonal encoder cable wiring hagram given in t h s section. You can fabricate an encoder cable of up to 50m length. Refer to Chapter 3 of the servo motor instruction guide and choose the encode side connector accordmg to the servo motor installation environment. 1 4 - 11 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Junction terminal block cable(MR-J2TBL05M) Model: MR-9TBLOSM T Cable length: 0.5(m] Junction terminal block side connector (Hirose Electric) HIF38A-20D-2.54R (connector) .dBlock Terminal No.' Servo amplifier side (CNIA.CN1) connector (3M) 1020-3000VE (connector) 10320-52F0-008 (shell kit) N Note: The labels are designed for position control mode. Since the signals change with parameter setting and control mode, use the accessory signal seals to change the signal symbols. 14- 12 - L___. 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable (MR-J2HBUSOM) Model: MR-J~HBUSOM 1- T Cable length [rn] Symbol MRJ2HBUSO5M MRJ2HBUSl M MRJ2HBUS5M 10120-6000VE (connector) 10320-3210-000 (shell kit) 10120-6000VE (connector) 10320-3210-000 (shell kit) 1 4 - 13 14. OPTIONS AND AUXILIARY EQUIPMENT - (5)Communication cable F 'Ilxs cable may not be used with some personal computers. After fully examining the signalsof the RS-232C connector, refer to t h s section and fabricate the cable. Select the communication cable accordmg to the shapeof the FS232Cconnector of the personal computer used. When fabricating the cable, refer to the connebon dagram in t b section. The following must be observed in fabrication: * Always use a shelded, multi-core cable and connect the shield with FG securely. * The optional communication cable is 3m (10 f t )long. When the cable is fabricated, its maximum length is 15m (49ft) in offices of good environment with minimalnoise. Connection dagram . MR-CPC98CBUM Personal computer SD RD SG RS . MR-CPCATCBWM side Servo amplifier side FG RXD GND TXD GND cs Hatf-pitch 20 pins Personal computer TXD RXD GND RTS CTS DSR DTR DSUB9 pins side Servo amplifier side FG RXD GND TXD GND Half-pitch 20 pins Note: The PC98 Notes having the connector of half-pitch 14 pins are also avadable. C0n.h-mthe shape of the Rs-232C connector of the personal computer used. 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 Junction terminal block(MR-TB20) (1) How to use the junction terminalblock Always use the junction terminal block (MR-TB20)with the junction terminal block cable (MR-JBTBLO5M)as a set. A connection example is shown below: Sarvo amplifier Cable damp IAERSBAN-ESET) Junction terminal bloc MR-TBZO . (MRdTBL05M) Ground the junction terminal block cable onthe junction terminal block sidewith the standard accessory cable clamp fitting (AERSBAN-ESET).For the use of the cable clampfitting, refer to (3), Section 14.2.6 (2) Terminal labels The junction terminal block is supplied with five terminal block labels which inhcate signal assignment. Among these labels, use the two for MRJ2-C. When changing the input signals on the Servo Coniiguration Software, refer to Section 14.1.2 (3) and Section 3.2.2 and apply the accessory signalseals to the labels. 2) For CNI B 1) For C N l A (3) Outline drawing 6 2-04.5(0.18) 2 I n 1 [unit mrn] ([unit m.J) \ rminal screw: M3.5 ~ '' Il S O ;' 0c ~ 107(4.21) 117(4.61) 126(4.96) 4 (m(m) ' ~ * c 1 4 - 15 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Maintenance junction card (MR-J2CN3TM) (1) Usage The maintenance junction card (MR-JZCN3TM) is designed for use when a personal computer and analog monitor outputs are used at the same time. Servo amplifier . . Communication cable MRJZHBUSOM (2) Connection diagram TEl .Not used in MRJZ-C. (3) Outline drawing [Unit mm] ([unit in]) 88(3.47) I, 41 4 1 . 6 3 ) J Weght llOg(0.241b) 14- 16 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.5 External digital display(MR-DPGO) (1) Specifications I Specifications Item I Red seven-segmentLED,signed, six k t s Display Power supply ~ ~ Communication Permissible voltage fluctuation Single phase, 86 to 253VAC, 5016OHz Current consumption Within 20011~4 Interface to RS-4224. CO~OITIE Baudrate 4800bps, asynchronous Bit length Startbit=l, Protocol MELSERVO protocol Commands dedicated to MELSERVO 0°C to + 60"C, 9O%RH or less, non-condensing -5°C to + 70°C Communication commands Operating temperature/ humidity range 1 Storage temperature range 1 I date bit=8, parity b i e l , stop bit=l (2) Connection example NFB Power supply 200 to 230VAC MC 4 - (3) Terminal arrangement Description Signal 1 IGround RXD FXD Receive signal input Inverse receive simal inuut 5vDc output (Note) Note: The 5VDC output is designed for the internalcontrol circuit and used to make a voltage check etc. Do not use this terminal to supply avoltage to the other equipment. 14- 17 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: rnm (in)] Inside mounting Front mounting I I --~ 141(5.55) +- 150(5.91) * t 8 95(3.74) 150(5.91) -----t 4 /’ (5) Outline dimension drawing [Unit:mm (in)] 1 4 - 18 - - . .... 14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.6 Manual pulse generator (MR-HDPO1) (1) Specifications Item Power supply Voltage Current consumption 1 Interface Pulse signal form Pulse resolution Max. speed Operating temperature range Storage temperature range Speafimtions 4.5 to 13.2VDC 6 0 d max. Output current m a . 2 M for open collectoroutput 2 A-phase and B-phase signals with 90"phase difference loop I rev Instantaneous max. 6oor/min, ordinary 20Orlmi.n -10°C to 6 0 ° C -30°C to +80°C (2) Connection example Manual pulsegenerator MR-HDPOl Use an external power supply to supply powerto the manual pulse generator. (3) Terminal arrangement +5 to Signal Name Description +5 to 12V Power inmt 1 4 - 19 14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting (5) Outline dimension drawing [Unit: mm(in)] 3.6(0.142) +t e @ l 783 27.0 , 8.89 b ' l 1 ( o r - 1 3 X ~ 6 7.6(0.299) -. 14.1.7 Battery (MR-BAT, AGBAT) Use the battery to budd an absolute position detection system. 14- 20 . . .. ..- may only be used. 14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Auxiliary Equipment Always use the devices inbcated in t h s section or equivalent. To comply with theEN Standard orWC-UL Standard, use the products whch conform to the correspondmg standard. 14.2.1 Recommended wires (1) Wires for power supply wiring The following hagram showsthe wires usedfor wiring. Use the wiresgiven in t h s section or equivalent. 3) Motor power supply lead 1) Main circuit power supply lead Power supply \ Servo amplifier Servo motor W Motor P, i" 1 2) Controfiower supply lead R e p v e brake E n 7 I 5) Electromagnetic brake lead I / I A,' I II \ ~ \i C ------. ElectroB1 magnetic 82 brake ------. Encoder P '\ J Encoder cable (refer to Section 14.1.2) 4)'Regenerative brake option lead The following table lists wire sizes. The wires usedassume that they are 600V vinyl wires and the wiring &stance is 30m max. If the wiring &stance is over 3Om, choose the wire size in consideration of voltage drop. The alphabets(a, b) in the tablecorrespond to the crimping terminals (Table 14.2) used to wire the servo ampEer. For connection with the terminalblock TE2 of the MR-J2-lOOC or less, referto Section 3.7. The servomotor side connectionmethod depends on the type and capacity of the servo motor.Refer to Section 3.3. Table 14.1 Recommended Wires wires [mm? Servo Amplifier -\ I)Ll.L2.L3 2)L11.L21 3)U.V.W. & 4)P.C 5) B1 . B2 MRJ2-1OC-S100 MRJ2-20C-S100 1.25 (AWG16) : a 2 (AWG14) : a 1.25 (AWG16) 2 (AWG14) : a MRJ2-100c-s100 2 (AWG14) : a IVlR-J2-200C-S100 3.5 (-4WG12) b MRJ2-35OC-S100 5.5 (AWG10) : b 5.5 (AWG10) : b 3.5 (AWG12) : b 1 4 - 21 . 1.25 (AWG16) 14. OPTIONS AND AUXILIARY EQUIPMENT Note: For the crimping terminals and applicable tools, see thefollowing table: Table 14.2 Recommended Crimping Terminals Servo Amplifier Side Crimping Terminals (AMP) Symbol l a I Crimping terminal 1 Applicable tool I 32959 I 47387 (2) Wires for cables When fabricatinga cable, use the wire models given in the following table or equivalent: Table 14.3 Wres for Standard Encoder Cables I . Core See 1 Number of Cores 11 Core Insulation Sheath Outlined , .,... I 1 Cable Type I Standard encoder cable 0.08 UL20276AWG28 ipair @LAC) 14 (7 pairs) Communication cable UL20276AWG28 lopair @L4C) I 0.08 UL20276AWG24 7pair@LAC) 0.2 UL20276AWG22 ipair @ L A C ) 0.3 I 0.9-1.25 20 (10 pairs) I Cable Model MR-JCCBLOM-L MRJHSCBLOM-L MR-CPC98CBLOM MR-CPCATCBLOM IMR-JZHBUSOM Bus cable MR-JCCBLOM-L MR-JHSCBLOM-L MR-JCCBLOM-L Standard encoder cable MRJHSCBLOM-L Standard encoder cable 14 (7 pairs) Note: d is as shown below Conductor Insulation sheath Table 14.4 Wires for Long Flexing Life Encoder Cables Characteristics of 1 Core Junkosha's Wre Model Core Size [mm7 Number of Cores Structure [Number of wires/mrn] Conductor re sistance Cable Type Cable Model [ M I Long flexing Life MR-JCCBLOM-H Am-JHSCBLOM-H Vote) A14B2343 40/0.08 compliant encode MR-ENCBLOM-H r cable Note: Purchased from Toa El&c Ind- 1 4 - 22 -. . 14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.2 No-fuse breakers, fuses,magnetic contactors Magnetic Contactor (MR-J2-35OGS100 1 h F 3 0 type 30.4 I NON-TOor OT70 I K5 I I S-N20 70 Note : The NON ssries is of Buss make andthe OT series is Gould make. 14.2.3 Power factor improving reactors FR-BAL w Servo arnplitier x 7- NFB -T- L F mounting screw Terminal block 200 3-phase to 2 AC 3 0 1 - i - e 5 L2 1 L3 ------oo------o FR-BAL ....... Servo amplitier I I , - A Single-phase AC 230V S’ p----D I 14.2.4 Relays The following relays should be used with the interfaces: interface Relay used especially for switching on-off analog input command and input command (interface DI-1) signals To prevent defective contacts, use a relay for s m d signal %lay used for &gib1output signals (interface DO-1) Small relay with1 2 W C or 24VDC of 4 0 d or less Selection Example (twin contacts). (Es.)OMRON : type GL4 , MY 1 4 - 23 14. OPTIONS AND AUXILIARY EQUIPMENT ~ ~~~ ~~ 14.2.5 Surge absorbers A surge absorber is required for the electromagnetic brake.Use the following surge absorber or equivalent. Insulate thewiring as shown in thedagram. Maximum Rating Permissible arcuit voltage ACpma] 140 DCM 180 Energy Surge imrnunrty immunrty Rated power [AI [Jl WI (Now 5OOItime 5 0.4 Maximum Limit Voltage static Capacrty (Reference value) [-41 PI bF7 25 360 300 Varistor Voltage Rating (Range)V I mA M 220 (198-242) Note: 1time = 8 x Z O p (Example) ERZWOD221 (Matswhita Ekcbic) TNR-12G22lK (Marcon Ekc@onics) Outline drawing [mm] ( Dn] ) (ERZ-ClODK221) 13.5 (0.53) M 4.7k1.0(0.19*0.04) - Crimping terminal 14.2.6 Noise reduction techniques Noises are classfied into external noises whch enterthe servo amphfier to cause it to malfunction and those rahated by the servo a m p a e r to cause peripheraldevices to malfunction. Since the servo amphfieris an electronic device whch handles small signals, the following general noise reduction techmques are required. Also, the servo ampldiercan be a sauce of noise as its outputs are chopped by h g h carrier hquencies.If peripheral devices malfunction due to noises produced by the servo a m p a e r , noise suppression measures must be taken. The measures will vary shghtly with the routes of noise transmission. 1) General reduction techniques .Avoid laying powerh e s (input and outputcables) and signalcables side by side ordo not bundle them together. Separate power h e s &om signal cables. *Useshielded, twistedpair cables for connectionwith theencoder and for control signal transmission, and connect the sheldto the SD terminal. .Ground theservo amphiier, servo motor,etc. together a t one point (referto Section 3.6). 2) Fkduction techmquesfor external noises that cause the servo amphiierto malfunction If there arenoise sources (suchas a magnetic contactor, a n electromagnetic brake, and many relays whch make a large amountof noise) near theservo ampfier and the servo ampldier may malfunction, the following countermeasures are required. *Providesurge absorbers on the noise sources to suppress noises. -Attach datah e flters to the signal cables. *Ground the shelds of the encoder connecting cableand thecontrol signal cables withcable clamp fittings. 1 4 - 24 - 14. OPTIONS AND AUXILIARY EQUIPMENT 4)Techmques for noises r a d a t e d by the servo amphi5er that cause peripheral devices to malfunction Noises produced by the servoa m p a e r are classfied into those rahated from the cables connected to the servo amphfier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheraldevices located near themain circuit cables, and those transmitted through the power supply cables. Noise radiated directly frwn = N O amplifier in the air ...Route 1) Noise radiatedfrom the powersupply cabk I I I I 'I' 1 4 - 25 I ...Route 2) I 14. OPTIONS AND AUXILIARY EQUIPMENT Noise Transmission Route 7 8) Suppresson Techniques When measuring instruments,receivers, sensors, etc. whch handle weak signals and may malfunction due to noise and/or their signalcables are contained in a control box together with the servoa m p u e r or run near theservo amplifier. such devices may malfunction due to noises transmitted through theair. The following techniques are required. (1)Provide maximum clearancebetween easily affected devices and theservo amplifier. (2) Provide maximum clearancebetween easily affected signal cablesand the I/O cables of the servo amplifier. (3) Avoid laying the power lines (TI0cables of the servo amphlier) and signalcables side by side or bundling them together. (4)Insert a h e noise iilter to the I/O cables or a ra&o noise filter on the inputh e . (5) Use shieldedwires for signal andpower cables or putcables in separate metalconduits. When thepower lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static inductionnoise will be transmitted through the signalcables and malfunction OCCUT. The following techniques are required. (1) Provide maximum clearancebetween easily affected devices and the servo amplifier. (2) Provide maximum clearancebetween easily affected signal cables and the 1/0cables of the servo amplifier. (3) Avoid laying the power lines(I/O cables of the servo amplifier) and signalcables side by side or bundling them together. (4)Use shielded wires for signal andpower cables or put thecables in separate metal conduits. When thepower supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through thepower supply cable and thedevices may malfunction. The following techniques are required. (1)Insert the radio noise filter (FR-BIF) on the power cables cr/O cables) of the servo amplifier. (2)Insert theline noise ater (FR-BSFO1) on the power cables of the servo ampMer. When thecables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current mayflow to malfunction the peripheraldevices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device. (1) Data line filter Noise can be prevented by instabng a data h e filter onto the encoder cable, etc. Example: Data h e filter: ZCAT3035-1330 [n>K] ESD-SR-25 [Tokin] Impedance spedcations (ZCAT3035-1330) [unit The above impedances are reference values and not guaranteed values. Outline drawing (ZCAT3035-1330) 1 4 - 26 - - . mn]([unit in]) 14. OPTIONS AND AUXILIARY EQUIPMENT (3) Surge suppressor The recommended surge suppressorfor installation to a n AC relay, AC valve, AC electromagnetic brake or the hke near theservo a m p u e r is shown below. Use t h s product or equivalent. =-E! MS Surge suppressor This Surge (within distance suppressor 20cm(0.79 should be in.)).short Surge suppressor (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd.-2OOVACrating) Outline Drawing [Unit: mm] ([Unit: in.]) Rated Voltage C bFl 200 0.5 R [Q] Test VoltageA C M 50 Across T-C lOOO(1-5s) Vinyl sheath 18+1.5 (0.71*0.06) Blue v i n y l cord (1W) (0.39 (0.39 01 more (1.89tO.06) Note that a &ode should be installed to a DC relay, DC valve or the hke. Maximum voltage: Not less than 4 times thedrive voltage of the relay or the hke Maximum current: Not less than twice the dnve currentof the relay or the &e OT more + p-a (4) Cable clamp fitting (AERSBAN-OSET) Generally, the earthof the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to a n earth plate as shown below. Install the earth plate near theservo amphfier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and pressthat partagainst the earthplate with thecable clamp. If the cable is thm, clamp several cables in a bunch. The clamp comes as a set with the earthplate. Sripthe cable sheath of athe clamped area. Chmp section diagram 1 4 - 27 14. OPTIONS AND AUXILIARY EQUIPMENT * O u t h e drawing [vnk mm] ([Unit in.]) Ea& piate 245(0.20) hole lnstarlaaon nole \ Clamp section diagram 17.5(0.69) Note:Screw hole for gramding. Comect it to the earth plate ofthe control box -4EFSBAN-DSET AERSBAN-ESET loo 86 30 (3.93) 70 (3.39) 56 (1.18) (2.76) (2.20) - clarnpk 2 p c ~ . (2.76) clamp B: lpc. (1.77) 1 4 - 28 ..- ... 14. OPTIONS AND AUXILIARY EQUIPMENT (5) Line noise filter FR-BLF, FR-BSFO1) m s Wter is e ective in suppressing noises rahated from the power supply sideand outputside of the servo ampmer andalso in suppressing hgh-frequency leakage current (zero-phase current) especially w i t h 0.5MHz to 5MHz band. d, Connection Diagram . Wind the Outline Drawing [Unit:mrn] ([Unit: in.]) FR-BLF(MRJ2-350C) three-phasewires by the equal number of times in the same direction, and connect the filter to the power supply side and output side of the servo amplifier. . The effect of the filter on the power supply side is hgher as the number of winds is larger. The numberof turns is generally four. On the outputside, the number of turns must be four or less. iote 1:Do not wind the groundmg wire together with the three-phase -ires. The filter effect wdl d m . Use special caution when a fourcore cable is used Use a separate wire for grounding. iote 2: Ifthe wires a n too thick to be wound, use two or more filters and the numberof tums should be as mentioned above. Example 1 FR-BSFOl(for MRJ2-200C 01 l e s s ) NFB LTl $33 (1.3) Two filters are used (Total number of turns: 4) (6)Radio noise filter (FR-BIF) ...for the input sideonly l b s filter is effective in suppressing noises rahated fi-om the power supply sideof the servo amplilier e s p e c d y in lOMHz and lower r a h o frequency bands. The FR-BIF is designed for the input only. Connedon Diagram Make the connection cables as short as p o s s i b l e . Grounding k a h y s required. Servo amplifier NFB - $' Outline Drawing (Unit:rnm) ([unit: in.]) Leakage cursent 4mA Red WhiteBlue Green c9 Y 0 - 0 0 3 0 9 _o Radii noise filter FR-BIF 1 4 - 29 14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contentsare larger than thoseof the motorw h c h is run with a commercial power supply. Select a leakage current breaker accordmg to the following formula, and ground the servo ampMer, servomotor, etc. securely. Make the input and output cables as short as possible, and also make the groundmgcable a s long as possible (about 30cm (11.8 i n))to minimize leakage currents. Rated sensitivity current2 10 * (Igl+Ign+Iga+K * (IgZ+Igm)] [ d l---- - (14.2) * Ii: Constant considering the harmonic contents Ca bk Leakage current breaker w amplifier K Mitsubishi products TYpe Models provided with harmonic and reduction techniques NV-SF NV-CF 1 NV-CA Nv-cs General models Igl: Ig2: Ign: Iga: Igm: 3 Leakage current on the electric channel h m the leakage current breaker to the input of the servo ampldier (Found fromFig. 14.1.) Leakage current on the electric channel h m the outputterminals of the servo ampMer motor (Found from Fig. 14.1.) Leakage current whena Bter is connected to the inputside (4.41~4per one FR-BIF) Leakage current of the servo ampldier(Found from Table 14.6.) Leakage current of the servo motm(Found from Table 14.5.) Table 14.5 Servo Motor's Leakage Current Example (Igm) Servo Motor Leakage Current Output Fwl [MI 0.05 to 0.5 0.6 to 1.0 1.2 to 2.2 3 to 3.5 0.1 0.1 0.2 0.3 servo Table 14.6 Servo Amplifier's Leakage Current Example (Iga) Servo Amplifier Leakage Current Capauty FWI [MI 0.1 to 0.6 0.1 0.7 to 3.5 0.15 Table 14.7 Leakage Circuit Breaker Seledon Example Cabk sbe[mm] Fig. 14.1 Leakage Current Example (lgl, 192) for CV Cable Run in Metal Conduit Servo Amplifier Rated Sensitivity Current of Leakage Circurt Breaker MR-J2-10C to MRJ2-35OC 15 [m4] 14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indxated below is an example of selecting a leakage current breaker under the following conhtions: 2rnmx5m 2rnmx5rn c c 4 NV r-----7 Servo ampCifier MR-Z-6OC - IC1 - - Isa 1i2 I@n Use a leakage current breaker generally avdable. Find the terms of Equation (14.2) from the hagram: * 5 = 0.1 [ d l 1000 Ig2=20. 5 =0.1 [mA] Igl = 20 1000 Ign = 0 (not used) Iga = 0.1 [ d l Igm = 0.1 [mA] Insert these values in Equation (14.2): - Ig 1 10 {0.1+0+0.1+3 (0.1+0.1)) 2 8.5 [mA] Accordmg to the result of calculation, use a leakage current breaker having the ratedsensitivity current (rg) of 8 . 5 [ d ] or more. A leakage current breakerhaving Ig of 15[mA] is used with the NV-CA/CS/SS series. 1 4 - 31 14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.8 EMC filter For compliance with the EMC Directme of the EN Standard, it is recommended to use the following Bter: (1) Combination with the servo amplifier I I Servo AmDlifIer (Note) Recommended Filter r n J 2 - 1 0 C -1ooc-s1oo 1 Weiaht kal I 0.75 1.37 I SF1252 SF1253 (MRJ2-2OOC.350C-S100 I Note: POXBURGH make (2) Connection example EMC fitter NFB (Note 1) Power supply 3-Dhase 200 to 230VAC or single-phase _o 23OVAC 4 UNE r - -&TD Servo arnDlifier LOAD -, L,: rLj8 L3; :L3 T - L - Note: 1. There is no L3 for single-phase 230V. 2. Connect when the power supply has earth. (3) Outline drawing [Unit: rnrn(in)] SF1252 +- SF1253 149.5(5.886) c @6.0(0.236) 7 209.5(8.248) 4 c &.0(0.236) 7 D LINE [input side) LINE (input side) LOAD (output side) 15. CALCULATION METHODS FOR DESIGNING 15. CALCULATION METHODS FOR DESIGNING 15.1 Specification Symbol List The following symbols are required for selecting the proper servo: Ta : Acceleration torque @ m] : Friction coefficient Tb : Deceleration torque [N * m] : Circle ratio TMa 22 F' * ml acceleration : Servo motor torque necessary for . m] deceleration : Torque applied during servo motor stop [N. m] : Load torque converted into equivalent value on servo motor shaft : Load torque converted into equivalent value on servo motor shaft during stop : Unbalance torque : Load hction torque : Load torque on load shaft :Conhuous effective load torque converted into equivalent on servo motor shaft : Load inertia moment converted into equivalent value on servo motor shaft : Load inertia moment on load shaft : Servo motor's rotor inertia moment : Servo motorspeed : Servo motorspeed during fast feed : Load shaft speed during fast feed : Moving part speed : Moving part speed during fast feed : Ball screw lead : Number of gear teeth on servo motor shaft : Number of gear teeth on load gear n : Gear ratio Tm TLH TL Ttr TF m TllJlS JL JLO JM N NO NLO V vo PB z1 (3.14) : Number of feedback pulses in [pulsehev] position control mode : Input pulse bps: hquency in position control mode : Input pulse hquency during fast bps: feed in position control mode : Acceleration time constant of [SI kequency command in position control mode : Deceleration constant time [SI of pulse frequency command in position control : Position control gain 1 [rad/s] : Position control time constant flp=l/Kp) [SI : Speed control gain [rad/s] : Speed control time constant (Tv=~IKv) [SI : Command resolution LJdPulsel : Feed [=I : Number of internal command pulses [Pulse] : Internal settling time [SI : Positioning time [SI : Time at constant speed of servo [SI motor in 1cycle : Stopping in time 1 cycle [SI : Positioning accuracy [=I : Number droopof pulses [Pulse] : Load shaft rotation angle per pulse in position control mode [degredpulsel : Euler constant = 2.718278 : Feed per servo motor revolution [d=vI : Servo motor torque necessary for n=- ZZ z1 Speed reduced when ml, Speed increased when n<l : Dnve system efficiency g : Gravitational acceleration (9.8[mis7) 15- 1 15. CALCULATION METHODS FOR DESIGNING ~~ ~~~~ 15.2 Stopping Characteristics (1) Droop pulses(E) When a pulsetrain command is used to run the servo moter, there is a relationshpbetween the command pulse frequency and servo motor speed as shown in the figure.The Merence between the command pulses and feedback pulses during acceleration are called droop pulses, whch are accumulated in the servo ampUer's deviation counter. Equation 15.1 d e h e s a relationship between the command pulse frequency (0and position control gain 1(KP). Supposing that thevalue of position control gain 1is 70 [rad/s], the droop pulses duringoperation wdl be as follows a t the command pulse frequency of 200 h p s ] accordrng to Equation 15.1: PJ z c 0 5 v) (2) Settling time (ts)during linearacceleration/deceleration Since droop pulses stdl exist when there areno command pulses, s e t t h g time (ts)is required until the servo motor stops. Set theoperation pattern in consideration for the s e t t h g time. The ts value is obtained a m r d m g to Equation 15.2: tS=s-Tp =3 * 1 y [SI .............................................................................. (15.2) k P *When Kp=70 [rads], ts=0.04 [SI. (Refer to the above hagram.) The s e t t h g time (ts)inhcates the time requiredfor the servo motor to stop in the necessary positioning accuracy range. Thls does not always mean that theservo motor has stopped completely. Thus, especially when the servo motor is used in hgh-duty operation and positioning accuracy has no margin for travel per pulse ( A!), the value obtained by Equation 15.2 must be increased. t sw d vary with the moving part condtions. Especially when the load hction torque is large,movement may be unstable near the stopping position. 15- 2 - 15. CALCULATION METHODS FOR DESIGNING 15.3 Capacity Selection As a f i s t step, confirm the load conhtions andt e m p o r d y select the servo motor capacity. Then. determinethe operation pattern, calculate required torquesaccordmg to the following equakons, andcheck that the servo motor of the initially selected capacity may be used for operation . (1) Initial selection of servo motor capacity After calculating the load torque (TL) and load inertia moment(JL),select a servo motor whch wdl satisfy the following two relationshps: Servo motor's rated torque > TL Servo motor J M > JUm m=3 duty:High (more than 100 times/min.) S e t t h g time 4Oms or less m=5 : Wddle duty (60 to 100 timedmin.) Settling time 1OOms or less m=pennissible load inertia moment : Low duty (less than 60 timedmin.) Settling time more than lOOms Find theacceleration and deceleration torques and continuous effective load torque as described in (2) to make a final selection. For high-duty positioning, the JL value should be as small as possible. If positioning is d e q u e n t as in h e control, the J L value may be slightly largerthan in the above condkions. (3) Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in thefollowing operation pattern: C m n d 0 .................................................. (15.3) .................................................. - Deceleration torque ?b= (JL-Jm.No .L 9.55 x lo4 Tpsd (15.4) Accelerakon torque Ta= (JL- J m ,K O 9.55 x l o 3 .- 1 Tpsa 15- 3 15. CALCULATION METHODS FOR DESIGNING (4) Torques required for operation Torques requiredfor the servo motor are the hghest during acceleration. If any of the torques obtained with Equations 15.3 to 15.7 exceeds the maximum servo motor torque, the servo motor speed cannot be increased as commanded. C o d i n n that the calculated value is lower than theservo motor's maximum torque. Since a fnction load is normally applied during deceleration, only the acceleration torque needs to be considered. C m n d \ 0 Tl=TMa=Ta+ ............................................................................. T ~ T ..................................................................................... L T3=TMd=-Td+............................................................................ Note: In theregenerative mode, the value found by Equation 15.7 is negative. 15- 4 . -. (15.5) (15.6) 05.v 15. CALCULATION METHODS FOR DESIGNING (5) Continuous effective load torque If the torque required for the servo motor changes with time,the continuous effective loadtorque should be lower than the ratedtorque of the servo motor. There may be a servo motor torque delay at thestart of acceleration or deceleration due to a delayin the control system. To simphfy the calculation, however, it is assumed that constant acceleration and deceleration torques are applied during Tpsa and Tpsd. The following equation is used to calculate the continuous effective load torque in the following operation pattern: T t i r T r m s T2~a.Tpsa+T2L.tctT2Md.Tpsd-TZLH.tE tf I . ....... ........ .... ... ........ .......... .. ...(15.8) Note: TLH indcates the torqueapplied during aservo motor stop. A large torque may be applied especLally during a stop in vertical motion applications, and h must be fuUy taken into consideration.During vertical dnve, the unbalanced torque Tv dbecome TLH. 15- 5 15. CALCULATION METHODS FOR DESIGNING 15.4 Load Torque Equations Typical load torque equations are indxated below: Mechanism Eauation F TL= v- 2x103. x . q F.As ..................... (15.9) 2x103 . x . q &&E$g% rl Servo motor Linear Movement z1 TLO Rotary Movement 21 CCI., B M F : Force in the axial direction of the machine in h e a r motion M F in Equation 15.9 is obtamed with Equation 15.10 when the table is moved, for example, as shownin the left d i a g r a m . ,, F=FcT . (w . ...................................(15.10) + FG) Fc : Force applied in the axial direction of the moving part M FG : Tightening force of the table guide surface M W : Full weight of the moving part p g ] + -1, -1, T L j~TF nrl ................................... TF : Load fiction torque converted intoequivalent value on servo motor shaft w - m ] During& L * + y l ............................................ Servo motor :Q (15.11) Duringfall r.Tv.q2+~F (15.12) ........................................ (15.13) I'F : Friction torque of the moving part [N- m] Vertical Movement I + WZ Load rF= IJ ( W , + W , ) . g . ~ I + w1 ................................ 2x103 . x . q W1: Weight of load [kg] W2 : Weight of counterweight k g ] 15- 6 __... . . . . . -- (15.15) 15. CALCULATION METHODS FOR DESIGNING 15.5 Load Inertia Moment Equations Typical load inertia moment equations are indxatedbelow: Equation Mechanism Tv~e -D$)=-.(D:+D$) ................. (15.16) x . p . L . (Df Jm=Axis of rotation is on the cylinder center p L DI D2 W Reference data: material density Iron : 7.8 X kgicm? ~ l u m i n u m : 2.7 X kgicm? : 8.96 X lo3&g/cmq Copper T Cylinder 32 : Cylinder material density P.g/cm3] : Cylinder length [cm] : Cylinder outside diameter [cm] : Cylinder inside diameter [cm] : Cylinder weight kg] Axis of rotation Axis of rotation isoff the cylinder center JLo=-.W (D2+8R2) 8 R &-g$p Jm=W. Square block Ax6 of rotation Object which moves linearly Converted load 4?, ............................... V : Speed of object moving linearly JGW motor y + R 2 ) : Square block weight &g] (15.18) : Left diagram [ c m ] [dmin] : Moving distance of object moving linearlyper servo motor revolution [ d r e v ] : Object weight kg] As &em [ W a, b, R W Object that is hung withpulley ................................... (15.17) . (SI 2 + Jp .................................... JP D : Pulley ineAa moment k g . W : Object weight 5.4. JB : Pulley ern? diameter [cm] kg] : Inertia moments of loads A, B k g JIIto 531 : 1nerb.a moments p g . cmq N1 to N3 : Speed of each shaft [rimin] 15- 7 . cmq (15.20) 15. CALCULATION METHODS FOR DESIGNING 15.6 Precautions for Zeroing When a general positioning unit isused, the sequence of events is as shown in Fig. 15.1. /zeroing speed Deceleration started by actuator signal Creep speed Vz V (*-tor signal zero putse signal u u I ONf U OFF U 4 When detenniningthe ON duration of the actuator, consider the deceleration time so that the speed reaches the creep speed. Considering the variations dthe actuator signal, adjustthe actuator so that it switches off near the center of the High ofthe zempulse signal. Fig 15.1 Zeroing Using the Actuator (1)When determiningthe ON duration of the actuator,consider the delay time of the control section and the deceleration time so that thecreep speed is attained. If the actuatorsignal switches off during deceleration, precise home position return cannot be performed. Travel distanceL1 in the chartcan be obtained by Equation 15.22 LIZ-1 60 . VI . t, + __ 1 120 . V, . td. . .V, . T, ................................... (15.22) ON duration of the actuatorLD [mm] must be longer than L1 obtained by Equation 15.22, as indxatedi n Equation 15.23 L,,L,.................................................................................. (15.23) where, V,,V, :As shown in the chart [mdmin] tl,td : As shown in the chart [s] L, : As shown in the chart [mm] & : As shown in the chart [mm] 15- 8 15. CALCULATION METHODS FOR DESIGNING (2) Set the end (OFF position) of the actuator signalat themiddle of two ON positions (Lows) of the zero pulse signal. If it is set near eitherON position of the zero pulse signal.the positioning unit is liable to misdetect the zero pulse signal. In ths case, a fault wdl occur. e.g. the home position wlll shdt by one revolution of the servo motor. The zero pulse output position canbe confirmed by OP (encoder Z-phase pulse) on the externalI/O signal &splay. 15.7 Selection Example I Machine specifications I Speed ofmoving part during fast feed Command resolution Travel Positioning bme Number of feeds Operation Gear ratio Moving part weight Drive system efficiency Friction coefficient Ball screw lead Ball screw diameter Ball screw length Gear diameter (servo motor) Gear diameter (load shaft) Gear fixe width FL [ratk5:8 amplifier vo = 30000[dmin] Al = 10bm] e = 400 [mm] to =within l[s] tf n = 1.5[s] W = 6OPgJ = 0.8 = 0.2 = 16[mm] 40[times/minl rl P pb = 815 20[=1 500[mm] 25[=1 40[=1 10[mml (1) Selection of control parameters Setting of electronic gear (command pulse multiplication numerator, denominator) There is the following relationshp between the multiplication setting and travel per pulse At. ae = (ball screw lead) 8192 x (gear ration) x CMX (m) When theabove m a c b g spedcations are substituted in the above equation: CMX = l o . CDV 8192,815 - -8192 16x 1000 1000 Acceptable as C W C D V is w i t h 1/20 to 20. 15- 9 15. CALCULATION METHODS FOR DESIGNING (3) Acceleration/decelertion time constant E Tpsa = T p s d = to- --ts = 0.05[s] VOt 60 *ts:s e t t h g time.(Here, ths is assumed to be 0.15s.) (4) Operation pattern T (5) Load torque (converted into equivalent value on servo motor shaft) Travel per servo motor revolution For gravitationalsystem of units 1 5 - 10 15. CALCULATION METHODS FOR DESIGNING (6) Load inertia moment (converted into equivalent valueservo on motor shaft) Moving part Ball screw - *p = 7.8 x lO-'@g cm3] Gear (servo motor shaft) J L ~ n=' p ' L * D 4 = 0 . 0 3 ~ g . c m 2 ] ~ 32 Gear (load shaft) Full load inertia moment(converted into equivalent value on servo motor shaft) JL=JLI+ JL2 + J L+~JL?= 1.9kg * cm2] I For gravitational systemof units GD2=4*J=7.6[kgf;fcmy I (7) Temporary seledon of servo motor Selection conhtions 1) Load torque c servo motor'srated torque 2) Full load inertia moment < 10 x servo motor inertia moment From theabove, the HC-MF23 (200W) is temporanly selected. (8) Acceleration and deceleration torques Torque requiredfor servo motorduring acceleration m a= (JL+ J M ) . N o + = 1 . 7 ~m] . 9 . 5 5 ~ 1 .Tpsa 0~ For gravitational systemof units Torque requiredfor servo motorduring deceleration F o r gravitational systemof units I The torque requiredfor the servo motor during deceleration mustbe lower than the servomotor's maximum torque.I 1 5 - 11 15. CALCULATION METHODS FOR DESIGNING (9) Continuous effectiveload torque Trms = Tia tc - T& T p s a TT : . Tpsd = 0.41m tf m] For gravitational system of units IThe continuous effective loadtorque mustbe lower than theservo motor's rated torque. (10) Torque pattern 1.7 [N.mI 0.23 I- -1.2 I I 1.5 (11) Selection results The HC-MF23 servo motor and MRJ2-2OC servo amphlier areselected. 1)Electronic gear setting 2) During rapidfeed Servo motor speed NO= 3000 [r/min] 3) Acceleratioddeceleration time constant Tpsa = Tpsd = 0.05[~] 1 5 - 12