Download Mitsubishi Melservo-J2-JR SERIES Instruction manual
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0 Safety Instructions (Always read these instructions beforeusing the equipment.) Do not attempt to 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 a full knowledge of the equipment, safety information and instructions. In this Instruction Manual,the safety instruction levelsare classified into "WARNING" and "CAUTION". 11- Indicatesthatincorrect handling may cause hazardousconditions,, resulting in death or severeinjury. Indicatesthatincorrect handling may causehazardousconditions,, resulting in medium or slight injury to personnel or may cause physical damage. Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the to personnel safety. instructions of both levels because they are important What must not be done and what must be done are indicated by the following diagrammatic symbols: ~~ 8: Indicates what must not be done.For example, "No Fire" is indicated by .@ 0:Indicates what must be done.For example, groundingis indicated by .e In this Instruction Manual, instructions at a lower levelthan the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible tothe operator. A- 1 1. To prevent electric shock, note the following: AWARNING Before wiring orinspection, switch power offand wait for more than10 minutes. Then,confirm the voltage is safe with vottagetester. Otherwise, you may get an electric shock. Connect the servoamplifier and servo motor to ground. Any person who isinvolved in wiring and inspection should be fully competent to do the work. Do not attempt to wirethe servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switcheswith dry hand to prevent an electric shock. The cables should not be damaged, stressed loaded,, or pinched. Otherwise, you may get an electric shock. 2. To prevent fire, note thefollowing: A CAUTION Do not install the servo amplifier, servo motor and regenerative brake resistoron or near combustibles. Otherwise afire may cause. When the servo amplifier has become faulty, switch off the main servo amplifier power side. Continuous flow of a large currentmay cause a fire. 3. To prevent injury, note the follow A CAUTION Only the voltagespecified in the Instruction Manual should be applied to each terminal,, Otherwise,, a burst,, damage,, etc. may occur. Connect theterminals correctly to prevent a burst,, damage,, etc. Ensure that polarity (+,-) is correct. Otherwise, a burst, damage, etc. may occur. During power-on or for some time after power-off, do not touch the servo motor. Their temperatures may be high and you may get burnt. A- 2 4. Additional instructions The following instructions should also be fully noted.Incorrect handling may cause a fault, injury, electric shock, etc. 1) Transportation and installation A CAUTION Transport the products correctly according to their weights. Stacking in excessof the specified number of products is not allowed. Do not carrythe motor by the cables, shaftor encoder. Do not hold the frontcover to transportthe controller. The controller may drop. Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment.Do not put heavy objects on equipment. The controller and servo motor must be installed in the specified direction. Leave specified clearances betweenthe servo amplifier and control enclosure wallsor other equipment. Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing. Provide adequate protection topreventscrewsandotherconductivematter, oil and other combustible matter from enteringthe servo amplifier. Do not drop orstrike servo amplifier or servomotor. Isolate from all impact loads. Use the servo amplifier and servo motor underthe following environmental conditions: Conditions Environment Servo Amplifier Servo Motor 0 to +55 (non-freezing) 0 to 4 0 (non-freezing) 32 to 131 (non-freezing) 32 to 104 (non-freezing) 90%RH or less (non-condensing) 80%RH or less (non-condensing) Storage temperature -20 to +65 (non-freezing) -15 to +70 (non-freezing) 4to 149 (non-freezing) 5 to 158 (non-freezing) Storage humidity 90%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive qas, flammable gas, oil mist, dust and dirt Ambient temperature I .. Ambient humiditv ~ ~~ ~ Max. 1OOOm (3280 ft) above sea level Altitude Vibration [m/s2] 5.9 (0.6G) or less HC-AQ Series X . Y : 19.6 {2G) [Ws2] 19.4 or less HC-AQ Series X . Y : 64 A- 3 A CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor maycome off during operation. The servo motor with reduction gearmust be installed in the specified direction prevent to oil leakage. For safety of personnel, always cover rotatingand moving parts. Never hit the servo motor or shaft, especially when coupling the servomotor to the machine. The encoder may become faulty. Do not subject the servo motor shaftto 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) Wiring A CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter between the amplifier. servo motor and servo Connect the output terminals (U,V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly tothe servo motor. Otherwise, a faultmay 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 circuits may not operate. Servo Amplifier (24VDC) Control output J (3) Test run adjustment 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. Operation will be instable. A- 4 A CAUTION Provide an external emergency stop circuitto ensure that operationcan be stopped and power switched off immediately. Any person who is involvedin disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal is off to prevent an accident. A sudden restart is made if an alarm is reset withthe run signalon. Do not modify 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 amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as sewice life and mechanical structure (e.g. wherea ballscrew and the servo 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 L ! A 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 withelectromagnetic brake or anexternal brake mechanism for the purpose of prevention. When any alarm has occurred,eliminateitscause,ensuresafety,anddeactivate restarting operation. the alarm before 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 againsthazard if restarted). (6) Maintenance, inspection and parts replacement . L A CAUTION With age, the electrolytic capacitor will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every10 years when used in generalenvironment. A- 5 < (7) Disposal I A CAUTION 2 I Dispose of the product as generalindustrial waste. (8) General instruction To illustrate details, the equipmentin the diagrams of this Instruction Manual may have been drawn without covers and safety guards.When the equipment is operated, thecovers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual. A- 6 COMPLIANCE WITH EC DIRECTIVES I . WHAT ARE EC DIRECTIVES? l'he EC Directives were issued to standarche the regulations of the EU countries and ensure smooth iistribution of safety-guaranteed products. In the EU countries, the Machmery Directive (effective in January, 1995), EMC Directive(effective inJanuary, 1996) and Low VoltageDirective (effective in January, 1997) of the EC Directives require that productsto be sold should meet their fundamental safety requirements and carry the CE marks (CE markmg). CE marlung applies to machmes and equipment into which servo amphfiers have been installed. The servo amphfiersdo not function independently but are designed for use with machines and equipment. I'herefore, the CE markmgdoesnotapply to theservoamplifiersbutapplies to themachmesand 3quipment into whch theservo amphfiers are installed. This servoamphfierconforms to the standards related to the Low VoltageDirective to fachtate CE markmg on machnes and equipment into whch the servo amphfierswdl be installed. To ensure ease of compliance with the EMC Directive, Wtsubish Electric prepared the "EMC INSTALLATION GUIDELINES" (IB(NA)67310) w h c h provides servo ampMer installation, control box malung and other procedures. Please contact your sales representative. 2. PRECAUTIONS FOR COMPLIANCE The standard models of the servo amphfier and servo motorcomply with the EN Standard. In additionto the instructions providedin t h s Instruction Manual, also follow the instructions below. If the model is not specficallydescribed to comply withtheENStandardin t h s InstructionManual,ithasthesame specfications as thoseof the standardmodels: (1) Structure Control box I I Reinforced insulation type I 1supply 1 motor amplifier 1"" "'"'I (2) Environment Operate the servo amphfiera t or above the contamination level 2 set forth in IEC664. For this purpose, install the servo amphfier in acontrol box whch is protected against water, oil, carbon, dust, dwt,etc. (IP54). (3) Power supply Use a 24VDC power supply whch hasbeen insulation-reinforced in I/O. (4) Grounding To prevent a n electric shock, fit the supplied earth terminal connect it to the earth (E) of the control box. A- 7 (E) to the servo ampM1er and always (5) Auxiliary equipment and options (a) The circuit protector used should described in Section 12.2.2. be the EN or IEC Standard-compliant product of the model (b) The sizes of the cables described in Section 12.2.2 meet the following requirements. To meet the other requirements, follow Table 5 and Appencbx C in Eh'60204. Ambient temperature: 40 (104) ["C ("F)] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table tray (6)Performing EMC tests When EMCtests are run on a machme/device into whch theservo amphfier hasbeen installed, it must conform to the electromagnetic compatibhty (immunity/emission) standards after it has satisfied the operating environmentJelectrical equipmentspecifications. For the other EMC Directive g u i d e h e s on the servo amphfier, refer to the "EMC INSTALLATION GUIDELINES". CONFORMANCE WITH UUC-UL STANDARD The standard modelsof the servo amphfier and servomotor comply with theULIC-UL Standard. Unlessotherwisespecdied,the h a n d h g , performance,specdications, etc. of the ULIC-UL Standardcompliant models are the same as those of the standardmodels. When using 24VDcpower supply, options and a d a r y equipment, use those w h c h conform to the UUCCL Standard. A- 9 CONTENTS 1. FUNCTIONS AND CONFIGURATION l.lIntroduction ........................................................................... 1.2Function.st ........................................................................... 1 . 3 M o d e l C o d e D e b t i o n .................................................................. 1.4CombinationwithServoMotor ........................................................... 1.5PartsIdent.cati on ..................................................................... 1.6 Servo Systemwith A d a r y Equipment .................................................. 2. INSTALLATION 2- 1 to 2- 4 2 . 1 E n ~ o n m e n ~ c o n & t i o n............................................................... s 2.2 Installation clearances and ..................................................... 2.3 K~~~ outforeign .............................................................. 2.4Cablest ress ............................................................................ 2.5 Using the DIN rdfor installation ........................................................ ~~~ ~~~ 1- 1 1-2 1-3 1-3 1- 4 1- 5 2- 1 2- 2 2- 3 2- 3 2- 4 ~ 3. SIGNALS AND WIRING 3- 1 to 3-46 3.1 Standard connectionexample............................................................ 3.1.1 position control mode AD75pn (AlSD75pO) .......................................... 3.1.2 Speed control mode .................................................................. 3~1.3Torquecontrolmode ................................................................. 3.2 Internal Connection Diagram of Servob p f i e r ........................................... 3.3I/OSlgnal ............................................................................. and Connectors 3.3.1 .................................................. 3.3.2 Signal explanations ................................................................ 3.4 Detailed Description of the Sign& ...................................................... 3.4.1 positioncontrolmode ............................................................... 3.4.2Speedcontrolmode ................................................................. 3 ~ 4 ~ 3 ~ o r q u e c o n ~er ................................................................ o~mo~ 3.4.4 position/speed control change mode.................................................. 3.4.5 Speed/brquecontrolchange mode ................................................... 3.4.6 Torque/position controlchange mode ................................................. 3.5AlarmOccurrenceTimingChart ........................................................ 3.61nterfaces ............................................................................. 3.6.1 C o m m o n h e ...................................................................... 3.6.2 Detailed descriptionof the interfaces ................................................. 3.7 Input powerSupply Circuit............................................................. 3.7.1 Connectionexample ................................................................ 3.7.2 Explanation of sign& .............................................................. 3.7.3 power-onsequence ................................................................. 3.8 Servo Motor with ElectromagneticBrake ................................................ 3.9Groundi ng ............................................................................ 3.10 Instructions for the 3M Connector ...................................................... 1 3- 2 3- 2 3- 4 3- 5 3- 6 3- 7 3- 7 3- 10 3- 19 3- 19 3- 24 3- 26 3- 29 3- 31 3- 33 3- 34 3- 35 3- 35 3- 36 3- 40 3- 40 3- 41 3- 41 3- 43 3- 45 3- 46 14. OPERATION 4- 1 to 4- 61 4.1 men Switchng power On for the First T h e ............................................. 4.2st artup ................................................................................ 4.2.1 Selectionof control mode ............................................................. 4.2.2 positioncontrolmode ................................................................ 4,2.3Speedcontrolmod e .................................................................. 4.2.4Torquecontrolmod e ................................................................. 4.3 M ~ t i d r o p C o m m u ~ con a t ............................................................... i 4- 1 4- 2 4- 2 4- 2 4- 4 4- 5 4- 6 ~~ 15. PARAMETERS 5- 1 to 5- 211 5.1 parameterkst ......................................................................... 5.1.1 parameter h b i t .............................................................. 5.1.2 k s k ............................................................................... 5 .2DehiledDescfiption ................................................................... 5.2. lElectronicgear ..................................................................... 5.2.2 Changing the &play Screen .................................................. 5- 1 5- 1 5- 2 5- 18 5- 18 6 - 20 5.2.3 Using forwardreverse rotation stroke end to change the stopping pattern............... 5- 21 5.2. 4iUarmhstorycl ear ................................................................. 5- 21 6. DISPLAY AND OPERATION 6-1 to6- 15 6. lDisplayFlowchart ...................................................................... 6. 2StatusDisplay......................................................................... 6. 3Diagnosticmod e ........................................................................ 6.4Alarmmode ............................................................................ 6.5Parametermod e ........................................................................ 6.6 External I/O signal &splay .............................................................. 6.7 Output signal forced output (DO forced output) ........................................... 6.8Testoperationmode ................................................................... 6.8.1Modechange ...................................................................... 6.g.2Jogoperation ...................................................................... 6 ~ g ~ 3 p o s ~ t i o ~ n g o p e r ............................................................... ation 6.~ ~ 4 M o ~ o r . ~ e s son o p................................................................ er~~~ 7. ADJUSTMENT Is 6- 2 6- 4 6- 5 6- 6 6- 8 6- 11 6- 12 6- 12 6- 13 6- 14 6- 15 7- 1 t O 7 - 10 .............................................................. 7.1.1 Differencebetweenservoamphtierandotherdrives .................................... ~ ~ ~ ~ ~ ~ a s ~ c s o f ~ ~ e............................................................ servosys~m 7.2GainAdjustment ....................................................................... 7.2.1 parameters for gain adjustment ............................................... 7,2.2Block&agram ...................................................................... i.2,3~?latlsautotuning? ................................................................ 7.1 What 6- 1 Adjustment? 2 .... . . 7- 1 7- 1 7-2 7-3 7-3 7-3 7-4 7 . 3 Gain Adjustment by Auto Tuning ........................................................ 'i.3.lAdjustmentmethod ................................................................. 'i.3.2V.dcon.tions ..................................................................... 7 .4ManudG&Adjustment ............................................................... 7.4.1 When ngi&ty is low ......................................................... 7.4.2 When the machne vibrates dueto machne resonance frequency- ........................ 7.4.3 h a d inertia momentis 20 or times .............................................. 7.4.4 When the s e t t h g t h e .................................................... 7.4.5 When thesamegain is used fortwo or more axes * * * * . * . * * * * .* * * * * * * 7 . 5 SLght Vibration SuppressionControl .................................................... * 8. INSPECTION 7-5 7-5 7-5 7-6 7 -6 7-7 7 -8 7-9 7 - 10 7 - 10 8- 1 19. TROUBLESHOOTING to 9-1 9- 11 9.1TroubleatStart-U ..................................................................... 9.1.1 positioncontrol mode ................................................................ g.1.2Speedcontrolmod e .................................................................. g ~ ~ ~ 3 ~ o r q u e c o n e~................................................................. ro~mo~ 9.2 When Alarm or Warning Has Occurred ................................................... 9.2.1 Alarms and Warning list ............................................................. 9,2.2~med,esforal-s ................................................................. 9.2,3Reme&esforWa-gs ............................................................. 9- 1 9- 1 9- 4 9- 5 9- 6 9- 6 9- 7 9- 11 10. SPECIFICATIONS 10- 1 to 10- 4 10.1 Servo b p m e rStandard Specifications ................................................ 10.2 Outline Dimension Drawings .......................................................... 1 0 . 2 . 1 S e r v o a m p ~ e r s .................................................................. 10.2,2Connectors ....................................................................... I11. CHARACTERISTICS 10- 1 10- 2 10- 2 10- 3 11- 1 to 11-31 11.1 Overload protectionCharackfistics .................................................... 11.2 DynamicBrake Characteristics ........................................................ 1 1 . 3 E n c o d e r C a b l e F l e - g ~ e ............................................................ . OPTIONS AUXILIARY EQUIPMENT AND 11- 1 11-2 11- 3 12- 1 to 12- 14 12.1Optioris .............................................................................. 12.1.1 Cablesandconnectors ............................................................. 12.1.2 Junctionterminal block (MR-TBzO) ................................................. 12.1.3 ~ e r v o c o ~ g u r a ~ ~ o n s s o f ...................................................... tware 12,2Aux.arq.Equipment ................................................................ 12.2,1Recommended wires .............................................................. 1 2 . 2 , 2 C ~ c ~ t p r o t e c t o................................................................. r 3 12- 1 12- 1 12- 6 12- 8 12- 10 12- 10 12- 10 12.2.3&lays .......................................................................... 12.2.4 Noise reduction t e c h q u e s ........................................................ 13. COMMUNICATION FUNCTIONS 12- 11 12- 11 13- 1 to 13- 26 13.1co~guration ........................................................................ 1 3 , 1 . 1 ~ ~ - 4 2 2.............................................................. ~ ~ ~ ~ ~ t i ~ ~ RS-232C 13.1.2 ............................................................. 13.2 Comm-cation Spedcations ......................................................... 13.2.1Comm-cationoverview .......................................................... 13.2,2parametersetti ng ................................................................. 1 3 . 3 ~ ............................................................................. ~ ~ ~ ~ ~ 1 13.4CharacterCod es ...................................................................... 13.5ErrorCod es .......................................................................... 13.6Checksum ........................................................................... 13.7The-Out@eration .................................................................. 13.8&tryOperation ...................................................................... 13.91niti~~ ont i......................................................................... 13.10 Comm-cation procedure Example ................................................... 13.11CommandData No. k s t ........................................................ 13.11.1Readcommands ................................................................ 13.11,2Writecommand ................................................................ 13.12 D e M e d Explanations of Commands ................................................. 1 3 . 1 2 . 1ataprocessing ~ ................................................................. 1 3 . 1 2 . 2 ~ h t ~ ~.................................................................. & ~ ~ l ~ ~ 1 3 . 1 2 . 3arameter ~ ...................................................................... 13.12.4 External I/O pin statuses (DIO hagnosis) ......................................... 13.12.5 Disable/enable of external I/O signals (010) ....................................... 13.12.6 External input signalOMOFF (Test operation) .................................... 13.12.7Testoperationmode ............................................................. 13.12.8 Outputsignal pin ON/OFF (DO forced output) * * * . * . . . . * * . * * . * * .* 1 3 . 1 2 , g ~ l ~ ory ~ h ................................................................... l~t 13.12,10current alarm ................................................................. 13.12.11 Othercommands .............................................................. 4 . . . * 13- 1 13- 1 13- 2 13- 3 13- 3 13- 4 13- 5 13- 6 13- 7 13- 7 13- 8 13- 8 13- 9 13- 9 13- 10 13- 10 13- 11 13- 13 13- 13 13- 15 13- 16 13- 18 13- 19 13- 20 13- 21 13-23 13- 24 13- 25 13- 26 Optional Servo Motor Instruction ManualCONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced here for your reference. Note that the contentsof the Servo Motor Instruction Manual are not included in the ServoA m p a e r Instruction Manual. 1. INTRODUCTION I 2. INSTALLATION I 13. CONNECTORS USED FOR SERVO MOTOR WIRING 1 4. INSPECTION I 5. SPECIFICATIONS 1 6. CHARACTERISTICS I 7. OUTLINE DIMENSION DRAWINGS I 1 18. CALCULATION METHODS FOR DESIGNING 5 About the Manuals T h s Instruction Manual and theMELSERVO Servo MotorInstruction Manual are requiredd y o u use the General-Purpose AC servo MR-JZ-03A5for the first time. Always purchase them and use the MR-JZ-03A5 safely. I Relevant manuals I Manual Name Manual MEISERVO-J2-Jr Series Installation Guide No. IB(NA)67426 MELSERVO Servo Motor Instruction Manual S H ( N A ) 3 1 8 1 F e r - Cor later) EMC Installation Guidelines IB(NA)67310 6 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONSANDCONFIGURATION 1.1 Introduction The MELSERVO-J2-Jr series general-purpose AC servo has been developed as an ultracompact, s m d capacity servo system compatible with theMELSERVO-J2 series 24VDC power supply. It canbe used in a wide range of fields from semiconductor equipment to small robots, etc. The input signalsof the servo amphfier control system are compatible with those of the MR-J2-OA. As the standard modelscomply with the EN Standard * W C - U L Standard, they canbe used satisfactorily in various countries. The MR-J2-03A5 servoamphfier canbe easily installed to a control box with a DIN rail. The power supply/electromagnetic brake and encoder of the servo motor can be wired easily with a single cable. Using a personal computer where the Servo Configuration software has been installed, you can make parameter setting, status &splay, etc. Also, you can use the RS-422 communication functionto set upto 32 axes of servo amphfiers. Thecompatibleservo motors have acheved the smallest 28mm-boreflangesize in this class and are further equipped with encodersof 8192 pulsedrev (incremental) resolution. 1- 1 1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions of the MR-J2-03A5. For details of thefunctions, refer tothe corresponding chapters and sections. External IiO display .\utomatlc VC offset 1- 2 1. FUNCTIONS AND CONFIGURATION Function Servo configuration software Alarm code output (Note) Control Mode Description Using a personal computer, parameter setting, test operation, status display, etc. canbe performed. If an alarm has occurred, the corresponding alarm number is output in 3-bitcode. Refer To P, S, T Section 12.1.3 P, S, T Section 9.2.1 Note: P: Position control mode, S: Speed control mode, T: Torque controlmode P/S: Positiodspeed control change mode, SR: Speed'torque control change mode,TIP: Torque/position control change mode 1.3 Model Code Definition (1) Rating plate I Model llRJ2-03A5 Applicable power supply - Rated output current -L_ Serial number (2) Model I l i 24VDC power supply specification General-purpose interface Rated output 30m 1.4 Combination withServoMotor The HC-AQ series servo motors can be used. The same combinations apply to the servo motors provided with electromagnetic brakes and reduction gears. I Servo Amplifier Servo motor HC-AQ0135D MR-J2-03A5 HC-AQ0235D HC-AQ0335D 1- 3 1. FUNCTIONS AND CONFIGURATION 1.5 Parts Identification Refer To Display The four-digit, seven-segment LED shows the servo status and alarm number. Chapter6 Operation section Used to perform status display, diagnostic, alarm and parameter operations. MODE 1 UP DOWN SET '-used to set parameter data. Chapter6 Used to change the display or data in each mode. I Used to change the mode. ~ ~~ I/O signal connector (CN1A) Used to connect digital I/O signals. Section3.3 I/O signal connector (CN16 ) Used to connect digital I/O signals. Section3.3 Name plate Sectionl.3 Servo motor connector (CNP2) Connector for connection of the servo motor. Section3.3 ;ection10.2.' ;ection12.1.' Power input connector (CNP1) Used to connect the input power supply/control circuit power supply/RS-422. Section3.3 ;ectionl0.2.' Communication connector ICNP3) Used for connection with a 'prsonal computer (RS-232C). Section3.3 ;ection10.2.' ;ection12.1.: Earth (E) terminal (4) To conform to the EN Standard, fit the supplied earth terminal for grounding. 1- 4 Section3.9 1. FUNCTIONS AND CONFIGURATION 1.6 Servo System with Auxiliary Equipment /j\WARNING Power supply 24VDC To prevent an electric shock, fit the suppliedearthterminal (E) to the servo amplifier (refer to (2), Section 3.9) and alwaysconnectittotheearth (E)of the control box. Servo amplifier +I I- To CN1A Junction terminal block To CN1B Servo Configuration Personal computer Servo motor 1- 5 2. INSTALLATION 2. INSTALLATION TlON Stacking in excess of the limited numberof products is not allowed. Install the equipment to incombustible. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing placein accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier. Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur. Do not subject the servo amplifierto drop impact or shock loads as they are precision equipment. Do not install or operate a fauky servo amplifier. When the product hasbeen stored for an extendedperiod of time, consult Mitsubishi. 2.1 Environmental conditions I Environment Ambient temperature Ambient humihty storage temperature storage humidity Ambient Altitude Vibration Conditions 0 to +55 [“C] (non-freezing) 32 t o +131 [“F)(non-freezing) 90%RH or less (non-condensing) -20 to +65 [“C] (non-freezing) -4 to +149 [“F](nonfreezing) 90%RH or less (non-condensing) Indoors (no dwectsunhght) Free from corrosive gas, flammable gas,oil mist. dust anddirt Max. lOOOm (3280 f t )above sea level 5.9 [m/s2](0.6G) or less 19.4 [ft/s2]or less 2- 1 1 -h 2. INSTALLATION 2.2 Installation direction and clearances I I other The equipment must installed be ACAUTION I in the specified direction. Otherwise, fault may a occur. Leave specified clearancesbetween the servo amplifier and control box insidewalls I I or (1) Installation of one servo amplifier Control box Control box TfP lOmm (0.4 in.) or more 1Omm -(0.4 in.) or more v Bottom (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo ampldier and the internal surface of the control box, and install a fan to prevent the internal temperature of thecontrol box from exceedmg the environmental conditions. 10mm - -1 Omm (0.4 in.) or more (0.4 in.) or more (3) Others Install the servoamphf3er on a perpendmdar wall in the correct vertical direction. 2- 2 2.INSTALLATION 2.3 Keep out foreign materials (1) When i n s t a l h g the unit in a control box, prevent drill chps and wire fragments from entering the servo amphfier. (2) Prevent oil, water, m e u c dust, etc. from entering the servo a m p a e r through openings in the control box or a fan installed on the ceding. (3) When i n s t a l h g the control box in a place where there are toxic gas, d x t and dust, provide positive pressure in the control box by forcing in clean air to prevent such materials fiom entering the control box. 2.4 Cable stress (1) The way of clamping the cable must be f d y examined so that flexing stress and cable's own weight stress are not appliedto the cable connection. (2) In any application where the servo motor moves, the cables should be free from excessive stress. For use in any application where the servo motor moves, run the cables so that their flexing portions fall w i t h the optional motorcable range. Fix the motor cable and power lead of the servo motor. (3) Avoid any probabhty that thecable sheath mightbe cut by sharp chps, rubbedby a machme corner or stamped by workers orvehicles. (4) For installation on a machme where the servo motor will move, the 5exing radms should be made as large as possible. Refer to section 11.4 for the 5exing Me. 2- 3 2.INSTALLATION 2.5 Using the DIN rail for installation (1) Fitting intothe DIN rail Put the upper catchon the DIN rad and push the unit until it clicks. all N rail (2) Removal from DIN rail 1)Pull downthe hook. 2) Pull it towardyou. 3) Lift and remove the unit. 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, make sure that the voltage is safe in the tester more10than minutes after power-off. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise,you may get an electric shock. AWARNING Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate, resulting in injury. Connect cablesto correct terminals to prevent a burst, fault, etc. Ensure that polanty(+, -) is correct. Otherwise,a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed forcontrol output should befitted in the specified direction. Otherwise, the signal is not output to due a fault, disabling the forced stop and other protective circuits. [NO ACAUTION ap (24VDC) Control output signal Use a noise filter,etc. to minimize the influenceof electromagnetic interference, which may be givento electronic equipment used near the servo amplifier. Do not installa power capacitor, surge suppressor or radio noise filter with the power line of the servo motor. Do not modify the equipment. POINT I CNlA and CNlB have the same shape. Wrong connection of the connectors wdl lead to a failure. Connect them correctly. 3- 1 3. SIGNALS AND WIRING 3.1 Standard connection example I 3.1.1 For the connection of the power supply system, refer to Section 3.7.1. Position control mode AD75PO (A1 SD75PO) supply power 24VDC circuit I protector amplifier Servo Md lCNP1, P24M 1 P24GI (Nole4j CNlE I I 3 4 [Note 6) Trouble Zero speed Limiting toque (Note 8) 10m (32ft)max. ',I4,7) I lCNlB IEMGI 151 (Note3) Forced stop Reset Proportion control Toque limit (Note 5) Forward rotation stroke end Reverse rotation stroke end Upper limit sealng (Note 8) Analog toque limit ?lOV/max. current ___-- L I I K Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver) c::2 I Personal '15R I ' ' Control common ___ 1 i Encoder 2-phase pulse [open collector) SD CNP: motor 3- 2 I 3. SIGNALS AND WIRING Note: 1. To prevent a n electric shock, fit the supplied earth terminal (E) to the servo a m p u e r a n d always connect it to the earth(E) of the control box. (Refer to sechon 3.9.) 2. Connect the &ode in the correct direction. If it is connected reversely, the servo ampldier w d be faulty and wlll not output signals, h a b h g the forced stop and otherprotective circuits. 3. The forced stop switchmust be installed. 4. CNlA and CNlB have the same shape. Wrong connection of the connectors w d lead to a fault. signal (LSNILSP) 5. When startmg operation, always connect the forwardreverse rotation stroke end with SG. (Normally closed contacts) 6. Trouble (AL,M) is connected with COM in normal alarm-free conhbon. 7 . The pins with the same signal name areconnected in the servo ampkfier. 8. For the command pulse train input of the Merential h e dnver system. 2m max. for the open collector system. 9. Use MRZJWS-SETUF'61E or later. 3- 3 3. SIGNALS AND WIRING 3.1.2 Speed control mode 24VDC power supply Circuit Servo amplifier Speed Selection 1 (Note 3) Forced stop Speed selection 2 Forward rotation start Reverse rotation start (Note 5) Forward rotation stroke end (differential line driver) Encoder A-phase pulse (differential lined r i e r ) Encoder B-phase pulse (differentlal line driver) +10V/max. current Encoder 2-phase pulse Servo configuration i 1 (Notel) I Note: 1. To prevent an electric shock, fit the supplied earth terminal(E) to the servo a m p a e r and always connect it to the earth(E) of the control box. (Refer to section 3.9.) 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and wdl not output signals, &,sabhg forced the stop and otherprotective circuits. 3. The forced stop switch mustbe installed. 4. CNlA and CNlB have the same shape. Wrong connectionof the connectorswill lead to a fault. 5. When starting operation, always connect the forwardheverse rotation stroke end signal (LSNLSP) with SG. (Normally closed contacts) 6. Trouble ( A L M ) is connected with COM in normalalarm-free condtion. 7 . The pins with the same signal name are connected in the servo ampbfier. a. TLA can be used by setting anyof parameters No. 43 to 48 to make TL avadable. 9. Use MRZJWS-SETUP61Eor later. 3- 4 3. SIGNALS AND WIRING 3.1.3 Torque control mode circuit 24VDC power supply Servo amplifier (Note 5 ) Trouble Speed Selection 1 Zero speed Limiting torque (Note 4,6) (Note 3) Forced stop Servo on Reset Speed selection2 SP2 Forward rotation selection Reverse rotation selection (Note 4,6) ,CNlAI Upper limit setting D14F) 11 Analog torque command +BV/max. current 19 4 I~ RD Ready Encoder 2-phase pulse (differential line driver) Encoder Aphase pulse (differential linedriver) Analog speed limit 0 to +lOV/max. speed Encoder B-phase pulse (differential line driver) Persona 1 CNP3 U Control common Encoder 2-phase pulse (open collector) T Note: 1. To prevent an electric shock, fit the supplied earth terminal (E) to the servo amphiier and always connect it to the earth (E) of the control box. (Refer to section 3.9.) 2. Connect the &ode in the correct duection. If it is connected reversely, the servo a m p f i e r wlu be faulty and wdl notoutput signals,h a b h g the forced stop and otherprotective circuits. 3. The forced stop switchmust be installed. 4. CNlA and C N l B have the same shape. Wrong connection of the connectors will lead to a fault. 5 , Trouble ( A L M ) is connected with COM in normal alarm-freecondition. 6. The pins with the same signal name are connected in the servo amphfier. 7 . Use hfRZJW3-SETUPGlE or later. 3- 5 3.SIGNALS AND WIRING 3.2 internal Connection Diagram of Servo Amplifier CNP2 3 9- 82 B1 (Note) I I I I Note. P: Position control mode, S: Speed control mode,T:Torque control mode 3- 6 CNlA p s 18 INP SA 19 RD RD T RD 3. SIGNALS AND WIRING 3.3 I/O Signals 3.3.1 Connectorsand signal arrangements POINT I The connector pin-outs shown above are viewed from the cable connector wiring section side. &fer to the next pagefor CNlA and C N l B signal assignment. (1) Signal arrangement CN1B CN1A w CNPl CNP2 Amplifier's internal wiring T h e connector frames are connected with the E (earth) terminal inside the servo amplifier. E l 1 5 I - I! 1 1 1I p5 LG I I CN P3 u 1 w 7 V 3- 7 I - 3. SIGNALS AND WIRING (2) CNlA and CNl B signal assignment The signal assignmentof connector changes with the control mode as indicated below; page. I For next note,refer to the 3- 8 3. SIGNALS ANDWIRING Note: 1. I : Input signal,0: Output signal, -:Others (e. g. power) 2. P : Position control mode,S: Speed control mode,T: Torque control mode, P/S: Positiodspeed control change mode,SIT: Speedtorque control change mode,TIP: Torquelposition control changemode 3. Set parameter No. 45 to use CR. 4. Set parameter No. 47 to use PC. 5. Set parameter No. 48 to use TL. 6. By setting parameters No. 43 to 48 to make TL avdable, "L4 can be used. 7 . Set parameter No. 49 to use WNG. 8. Set parameters No. 43 to 48 to change signals. 9. Set parameter No. 49 to select alarm codes. (Refer to Chapter 9.) 1O.The signal of CNIA-18 is always output. 11.Set parameterNo. 1to select MBR. (3) Symbols and signal names Forwardreverse rotation pulse train 3- 9 3. SIGNALS AND WIRING 3.3.2 Signal explanations For the I/O interfaces (symbols in 110 column in the table), refer to Section3.6.2. In the Control Mode field of the table P : Position control mode,S: Speed control mode,T: Torque control mode 0 : Denotes that the signalmay be used in the initial setting status. A : Denotes that the signalmay be used by setting the corresponding parameter among parameters43 to 49. (1) Input signals Signal I ZonnecSymbol tor Pin No. -- Functions/Applications SON CNlB 5 Ready signal input terminal. Connect SON-SG to switch on the base circuit and make the servo amplifier ready to operate (servo on). Disconnect SON-SGto s h u t off the base circuit and coast the servo motor(servo off). S e t 0 0 0 1 in parameter No. 41 to switch this signal on (keep terminals connected) automatically in the servo teset RES CNlB 14 -4larm reset signal input terminal. Disconnect RES-SG for more than 50ms to reset the alarm. Some alarms cannot be deactivated by the reset signal. Refer ta Sectlon 9.2. The base circuitis shut off while RES-SG are shorted. porward rotation troke end LSP CN 1B 16 Forwardheverse rotation stroke end signal input terminals. To start operation, short LSP-SG andior LSN-SG. Open them ta bring the motor to a suddenstop and make it servo-locked. S e t 0 0 0 1 in parameter No. 22 to make a slow stop. krvo-on (Note) Input signals Lverserotation troke end LSN I ~ ~~ Operation CNlB 17 Note. 0: OFF (LSPILSN-SG open) 1: ON (LSPLSN-SG shorted) Set parameter No. 41 a s indicated below to switch on the signals (keep terminals connected) automatically in the servo amplifier: 0100 LSN -- 3 - 10 - Control ie 3. SIGNALS AND WIRING Signal Torque limit - - Symbol IIO Division tor Pin Functions/Applications r DI-1 TL Short TL-SG to make the analog torque limit valid. Forward rotation start ST 1 CNlB I For details, refer to (2), section 3.3.1. I Used to start the servo motor in anvof the following dlrections: (Note) Input signals ST2 I ST1 DI-1 Servo Motor Starting Direction I Reverse rotation start ST2 1 Forward rotation selection RS1 Note.0: OFF (STlISTZ-SG open) 1: ON (STUSTZ-SG shorted) If both ST1 and ST2 are switched on or off during operation. the servomotorwillbedecelerated to a stop according to the parameter No. 12settingand servo-locked.When the analog speedcommand (VC) IS O V , startingtheservo motorwill not generate servo lock torque. CN 1B Used to select any of the following servo motor torque generatlor directions: 9 Note)Inputsignals RS2 0 Reverse rotatlon selection RS2 I RS1 0 CNlB 8 0 1 1 - 1 Torque Generation Direction Rotation Direction No torque stop Forward rotation in driving mode / reverse rotatlon in regenerative mode CCR Reverse rotation in driving mode / forward rotation in regenerative mode No torque Note.0: OFF (RSlRS2-SG open) 1: ON (RSlIRSZ-SG shorted) 3 - 11 DI-1 C\V stop - 7 Control 3. SIGNALS AND WIRING - - - ~~ Signal 2onnector Pin No. ;peed selection 1 CNlA 8 ntrol I10 3ivision FunctiondApplications DI-1 :Speed control mode> Used to select the command speedfor operation. J (Note) Input signals SP2 0 I SP1 Analog speed command (VC) 0 Internal speed command 1 (parameter No. 8) 0 1 Speed Command Internal speed command 2 O (parameter NO. 9) Internal speed command 3 b a r a m e t e r NO. 10) 1 Note.O:OFF (SPl/SPZ-SG open) 1:ON (SPl/SP2-SG shorted) g o r q u e control mode> Used to select the limit speedfor operation. (Note) Input signals ;peed selection 2 CNlB 7 Speed Limit SP2 SPI 0 0 Analog speed limit (VLA) 0 1 Internal speed limit 1 (parameterNo. 8) 1 0 Internal speed h i t 2 (parameter No. 9) 1 1 Internal speed limit 3 (parameter No. 10) Note.O:OFF (SPUSPS-SG open) l:ON (SPUSPS-SG shorted) cpasitionispeed, speedltorque, t o r q u d p i t i o n control change mode> 4s CNlB-7 acts as a control change signal, the speed selected when the speed or torque control mode is selected is follows: . When speed control mode is selected as i t (He) SP1 Speed Command 0 Analog speed command (VC) 1 Internal speed command 1 (parameter No. 8) Note. 0 OFF (SP1-SG open) 1: ON (SP1-SG shorkd) . When torque control mode is selected (Note) SP1 n Speed Limit Analog speed limit (vL;\) Internal speed limit 1 (parameter No. 8) Note. 0:OFF (SP1-SG open) 1: ON (SP1-SGshorted) 3 - 12 I le 3. SIGNALS AND WIRING Signal 'orced stop Xear EMG CR LOP ~ ~~ Control I/O Division - Connect PC-SG to switch the speed amplifier from the DI-1 8 proportional integral type to the proportional type. [f the servo motor a t a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to belocked mechanically after positioning completion (stop), switching on the proportion :ontrol signal (PC) upon positioning completion will suppress the unnecessary torque generatedto compensate for a position shift. When the shaft is to be lockedfor a long time, switch on the (TL) at the proportion control signal and torque control signal same time to make the torque less than the rated by the analog torque limit. DI-1 CN 1B DisconnectEMG-SG to bring the servo motor to a forced stop jtate, in which the servo is switched off and the dynamic brake is 15 Dperated. Connect EMG-SG in the forced stop state to reset that state. CNlA Connect CR-SG to clear the position control counter droop pulses DI-1 3n the leading edge of the signal. The pulse width shouldbe lOms 8 Dr more. When theparameter No. 42 settingis 0010, thepulsesare always cleared while CR-SGare connected. CN 1B <Positiodspeed control change mode> DI-1 Used to selectthecontrolmodeinthepositiodspeedcontrol 7 change mode. CN 1B hntrol change Functions/Applications - 'roportion ontrol - ~~ Connector Pin No. €€I (Note) LOP Control Mode Position Speed Note.0: OFF (LOP-SG open) 1: ON (LOP-SG shorted) <Speed/torque control change mode> Used to select the control mode in the speeatorque control change mode. Refer to Functions Appll. cations Note.0: OFF (LOP-SG open) 1: ON (LOP-SG shorted) <Torque/position control mode> Used to selectthecontrolmodeinthetorquelpositioncontrol change mode. Position Note.0: OFF (LOP-SG open) 1: ON (LOP-SG shorted) 3 - 13 - 3. SIGNALS AND WIRING -Signal 3ymbol 2onnec tor Pin -- lFunctions/Applications No. TL4 CNlB 12 -4nalog torque command Analog speed command Analog speed limit Forward rotation pulse train Reverse rotation pulse train CNlB 2 CNlA 3 CN 1.4 2 CN 1.4 13 CN 1 4 12 - To use thissignal in thespeedcontrolmode,setany of parameters No. 43 to 48 to make TL available. When the analog torque limlt (TU)is valid, torque is llmlted In the fullservomotoroutputtorquerange. Apply 0 to +IO 6DC across TLA-LG. Connect the positive terminal of the power supply to TL4. Maximum torque is generated at +10 V. (Refer to (2) in Section 3.4.1.) Usedtocontroltorque in the full servo motor outputtorque range. Apply 0 to k8VDC across TC-LG. Maximum torque is generateda t k8V. (Refer to (1) in Section 3.4.3.) Thetorquegeneratedat k8V inputcan be changedusing parameter No. 26. Apply 0 to k1OVDC across VC-LG. Speed set in parameterNo. 25 IS provided a t klOV. (Refer to (1) in Section 3.4.2.) Apply 0 to k1OVDC across \ZA-LG. Speed set in parameter No. 25 is provided a t -LlOV. (Refer to (3) in Section 3.4.3.) Used to enter a command pulse train. . In the open collector system (max. input frequency 200kpps): Forward rotation pulse train across PP-SG Reverse rotation pulse train across NP-SG . In the differential receiver system (max. input frequency 500kpps): Forward rotation pulse train across PG-PP Reverse rotatlon pulse train across NG-NP The command pulse tramform can be changed using parameter No. 21. 3 - 14 I Control 3.SIGNALS AND WIRING (2)Output signals ConnecSignal l'rouble I ALM I I CNlB / 1 8 Ready 18 77 Speed reached Limiting speed VLC 1B CN 6 Limiting torque TLC CNlB 6 Zero speed Electromagnetx x a k e Interlock ZSP CNlB 19 T I I FunctionsiApplications Control I k Division 'I0 ALM-SG aredisconnectedwhenpower is switched off or the DO-1 protective circuit is activated to shutoff the base circuit. Without alarm, .4LM-SG are connected within 1 after power on. RD-SG are connected when the servo is switched on and the servoDO-1 amplifier is ready to operate. INP-SG are connected when the number of droop pulses is in the DO-1 presetin-positionrange.TheIn-positionrangecan be changed using parameter No. 5 . be kept When thein-positionrange is Increased,INP-SGmay connected during low-speed rotation. SA-SG areconnectedwhentheservomotorspeedhasnearly DO-1 reached the preset speed. When the preset speed is 50r/min or less, SA-SGare kept connected. LZC-SG are connected when speed reaches the value set to anyof DO-1 the internal speed limits 1 to 3 (parameters No. 8 to 10) or the analog speed limit &%A) In the torque control mode. They are disconnected when the servo-on signal(SON)switches off. DO-1 TLC-SG are connectedwhenthetorquegeneratedreachesthe value settotheInternaltorquelimit 1 (parameter No. 28) or analog torque limit (TUThey ). are disconnected when the servoon signal (SON)switches off. DO-1 ZSP-SG are connected when the servo motor speed is zero speed (50rimin) or less. Zero speed canbe changed using parameter No. 24. S e t 0 0 1 0 in parameter No. 1 touse thls parameter. Note that DO-1 ZSP will be unusable. In the servo-off or alarm status. MBR-SG are dlsconnected. When an alarm occurs, they are dlsconnectedindependently of the base circuit status. use thisslgnal,assigntheconnector pin foroutputusing DO-1To will be parameter No. 49. The old slgnalbeforeassignment unusable. When warning has occurred,\VNG-SG are connected. When there is no warning, WNG-SG are disconnectedwithin 1 second after power-on. 3 - 15 0 0 0 0 C A A J 3. SIGNALS AND WIRING - T Connec- Symbol tor Pin I/o Division FunctiondApplications No. darm code CN 1A 19 CNlA 18 CN 1B 19 To use this signal, set 0 0 0 1 in parameter No. 49. This signal is output when an alarmoccurs. When there is nc INP, SA ZSP) are output. alarm, respective ordinary signals0, Alarm codes and alarm names are listedbelow: (Note) Alam GqGii A'arm I9 Pin lgy,l 0 4 1 Display 1 1 Note. 0: OFF (Pin-SG open) 1: ON (Pin-SG shorted) 3 - 16 I Name I DO-1 Control 3. SIGNALS AND WIRING - T hnnector Pin No. Signal Encoder Z-phase OP PUh (Open collector) Encoder B-phase PUk (Differential line driver) Encoder Z-phase PUl= (Differential line driver) CN 1A 14 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP and LG are connected when the zero-point position is reached. (Negative logic) The maximum pulse width is about 4OOp. For zeroing using this pulse, set the creep speedto 100r/min. or less. Outputs pulses per servo motor revolution set in parameter No. 27 in the differential line driver system. The encoderB-phase pulse lags the encoder A-phase pulseby a phase angleof d 2 . CN 1A Encoder A-phase PUh (Differential line driver) 6 LAR CN 1A 16 LB CNlA LBR 7 CN 1A 17 CN 1A -The same signal aa OP is output in the diEferential line driver 5 system. CNlA 15 - 3 - 17 3. SIGNALS AND WIRING (3) Power supply Signal [iF internal 3ower supply Digital I F power supply input -Symbo \-DD COM )pen collector lower input Iigital I F :ommon OPC ICl5V power Pl5R SG ,UPPlY 2ontrol common Connec tor Pin No. LG CNlB 3 CNlA 9 CNlB 13 CN 1.4 11 CNlA 10 20 CNlB 10 20 CNlA 4 CN 1B 11 CNlA 1 CNlB I Functions/Applications I/O Division Control F Used to output 24IDC for input interface. Connected with P24L inside the servo amplifier. Used to input 24VDC for input interface. Connect the positive terminal of the 24VDC external power supply. 24TrDCkIO% When inputting a pulse train in theopen collector system, supply this terminal with the positive (+) power of 24VDC. Common termmal for Input slgnals such asSON and EMG. Pins are connected internally. Internally connected with LG. Outputs 15VDC to across Pl5R-LG. Availablea s power for TC, TL4,VC, \'LA. Permissible current: 30mA Common termmal for TLA,TC, I'C, \X\, FP.4, FPB. OP and P15R. Plns are connected internally. 1 CN3 1 0 3 5 lhield 11 13 15 Plate -SD h n e c t the external conductorof the shield cable. \O 3. SIGNALS AND WIRING 3.4 Detailed Description of the Signals 3.4.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Encoder pulses maybe input in anyof three dlfferent forms,for w h c h positive or negative logic can be chosen. Set the command pulse train form in parameter No. 21. Arrow flor in the table inhcates the timing of importing a pulse train. A- and B-phase pulse trains are imported after they have been multipliedby 4. Pulse Train Form Forward rotatlon ?ulse train Reverse rotation pp (Note) Parameter No. 21 (Command pulse train) Reverse Rotation Forward Rotation Q 0010 N pulse train P U U U U Pulse train + sign 0011 NP A-phase pulse train B-phase pulse train - I Forward rotation pulse train Reverse rotation H I N I P P 0012 PP _flflflfl NP pulse train PP Pulse train + sign NP A-phase pulse t r a m B-phase pulse train L 1 NP 0000 flflflfl H I L Note: Set "OOOO when using theAD75P in the programmable controller. 3 - 19 000 1 I 0002 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collector system Connect as shownbelow: Servo amdier OPC + I The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.21 has been set to 0010). The waveforms in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their relationships with transistorON/OFF are as follows: Forward rotation pulse train (transistor) Reverse rotation pulse train (transistor) (OFF) (OFF) 3. SIGNALS AND WIRING 2) Differential h e driver system Connect as shown below: Servo amplifier YSD The explanation assumesthat the inputwaveform has been set to the negative logic and forward and reverse rotation pulsetrains (parameter No.21 has been set to 0010). For the differential line driver, the waveforms in the table in (a), (1)of this section are as follows. The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line dnver. 3 - 21 3. SIGNALS AND WIRING (2) Torque limit (a) Torque limit and generated torque By setting parameter No. 28 (internal torque limit 1). torque is always limited to the maximum value during operation.A relationshp between the h i t value and servo motor-generated torque is shown below. Torque limit value [%I A relationshp between the applied voltage of the analog torque h i t (TU)and the torque limit value of the servo motor is shown below. Generated torque h i t values wdl vary about 5% relative to the voltage d e p e n h g on products. At the voltage of less than O.O5V, generated torque may vary as it may not be h i t e d sufficiently. Therefore, use thisfunction at thevoltage of 0.05V or more. Servo amplifier = & a Jp RRS10 : or equivalent 3 - 22 3. SIGNALS AND WIRING (b) Torque limit value selection Choose the torque h i t made valid by the internal torqueh i t value 1 (parameter No. 28) using the external torque limit selection (TL) or the torque h i t made vahd by the analog torque h i t (TU) as indicated below: Torque LimitValue Made Valid (Note) TL If TLA > Parameter No. 28 If TLA < Parameter No. 28 Internal torque limit value 1 (parameter No. 28) Internal torque limit value 1 Analog torque limit (TU) (parameter No. 28) 0 1 Note. 0 : TU-SGoff (open) 1 : TLA-SG on (short) (c) h i t i n g torque (TLC) TLC-SG are connected when the torque generated by the servo motor reaches the torque set internal torque h i t value 1or analog torque limit. to (3)In-position (INP) PF-SG are connected when the numberof droop pulses in the deviation counter falls w i t h the preset in-position range(parameter No. 5). INP-SG mayremainconnectedwhenlow-speedoperationis performed with a large value set as the in-position range. Servo-on (SON) Alarm ON OFF Yes No Droop pulses ON In position (INP) OFF (4) Ready (RD) Servo-on (SON) Alarm OFF Yes No 80ks or les- Ready (RD) OFF 3 - 23 or less 3. SIGNALS AND WIRING 3.4.2Speed control mode (1) Speed setting (a) Speed command and speed The servo motoris run at the speeds set in the parameters or at thespeed set in theapplied voltage of the analog speed command(VC). A relationshp between the analog speed command (VC) applied voltage and the servomotor speed is shown below: Rated [r'minl ~ Forward rotation (CCW) CCW direction -1 0 CW direction 1 VC applied voltage [VI .__._- I Rated speed .\ Reverse rotation (CW) The following table in&cates the rotation dnection accordmg to forward rotation s t a r t (ST1) and reverse rotation start (ST2) combination: Rotation Direction Analog Speed Command (VC) (Note) External Input Signals ST2 ST 1 0 0 0 1 1 0 1 1 + Polarity ov stop (Servo lock) CCN' CW stop (Servo lock) stop - Polarity stop (No servo lock) stop (Servo lock) Stop stop (Servo lock) (Servo lock) (Servo lock) CW ccw CCR' CW stop (Servo lock) Note. 0 : STlIST2-SG off (open) 1 : STlIST2-SG on (short) Generally, makeconnection as shown below: Servo amolifier I JapanResistor ---RRS10 or equivalent 3 - 24 lntemal Speed Commands stop (Servo lock) 3. SIGNALS AND WIRING (b) Speed selection 1 (SPl), speed selection2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands1to 3 using speed selection 1(SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command(VC). ~~ (Note) External Input Signals SP2 I 0 0 0 1 1 Speed Command Value SP1 1 0 1 Analog speed command (VC) Internal speed command 1 (parameter No. 8) Internal speed command 2 (parameter No. 9) Internal speed command 3 (parameter No. IO) Note. 0 : SPl/SPB-SG off (open) 1 : SPl/SPS-SG on (short) The speed may be changed during rotation. Inths case, the values set in parameters No. 11 and 12 are used for acceleratioddeceleration. When the speed hasbeen s p e c ~ e dunder any internalspeed command, it does not vary due to the ambient temperature. (2)Speed reached (SA) SA-SG are connected when the servo motor speed nearly reaches the speed set command or analog speed command. Internal speed command 1 Set speed selection Start (ST1,ST2) gpF 1 Internal speed command 2 I t Servo motor speed Speed reached (SA) ON (3)Torque limit As in Section 3.4.1(2). 3 - 25 I , , I I , to the internal speed 3.SIGNALS AND WIRING 3.4.3 Torque control mode (1) Torque control (a) Torque command and generated torque A relationship between the applied voltage of the analog torque command (TC) and the torque generated by the servo motor is shown below. The maximum torque is generated at +8V. Note that the torque generated at f8V input can be changed with parameter No. 26. h CCW direction Generated torque d.05 +8 TC applied voltage [VI Max. torque (Note) CW direction Generated torqueh i t values will vary about 5% relative to the voltage d e p e n h g on products. Generated torque may vary at thevoltage of -0.05V to +0.05V. The following table indicates the torque generation drections determined by the forward rotation selection (RS1) and reverse rotation selection ( R S 2 ) when the analog torque commandP C ) is used. I (Note) External Input Signals I RS2 RS1 + Polarity I 1 Rotation Direction Torque control Cornrn md ( X ) I I I 1 ov No torque CCW (reverse rotation in driving mode/forward rotation in regenerative mode) CW (forward rotation in driving modelreverse rotation in regenerative mode) No toraue No torque Note. 0: RSl/RSP-SG off (open) 1: RSIR.52-SG on (short) Generally, make connection as shown below: Servo amlifier 3 - 26 - Polarity No torque CM' (forward rotation in driving mode/reverse rotation in regenerative mode) CCW (reverse rotation in driving mode/forward rotation in regenerative 3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. 30, the offset voltage of -999 to +999mV can be added to the TC applied voltage as shown below. Max. // :I P c Parameter No.30offset range I -999 to +999mV '1 +8 (-8) TC applied voltage [VI (2) Torque limit By setting parameter No. 28 (internal torque h i t l),torque is always lunited to the maximum value during operation. A relationshp between h i t value and servo motor-generated torque is as in (2) in section 3.4.1. Note that the analog torqueh i t (TU)is unavdable. (3) Speed limit (a) Speed limit value and speed The speed is lunited to the values setin parameters No. 8 to 10 (internal speed h i t s 1 to 3) or the value set in the applied voltage of the analog speed limit(VLA). A relationship between the analog speed h i t (VLA) applied voltage and the servo motor speed is shown below. When the motor speed reaches the speed h i t value, torque control maybecome unstable. Make the set value more than 100r/m smaller than the desired speed limit value. Rated speed ~ CW direction I Forward rotation (CCW CCW direction VLA applied voltage [Vj Rated speed ___._- 1 "\ Reverse rotation (CW) Thefollowingtable indicatesthelimitdirectionaccordingtoforwardrotation reverse rotation selection (RS2) combination: (Note) External Input Signals Speed RS1 RS2 1 0 0 1 Limit Direction Analog Speed Limit ( V U ) + Polarity - Polarity ccw CW CW Note.0: RSlRS2-SGoff (open) 1: RSlIRS2-SG on (short) Generally, make connection as shownbelow: Servo arndifier I ~ SP2 :I::$ vc 2w2 JapanResistor ---RRSlO or equivalent 3 - 27 LG SD selection (RSl) and Internal Speed Commands CCR' CR' CCR' 3. SIGNALS AND WIRING (b) Speed selection 1 (SPl)/speed selection 2 (SP2) and speed command values Choose any of the speed settings made by the internal speed h i t s 1 to 3 using speed selection 1 (SP1) and speed selection2 (SP2) or the speed setting madeby the speed limit command(VLA). (Note) External Input Signals I 1 0 1 1 Speed Command Value I Speed limit command &%A) Parameter No. 8 Parameter No. 9 Parameter NO. 10 I Note.0: SPlISP2-SGoff (open) 1: SPUSPS-SG on (short) When the internal speed commands 1 to 3 are used tocommand the speed, the speed does notvary with the ambient temperature. (c) b i t i n g speed (VLC) TLC-SG are connected when the servo motor speed reaches theh i t speed set to any of the internal speed h i t s 1to 3 or analog speed h i t . 3. SIGNALS AND WIRING 3.4.4 Position/speed control change mode Set 0001 in parameter No. 0 to switch to the positiodspeed control change mode. Ths function is not avadable in the absolute position detectionsystem. (1) Control change (LOP) Use control change(LOP) to switch between theposition control mode and the speedcontrol mode from an external contact. Relationshps between LOP-SG status and control modes are inhcatedbelow: (Note) LOP 0 1 Servo Control Mode Position control mode Speed control mode Note. 0: LOP-SGoff (open) 1: LOP-SG on (short) The control mode may be changed in the zero-speed status.To ensure safety, change control after the servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset. If the signal has been switched on-off at the speed hgher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below: Position Position SPd control mode , control mode , control mode Zero speed (ZSP) ON OFF ON Control change (LOP) (Note) OFF ,_.- I (Note) I I_._ Note: WhenZSP is not on, control cannotbe changed if LOP is switched on-off. If ZSP switcheson after that, control cannot not be changed. (2) Torque limit in position control mode As in Section 3.4.1 (2). 3 - 29 3. SIGNALS AND WIRING (3)Speed setting in speed control mode (a) Speed commandand speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationshp between analog speed command (VC) applied voltage and servo motor speed and the rotation duections determined by the forward rotation start signal (ST1) and reverse rotation start signal(ST2) are as in (a), (1) in section 3.4.2. Generally, make connection as shown below: _____ 2kQ Servo amplifier - - ----< SD Japan Resistor RRS10 or equivalent , , When a precision speed command is required, referto (a), (1)in section 3.4.2 (b) Speed selection 1 (SP1) and speed command value Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and the speed setby the analog speed command(VC) as inhcatedin the following table: (Note) External Input Signals SPI 0 1 Speed Command Value I Analog speed command I Internal speed command PTC) 1 (parameter No. 8) h’ote. 0: SP1-SG off (open) 1: SP1-SG on (short) The speed may also be changed during rotation. In t h s case, it is increased or decreased accordmg to the value set in parameterNo. 11or 12. When the internal speed command 1 is used to command the speed, the speed does not vary with the ambient temperature. (c) Speed reached (SA) As in Section 3.4.2 (2). 3 - 30 3. SIGNALS AND WIRING 3.4.5 Speedhorque control change mode Set 0003 in parameterXo. 0 to switch to the speedtorquecontrol change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed controlmode and the torque control mode from an externalcontact. Relationshps betweenLOP-SG status andcontrol modes are indicated below: Note. 0:LOP-SG off (open) 1: LOP-SG on (short) The control mode may be changed a t any time.A change timing chartis shown below: TorqueSpeed speed control mode, control mode, control mode Servo motor speed Analog torque command (TC) Control change 1ov 0 (Lop) oN OFF r ' i Note: When the start signal (ST1. ST2) is switched off as soon as the mode is changed tospeed control, the servo motor comes to a stop according to the decelerationtime constant. (2) Speed setting in speed control mode As in Section 3.4.2 (1). (3) Torque limit in speed control mode As in Section 3.4.1 (2). 3 - 31 3. SIGNALS AND WIRING ~ (4) Speed limitin torque control mode (a) Speed lunit value and speed The speed is limited to the h i t value set in parameterNo. 8 (internal speed limit1)or the value set in the applied voltageof the analog speedh i t (VLA). A relationshp between the analog speed hit (VLA) applied voltage and the servo motor speed is as in (a),(3) in section 3.4.3. Generally, make connectionas shown below: Servoamplifier .____ Japan Resistor RRSlO or equivalent When a precision speed commandis required, refer to (a), (3) in section 3.4.3. @I) Speed selection 1 (SP1) and speed limit value Use speed selection 1 (SP1) to select between the speed set by the internal speed command 1 and the meed setby the analog speedb i t (VLA) as indicated in thefollowing table: (Note) ExternalInput Signals Speed Command Value ED1 I Analog speed limit (VIA) I Internal speed limit 1 (parameter No. 8) 0 1 Note.0: SP1-SGoff (open) 1: SP1-SGon (short) When the internal speed lunit 1 is used to command the speed, the speed does not vary with the ambient temperature. (c) Limiting speed (VLC) As in (c), (3) in section 3.4.3. (5) Toque control in torque control mode As in Section 3.4.3 (1). (6) Torque limit in torque control mode As in Section 3.4.3 (2). 3 - 32 . - ._. 3. SIGNALS AND WIRING 3.4.6 Torque/position control change mode Set 0005 in parameter No. 0 to switch to the torque/position control change mode. (1) Control change(LOP) Use control change (LOP) to switch between the torque control mode and the position control mode below: from a n external contact. Relationships betweenLOP-SG status and control modes are indxated h Servo Control Mode Torque control mode Position control mode Note. 0: LOP-SG off (open) 1: LOP-SG on (short) The control mode maybe changed in the zero-speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to torque control mode, drooppulses are reset. If the signal has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed.A change timing chartis shown below: Analog torque command VIA) Zero speed (ZSP) 1ov ov ON OFF 1 - Control change (Lop) oN OFF (2) Speed limitin torque controlmode As in Section 3.4.3 (3). (3) Torque controlin toque control mode As in Section 3.4.3 (1). (4) Torque limit in torque control mode As in Section 3.4.3 (2). (5) Torque limit in position controlmode As in Section 3.4.1 (2). 3 - 33 1 - 3. SIGNALS AND WIRING 3.5 Alarm Occurrence Timing Chart When an alarm hasoccurred,removeitscause, make sure thattheoperation signal is not being input, ensure safety, and reset the alarm before restarting operation. &AUTION When an alarm occurs in the servo ampMer, the base circuit is shut off and the servo motoris coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supplyoff, then on. However, the alarm cannotbe reset unless its cause of occurrence is removed. power supply ON OFF I lPower Off t Power on I Base circuit Dynamic brake more Remove cause of trouble. Precautions for alarm occurrence 1) Overcurrent, overload 1or overload 2 If operation is repeated by switchmg control circuitpower off, then onto reset the overcurrent(A. 32), overload 1 (A. 50) or overload 2 (A. 51) alarm after its occurrence, without removingits cause, the servo amphfier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm andalso allow about 15 minutesfor c o o h g before resuming operation. 2) Instantaneous power failure If a power fadure continues 15ms or longer, the undervoltage (A. 10) alarm will occur. If the power fadure stdl persistsfor 20ms or longer, the control circuit is switched off. When the power failure is reset in t h s state, the alarm is reset and the servo motor wlll start suddenly if the servo-on signal (SON) is on. To prevent hazard, make up a sequence which wdl switch off the servo-on signal(SON) if an alarmoccurs. 3) Position control mode When an alarmoccurs, the home position is lost. When resuming operationafter deactivating the alarm, make a returnto home position. 3 - 34 3. SIGNALS AND WIRING 3.6 Interfaces 3.6.1 Common line The following b a g r a m shows the power supply andits common line. CNPl 1 I i DO-1 SON etc. ALM etc. Open collector output I L Servo motor CNP2 3 - 35 output Differential line driver 3. SIGNALS AND WIRING 3.6.2 Detailed description of the interfaces This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indxated in Section 3.3.2. Refer to t h s section and connect the interfaces with the external equipment. (1) Digital input interface Dl-1 Give a signal with a relayor open collectortransistor. Servo amplifier 24VDC For a transistor I I Approx. 5mA r V CESS1.OV I CECKlOOfl (2) Digital output interface DO-1 A lamp, relay or photocoupler can be driven. Provide a &ode (D) for a n inductive load, or an inrush current suppressing resister (R) for a lamp load. (Permissible current: 4omA or less, inrush current: l O O m A or less) Servo amplifier connected as shown, the sew0 amplifier 3 - 36 3. SIGNALS AND WIRING (3) Pulse train input interfaceDl-2 Provide a pulse train signal in the open collector or Merential h e dnver system. (a) Open collector system 1)Interface 24VDC Servo amplifier !.P24G Y 2) Conditions of the input pulse 3 - 37 3. SIGNALS AND WIRING (b) Dlfferential line driver system 1) Interface Servo amplifier Max.input pulse frequency 500kpps Y SD 2) Conhtions of the input pulse J , tC tLH = tHL c 0.luS (4) Encoder pulse output DO-2 (a) Open collector system Interface Max. output current 35mA Servo amplifier Servo amplifier m 5 to 24VDC I I ' ,. _ _ I ! LG S D' 3 - 38 Photocoupler 3. SIGNALS AND WIRING @) Ddferential h e dnver system 1)Interface Maxoutput current 35mA Servo amplifier Servo amplifier I LA (LB,LZ) Am26LS32 or equivalent I (LBRUR) + 1-/---I I , , I . I 8 , 1 I _ _ _ . { - 1OOR High-speed photocoupler U / 1 / ..PI---- 2) Output pulse Servo motor CCW rotation LA-Lju-u- LBE LAR LBR@& LZ signal varies k3BT on its leading edge L z LZR open op Shorted u L 4 ~ more p ors v (5)Analog input Input impedance 10 to 1 2 m Servo amplifier I 3 - 39 3. SIGNALS AND WIRING 3.7 Input Power Supply Circuit A 3.7.1 ~ ~ ~ _ _ _ _ _ ~~ CAUTION ~~ ~~~~~~~ When the servo amplifierhas become faulty,switchpower off on the servo amplifier power side. Continuousflow of a large current may causea fire. Connection example Forced Stop RA1 OFF ON G Circuit CNlB 3 VDD 13 COM 18 ALM Forced RA3 OFF Stop ON Y I P24L 3 1 SG 1 10 I Forced protector RA6 ENPl P24M 1 P24G 2 Servo ampllfler CNlB CN1B EMG 15 SG 10 & Y -- Note: 1.When using an electromagnetic brake. determine the power supply by taking the rated current value of the electromagnetic brake into consideration 2. Configureup the power supplycircuitwhich will switch off power upondetection of alarm occurrence. 3 - 40 3. SIGNALS AND WIRING 3.7.2 Explanation of signals Abbreviation Signal Name Description P24M Main circuit power input P24G Power ground P24L Control power input _L - Ground Power supply for main circuit Main circuit power supply and control power supply. Connected to SG and LG inside the unit. Control power supply and digital 1/0 power supply. Always use a stabilizing power supply. Grounding terminal Connect to the earthof the control box for grounding. - 3.7.3 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.7.1 using the relay with the main circuit power supply. Configure up an external sequence to switch off the relay as soon as an alarm occurs. 2) Switch on the control circuit power supply P24L, P24G simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the &splay shows the corresponding warning. However, by switchng on the main circuit power supply, the warning &sappears and the servo amplifier w d operate properly. 3) The servo ampuler can accept the servo-on signal (SON) about 1 second after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the 24V power supply, the base circuit w d switch on in about 1 second. and the ready signal (RD) wdl switch on in further about 20ms, malung the servo ampM1er ready to operate. (2) Timing chart SON accepted 1 N Powersupply ON OFF Base circuit ON OFF Servo on f , I (1s) 1' , I I , lOms, ~ I ON 3 - 41 - , # _ 6 0 m s _ 4 1 3. SIGNALS AND WIRING (3) Forced stop A CAUTION To stop operation and switch power off immediately, provide a forced stop circuit. Make up a circuit whch shutsoff main circuit power as soon as EMG-SG are opened at a forced stop. To ensure safety, always install a forced stop switch across EMG-SG. By &sconnecting EMG-SG, the dynamic brake is operated to bring the servo motor to a suddenstop. At ths time, the &splay shows the servo forced stop warning (A. E6). During ordmary operation,do not use the forced stop signal to alternate stop and run. If the start signal is on or a pulse train is input during aforced stop, the servo motor wdl rotate as soon as the warning is reset. Duringforced a stop, always shutoff the runcommand. Servo amplifier (4) CNP1 connector wiring The servo amphfier is packed with the following parts for wiring the CNP1. For connection of the terminals and cables, use the crimping tool 57026-5000 (for UL1007) or 570275000 (for UL1015). Part Model Maker Connector Terminal 5557-08R 5556 molex 3 - 42 3.SIGNALS AND WIRING 3.8 Servo Motor with Electromagnetic Brake (1) Setting Using parameter No.33 (electromagnetic brake sequence output), set a time delay from electromagnetic shown in (2) in this section. brake operation to base circuit shut-off as in the timing chart (2) Operation timing (a) Servo on signal command (from controller) ON/OFF Tb after the servo-on signal is switched off, the base circuit is shut off and the servo motor coasts. The following chart shows theway of holdmg the motor shaft in verticallift applications. * Adjust Tb (parameter No. 33) to minimize a drop after the servo-on signal is switched off. Switch off the servo-on signal after the servo motor has stopped. - [,T Coasting Servo motor speed 0 r'min Base circuit Electromagnetic brake (CNP2-9) Servo-on(S0N) (b) Emergency stop signal (EMG) ON/OFF Dynamic brake Electromagnetic brake release brakeElectromagnetic Servo motor speed I I , Base circuit I I - _ - - _ _ --- I Electromagnetic Invalid(ON) brake(CNP2-9) iilectromagnetic brak++ ;operation delay lime ; (10ms) Forced stop(EMG) 180ms) __----_-- ----------- 3 - 43 3. SIGNALS AND WIRING (c) Alarm occurrence Dynamic brake - y l & r o m a g Dynamic n e t i c brake brake Servo motor speed ------- ---I I Base circuit ON -_--- 1- OFF Electromagnetic Invalid(oN) brake(CNP2-9) Valid(OFF) .- - - - ' Electromagnetic brake operation delay time(l0ms) Y No(0N) Trouble (ALM) Electromagneticbrake , , --- --- Yes(0FF) (d) Main circuit power off When main circuitpowerswitches off, the undervoltage alarm timing is as shown in (c) of this section. (A.10) occurs and the operation (e) Control circuit poweroff -1- Servo motor speed Control power (P24L) Coasting ++ ,-lOms Electromagneticbrake ON OFF (3)Release of electromagnetic brake To release the electromagnetic brake when main circuit power is off, use the output signal forced output (referto Section 6.7). The electromagnetic brake can be released by turning on the electromagnetic brake power B l (CNPZ9). 3 - 44 3. SIGNALS AND WIRING 3.9 Grounding ~~~~~ A WARN'NG ~ ~ ~~ ~ ~ ~ Ground the amplifier servo motor servo securely. and To prevent an electric shock, always connect the earth terminal (E) of the servo amplifier to the earth (E) of the control box (refer to (2) of this section for the fitting method of the earthterminal). I (1) Connection diagram The servo ampM1er switches thepower transistor on-off to supply power tothe servo motor. Depending on the wiring and ground cablerouting, the servo amphfier may beaffected by the switchmg noise (due to dddt and dv/dt)of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to theEMC INSTALLATION GUIDELINES (TB(NA)67310). Control box I I -o ? 24VDC Circuit protector I Servo amplifier 0- P24M - RA - j o J- I L L P Servo k C N l A CNlB 3 - 45 I motor 3. SIGNALS AND WIRING (2) Fitting of earth (E) terminal (AERSBAN-JR) As shown below, fit the earth (E) terminal to thebottom or top of the servo ampM1er Positioning Earth (E) terminal AERSBAN-JR 3.10 Instructions for the 3M Connector When fabricatinga n encoder cable or the &e, securely connect theshelded external conductor of the cable to the ground plate as shown in ths section and fm it to the connector shell. External conductor Sheath Sheath External conductor Pull back the external conductorto cover the sheath StriD the sheath. 3 - 46 4. OPERATION 4. OPERATION 4.1 When Switching Power On for the First Time Before starting operation, check the following: (1) Wiring (a) A correct power supply is connected to the power input terminals (P24M P24G P24L) of the servo amphfier. (b) The servo motor power supply terminals (U, V, W) of the servo amphfier match in phase with the power input terminals(UT, V , W) of the servo motor. (c) The servo motor power supply terminals (U, V, W) of the servo amphfier are not shorted to the power input terminals (P24M * P24L). (d) The servo amphfierand servo motor are grounded securely. (e) When stroke end limit switches are used, the signals across LSP-SG and LSN-SG are on during operation. (024VDC or h g h e r voltages are not appliedto the pinsof connectors CNlA and CNlB. (9) SD and SG of connectors CNlA and CNlB is not shorted. (h) The wiring cables are free from excessive force. (2) Environment Signal cables and power cables are not shorted by wire offcuts, metallic dust or the hke. (3) Machine (a) The screws in the servo motor installation part and shaft-to-machine connection are tight. (b) The servo motor and the machneconnected with the servo motor can be operated. 4- 1 4. OPERATION 4.2 Startup A A WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. During power-on or soon after power-off, do not touch the servo motor as they may be at high temperatures.You may get burnt. Connect the servo motor with a machine after confirming that theservo motor operates properly alone. 4.2.1 Selection of control mode Use parameter No. 0 to choose the control mode used. After setting, this parameter is made valid by switchmg poweroff, then on. 4.2.2 Position control mode (1) Power on (a) Switch off the servo on (SON) signal. (b) When main circuit powerkontrol circuit power is switched on, "C (Cumulative feedback pulses)" appears on the parameterunit. (2) Test operation 1 Using jog operation in the "test operation mode", make sure that the servo motor operates. (Refer to Section 6.8.2.) (3) Parameter setting Set the parametersaccording to the structure andspecifications of the machine. Refer to Chapter 5 for the parameter definitions and to Sections7.8 for the setting method. Name Parameter Description No. 0 Select the control mode OODO No. 2 .\ut0 tuning 010.4 No. 3 No. 1 Electronic gear numerator ( C W ) Electronic gear denominator (CDI3 Setting Fourth digit : Posltion control mode Flrst digit: : Middle response (initial value) 1s selected. Second diglt : Ordinary machine Thirddigit Used ' 2 1 Electronic gear numerator Electronic gear denominator After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid. 4- 2 4.OPERATION (4) Servo on Switch the servo on in thefollowing procedure: (a) Switch on main circuitkontrol power. (b) Switch on the servo on signal (SON) (short SON-SG). When placed in the servo-on status, the servo amphiier is ready to operate and the servo motor is locked. ( 5 ) Command pulse input Entry of a pulse train from the positioningdevice rotates the servo motor. At Grst, runit at low speed and check the rotation direction, etc. If it does not run in the intended direction, check the input signal. On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor. When machme operationcheck is over, check automatic operation with the program of the positioning device. l b s servo a m p u e r has a real-time auto tuning function under model adaptive control. Performing operationautomaticallyadjustsgains.Theoptimumtuningresultsareprovided by settingthe response level appropriate for the machmein parameter No. 2. (6) Zeroing Make home position returnas required. (7) Stop In any of the following statuses, the servo ampfier interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that the stop pattern of stroke end(LSP/LSN) OFF is a s described below. (a) Servo on (Soh? OFF The base circuitis shut off and theservo motor coasts. (b) Alarm occurrence When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor toa sudden stop. (c) Forced stop (EMG) OFF The base circuit is shut off and the dynamic brakeis operated to bring the servo motorto a sudden stop. Alarm A. E6 occurs. (d) Stroke end&SPUN) OFF The servo motoris brought to a sudden stop and servo-locked. The motor may berun in theopposite direction. 4- 3 4.OPERATION 4.2.3 Speed control mode (1 ) Power on (a) Switch off the servo on (SON) signal (b) When main circuit power/control circuit power is switched on, "r (motor speed)" appears on the parameter unit. (2) Test operation Using jog operation in the "test operation mode" of the Parameter unit, make sure that the servo motor operates. (Refer to Section 6.8.2.) (3) Parameter setting Set the parametersaccording to the structure and specficationsof the machme. Refer to Chapter 5 for to Sections 6.5for the settingmethod. the parameter defhtions and After setting the above parameters, switch poweroff once. Then switch power on againto make the set parameter values valid. (4) Servo on Switch theservo on in the following procedure: (a) Switch on main circuitkontrol power. (Soh? (short SON-SG). When placed in the servo-on status. the servo ampM1er is ready to operate and the servo motoris locked. (b) Switch on the servo on signal (5) Start Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on forwardrotation start (ST1)to run the motor in the forward rotation (CCVC? directionorreverse rotation start (ST2) to run it in the reverse rotation (CW) direction. At first, set a low speed and check the rotation direction,etc. If it does not run in the intended direction, checkthe input signal. On the status display,check the speed,load factor, etc.of the servo motor. When machme operation checkis over, check automatic operation with the host controller or the *e. This servo ampllfier has a real-time auto tuning function under model adaptive control. Performing operationautomaticallyadjustsgains.Theoptimumtuningresultsareprovided by settingthe response level appropriate for the machine in parameterNo. 2. 4- 4 4. OPERATION (6)Stop In any of the following statuses, the servo ampuler interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for theservomotorequippedwithelectromagneticbrake. Note that simultaneous ON or simultaneous OFF of stroke end(LSP, LSN) OFF and forward rotationstart (ST1) or reverse rotationstart (ST2) signal has the same stop pattern as described below. (a) Servo on (SON) OFF The base circuitis shut off and the servo motor coasts. (b) Alarm occurrence When a n alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor t o a sudden stop. (c) Forced stop (EMG) OFF The base circuit is shut off and the dynamic brakeis operated to bring the servo motorto a sudden stop. Alarm A. E6 occurs. (d) Stroke end (LSP/LSN) OFF The servo motoris brought to a sudden stop andservo-locked. The motor maybe run in the opposite dwection. (e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start (ST2) signals The servo motoris decelerated to a stop. 4.2.4 Torque control mode (1) Power on (a) Switchoff the servo on(SON) signal. (b) When maincircuit powericontrolcircuitpower appears on the parameter unit. is switchedon, "U (torquecommandvoltage)" (2) Test operation Using jog operation in the "test operation mode" of the Parameterunit, make sure that the servo motor operates. (Refer to Section 6.8.2.) (3) Parameter setting Set the parameters accordmgto the structure andspecifications of the machine. Refer to Chapter 5 for the parameter d e b t i o n s a n dto Sections 6.5for the setting method. After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid. 4- 5 4. OPERATION (4) Servo on Switch the servo on in the following procedure: 1) Switch on main circuitlcontrol power. 2) Switch on the servo on signal(SON) (short SON-SG). When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (5) Start Using speed selection 1 (SP1) and speed selection 2 (SP2), choose the servo motor speed. Turn on forward rotation select (DI4) to run the motor in the forwardrotation (CCW) directionorreverse rotation select 0 1 3 ) to run it in the reverse rotation (CW, dwection, generating torque. At first, set a low speed and check the rotation dwection, etc. If it does not run in the intended duection, check the input signal. On the status &splay, check the speed,load factor, etc. of the servo motor. When machine operation checkis over, check automatic operation with the host controller or the hke. (6)Stop In any of the following statuses, the servo ampMer interrupts and stops the operation of the servo motor: Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. (a) Servo on (SON) OFF The base circuitis shut off and theservo motor coasts. (b) Alarm occurrence When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop. (c) Forced stop (EMG) OFF The base circuit is shut off and the dynamic brakeis operated to bring the servomotor to a sudden stop. Alarm A. E6 occurs. 4.3 Multidrop Communication You can use the RS-422 communication function to operate two or more servo ampMers on the same bus. I n t h s case: set station numbers to the servo amphfiers to recogmze the servo amphfier to whch the current data is being sent. Use parameterNo. 15 to set the station numbers. illways set one station number to one servo ampldier. Normal communication cannot be made if the same station number is set to two more or servo amplifiers. For details, refer to Chapter 13. 4- 6 5. PARAMETERS 5 . PARAMETERS Never adjust or change the parameter values extremely as it will make operation instable. ~~~ 5.1 5.1.1 ~ ~ Parameter List Parameter write inhibit I POINT 1 After setting the parameterNo. 19 value, switch poweroff, then on to make that setting valid. r In the MR-J2-03A5 servo amphfier, its parameters are classdied into the basic parameters (No. 0 to 19) and expansion parameters (No. 20 to 49) according to their safety aspects and frequencies of use. In the factov setting conchtion, the customer can change the basic parameter values but cannot change the expansionparametervalues.Whenfineadjustment, e.g. gainadjustment, is required,changethe parameter No. 19 setting to make the expansion parameters write-enabled. Parameter No. 19 Setting Operation 0000 ~ c ~ n ~ t lvalue) al 0OO.A I OOOB oooc Reference Write Reference Write Reference Write Reference Write Basic Parameters No. 0 to No. 19 Expansion Parameters No. 20 to No. 49 0 0 0 0 0 5- 1 0 0 5. PARAMETERS I POINT 1 For any parameter whose symbol is preceded by*, set the parametervalue and switch power off once, then switch it on againto make that parameter setting valid. For details of the parameters, refer to the corresponding items. The symbols in theControl Mode column of the table indxate thefollowing modes: P : Position control mode S : Speed control mode T : Torque control mode (1) Item list 15 16 17 18 19 P . S .T 0 P . S .T 0000 *SNO Station number setting *BPS Communication baudrate selection, alarm history clear \ Spare \ o \ P . S . T 0000 P . S .T 0000 *DMD Status display selection 'BLK Parameter block 5- 2 station \ \ \ 5. PARAMETERS Note 1. The setting of " 0provides the rated servo motor speed. 2. Depends on the servo ampMer. 5- 3 5. PARAMETERS *STT (2)Details list Control mode, regenerative brake option selection Used t o select the control mode and regenerative brake option. 0 0 - Unit Setting Control Range Mode OOOOh P . S 'I to 0005h the control mode. 0:Position 1:Position and speed 2:speed 3:Speed and torque 4:Torque 5:Torque and position ?unction selection 1: Used to selecttheinputsignalfilterandCNlB-pin signal. 0 0000 0 -Select *OPl Initial Value Name and Function 3ymbo - 0002 1 9 s output 0 -Input signal filter If external input signal causes chattering due to noise, etc., input fitteris used to suppress it. 0:None 1:I .77[ms] 2:3.55(ms] CNI 6-pin 19's function selection 0:Zero Speed detection signal 1 :Electromagnetic brake interlocksugnal 5- 4 OOOOh P . S . 'I to 0012h 5.PARAMETERS ATU ,ut0 tuning: Used to set the response level, etc.for execution of auto tuning. 0 r L .- - -- u'alue Range 0104 OOOlh to 0215h - - Initial Name and Function ymbol I -Auto jetting ontrol P.S tuning response level setting I Low response Middle response High response If the macine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Select the machine. For example, used to improve the position setting characteristic when friction is large. 0: Ordinary machine 1: Machine with large friction I Auto tuning selection 0: Auto tuning selectedfor use of interpolation axis control, etc.in positioncontrol 1: Auto tuningfor ordinary operation 2: No auto tuning ChKi 1 3lectronic gear numerator: Set the value within the rangeof 1 If -<- CMX 1 ChlX < jo CDV -< 50 <lo0 is exceeded, a parameter error will occur Uwayssettheelectronicgearinthe servo off statustoprevenl nisoperation due to wrong setting For the setting, refer to Section 5.2.1. jet the multiplier for the command pulse input. Commandpulseinput fl 'B CMX Positioncommand fz=f1.- CMX CDV ' Note: Set the value within the range of - < CMX < S O 50 CDV as a guideline. Use the followmg formula to change the setting per servo motor revolutlon. (Example: HC-.-1Q series: 8192 pulsesirev) 8192. CDI' - (pulseirev) 5- 5 of input pulse coun 1 P to 32767 1 - 1 to 3276i P 5. PARAMETERS - Name and Function INP In-position range: Usedtosetthe drooppulserange In whichthe imposition (INP signal will be output. Position loop gain 1: Used to set the gain of position loop 1. Increase the gain to improve trackability in response to the positior command. Position command accelerationldeceleration time constant (smoothing): Used to set the time constantof a low pass filter in responseto the position command. Example: When a command is given from a synchronizing detector, synchronous operation can be startedsmoothly if started during line operation. PG1 PST - -- 7 jymbo ~ ~ ~~~ Initial Value Unit 100 pulse Setting Range 0 to 10000 -145 redls 4 to 1000 -3 ms 0 to 20000 Servo amplifier , - _. I Without time constant settin? Servo motor speed / / . ..' With time constant setting ON j t 9 Start sc1 - Internal speed command 1: Used to set speed1 of internal speed commands 100 Internal speed limit 1: Used to setspeed 1 of internal speed limits. - Internal speed command 2: Used to set speed2 of internal speed commands. Internal speed limit 2: Used to set speed2 of internal speed limits. 5- 6 0 to instantaneou! permssible speed r/mir 0 to instantaneou: S permi- T T - -- sc2 rimir 500 ssible speed S -- 5.PARAMETERS sc3 nternal speed command symbol - Initial Value Name and Function 3: Used to set speed 3 of internal speed commands. Setting Control Mode Unit S 1000 instantaneous permissible nternal speed limit 3: Used to set speed 3 of internal speed limits. STA kceleration time constant: Used to set the acceleration time requlred to reach the rated speed from zero speedinresponsetotheanalogspeedcommandand internal speed commands 1 to 3. Speed Rated _ _ - - - - _ _ _ _ ~ 0 I f the preset command speed is lower than the rated speed, acceleration/decelerationtime will be shorter. I sp-1 Zero Time Parameter speed Parameter No. 12 setting No.11 setting 3xample: Set 3000 (3s) to increase speed from Orlmin to 1000r/min in 1 second. POINT Whenconfiguringanexternalposition values in parameters No. 11 and 12. loop, set 0 orminimal STB STC leceleration tune constant: Used to set the deceleration time required to reach zero speed from to theanalogspeedcommandand theratedspeedinresponse internal speed commands 1 to 3. ;-pattern accelerationldeceleration time constant: Used to smooth startlstop of the servo motor. 0 0 Command speec a!i Orimin STA: Aeceleration time constant (parameter No.11) STB: Deceleratlon time constant (parameter No.12) STC: S-pattern accelerationideceleration time constant (parameter No.13) 5- 7 I - T 5. PARAMETERS :lass No. Symbo 14 TQC - Initial Value Name and Function Control Mode 0 rorque command time constant: Used to set the constantof a low pass filter in response to the torque command. ms I T :t 20000 Torque I . . TQC Time TQC: Torque command time constant 15 *SNO 16 'BPS LC 0 + E 2 0 Station number setting Used to specify the station numberfor multidrop communication. Always set one station to one axis of servo amplifier. If one station number is set totwo or more stations, normal communication cannot be made. 0000 2ommunication baudrate selection, alarm history clear: Usedtoselectthecommunicationbaudrate for use of theset-up software and to clear the alarm history. r a OOOOh to 1112h RS-422iRS-232C boudrate selection 0: 9600 [bps] 1: 1920qbpsl 2: 4800 [bps] I Alarm history clear 0: Invalid 1: Valid When alarm history clearis made valid, the alarm historyis clearedat next power-on. After the alarm historyis cleared, the setting is automatically made invalid (reset to 0). -RS-4WRS-232C communication standard selection 0: RS-232C used 1: RS-485 used -Communication response delay time 0: Invalid, reply sentin less than 4 0 0 p 1: Valid, reply sentin 400ps or more - 0 17 5- 8 .. . . .. . 5. PARAMETERS --- ~~ Initial Value Name and Function Unit OOOOh 0000 status display selection: to Used toselect the status displayshown at power-on. 1 0 1 0 1 I OOlCh I - Setting Range Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2:Droop pulses 3: Cumulative command pulses 4: Command pulse frequency 5: Analog speed command voltage (Note 1) 6:Analog torque command voltage (Note 2) 7: Regenerative load ratio 8: Effective load ratio 9: Peak load ratio A: Within onerevolution position B: ABS counter C: Load inertia moment ratio Note: 1. In speed control mode. Analog speed limit voltagein torque control d e . 2. In torque control mode. Analog torque limit vottagein speed or position control mode. -Status display at power-onin corresponding control mode 0: Depends on the control mode. 1L Control Mode Positton Positionkpeed I 1 Status Power-On Display at Cumulative feedback pulses Cumulative feedback pulsedservo motor speed Speed Servo motor speed Speedltorque Servo motor SpeeUanalog torque command voltage Torque Analog torque command voltage Torque/position Analog torque command voltage/cumulatlve feedback pulses 1: Depends on the first digit setting of this parameter. OOOOh 0000 Parameter block: Csed to select t h e reference and writeranges of the parameters. to OOOCh Basic Value Set Expansion Parameters Parameters No. 0 to No. 19 No. 20 to No. 49 0000 Reference (Initial value) Write 0 Reference No. 19 only OOOA OOOB oooc I Operation 0 Write Reference 0 Write 0 Reference 0 0 Wntc 0 0 5- 9 0 I I I 5. PARAMETERS Name and Function *OP2 ?unction selection 2: Used to select restart after instantaneous power failure, servo lock at a stop in speedcontrolmode,andslightvibratior suppression control. u - -Restart -- --- -Initial Value 0000 Unit Setting Control Range Mode OOOOh to Olllh after instantaneous power failure If the input power supply voltage had reducedin thespeed control mode to stop the servo motor due to the undervoitage alarm(A. 10) but the supply voltage has returned to normal, the servo motorcan be restartedby merely switching on the start signalwithout resetting the alarm. 0: Invalid 1: Valid \ S -Stop-time servo lock selection The shaft canbe servo-locked to remain still at a stopin the speed control mode. 0: Valid 1: Invalid *OP3 P -Slight vibration suppression control Used to suppress vibrationat a stop 0: Invalid 1: Valid ?unction selection 3 (Command pulse selection) : Used to select the inputform of the pulse train Input signal. (Refer to Section 3.4.1.) 1 0 1 0 1 I I I 1 I -0000 OOOOh P to 0012h , -Command pulse train input form 0: Forwardheverse rotation pulse train 1: Signed pulse train 2: AB phase pulse train - Pulse train logic selection 0: Positive logic 1: Negative logic 5 - 10 - 5.PARAMETERS - Initial Symbol Name and Function *OP4 'unction selection 4: Used to select stop processing a t LSPLSN signal off and choose the machine resonance suppression filter. : to make a stop whenLSPILSN signal is valid. 0: Sudden stop 1: Slow stop In the position control mode, the servo motoris decelerated to a stop accordingto parameter No. 7 setting. In the speed control mode, the servo motoris decelerated to a stop accordingto parameter No. 12 setting. VCNLA voltage averaging Used to set the filtering time when the analog speed command (VC) voltage or analog speed limit ( V U ) is imported. Set 0 to vary the speedto voltage fluctuation in real time. Increase the set value to vary the speed slowerto voltage fluctuation. [ms] Set Value Filtering Time 2 3.55 3 7.1 1 -Machine resonance suppression filter - 5 - 11 ietting Value u -How 0000 1000h to 7301h 5.PARAMETERS 7 - Initial Value No. Name and Function 23 ?eed forward gain: Used to set the fee forward gain. Whenitissetto 100%. drooppulses will not be generatedin constant-speed operation. Sote that sudden acceleration/deceleration will increase overshoot. When setting this parameter, always set auto tuning (parameter No. - I :ero speed: Used to set the output rangeof the zero speed signal(ZSP). 24 - h a l o g speed command maximum speed: Used to set the speed at the maximum input analog speed command (VC). Set 0 to select the rated speed. 25 0 26 lmin 0 to 100 0 to E 0 voltage (10V) of the 0 1/min 1 to X 0 1 to 5 % 0 to 1000 - - 27 28 % ietting - - 0 inalog speed limit maximum speed: Used to set the speed at the maximum input voltage (lo\? of the analog speed limit (VLA). Set 0 to select the rated speed. 100 inalog torque command maximum output: Used to set the output torque at the analog torque command voltage (TC = k8V) of +8V on the assumption that the maximum torque is lOO[%]. For example, set 50 to output (maximum torque x 50/100) a t - - -* Unit TLl 4000 3ncoder output pulses: Usedtosetthenumber of outputpulsesperencoderrevolution output by the servo amplifier. nternal torque limit 1: Setthisparameter to limltservomotor-generatedtorqueonthe assumptionthatthemaximumtorque is loo[%].When 0 isset, torque is not produced. .nternal torque limit 1: Setthisparametertolimitservomotor-generatedtorqueonthe assumption that the maximum torque IS loo[%]. When 0 is set. toraue is notDroduced. Across Torque Limit TL-SG Open I Internal torque limlt 1 (Parameter No. 28) Julse 5 to - 16384 100 % 0 to 100 I II Torque lmlt relatlonshlp Valid torque hmlt Analog torque lunlt < Internal torque hmlt 1 h a l o g torque limit Analog torque hmlt >internal torque hmlt 1 Internal torque limlt 1 - - 5- 12 T 5.PARAMETERS :lass No. Symbol Name and Function Initial Value - --Unit VCO command Analog speed offset: Depends Used to set the offsetvoltage of the analog speed command (VC). onservo When automatic VC offset is used, the automatically offset value is amplifier set to this parameter. The initial value is the value provided by the automatic VC offset function before shipment at theVC-LG voltage of OV. Analog speed limit offset: Used to set the offset voltage of the analog speed limit (VLA). When automatic VC offset is used, the auto-matically offset value is set to this parameter. The initial value is the value provided by the automatic I’C offset function before shipment at theT U - L G voltage of OV. command 30 torque TLO Analog offset: 0 Used to set theoffset voltage of the analog torque command(TC). .halog torque limitoffset: Used to set theoffset voltage of the analog torque limit(TLA). 31 Spare 0 32 Spare 0 33 hfBR output: sequence Electromagnetic brake 100 Usedtosetthe delay time (Tb) betweenelectromagneticbrake operation and thebase drive circuit is shut-off. 3I GD2 Ratio of load inertia moment to servo motor inertia moment: 70 Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning is selected, the result of auto tuning is auto-matically set. Position 35 PG2 loop gain 2: 30 rad/s Used to set thegain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is 29 \ \ - 37 38 Normally this parameter setting need notbe changed. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set. VG2 Speed loop gain 2: Set this parameter when vibration occurs on machines of low rigidity or large backiash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning is selected, the result of auto tuning is automatically set. \.?C compensation Speed integral Used to set the integral time constant of the speed loop. of auto tuning is When auto tuning is selected, the result automatically set. 5 - 13 Setting Control Range Mode -999 S to 999 -999 to 999 7 5 0 to 1000 0 to 1000 1 to 500 - P 20 to 5000 P.S rad/s 20 to 8000 P.S ms 1 to 1000 216 radls 714 20 5. PARAMETERS - Name and Function Speed differential compensation: Used to set the differential compensation. Made valid when the proportion control signal is switched on. Spare [nput signal automaticON selection: Used to set automaticON of SON,LSP and LSN. 0 : Initial Value 980 0 0000 Range 0 5 OOOOh to Olllh on signal (SON) input selection 0: Switched d o f f by external input. 1: Switched on automatically in servo: amplifier. (No need ofexternal wiring) -Servo Foward rotation stroke end signal (LSP) inputselection 0: Switched Woff by external input. 1: Switched on automaticallyin servo amplifier. (No need of external wiring) [nput signal selection 1: 0003 Used to assign the control mode changing signal input pins and to set the clear signal. 0 Setting to 1000 Reverse rotation stroke endsignal (LSN) input selection 0: Switched Woff by external input. 1: Switched on automaticallyin servo amplifier. (No need of external wiring) 0 Unit I I I -Control change signal (LOP) input pin assignment Used to set the control mode change signalinput connector pins. Note thatthis parameter is made valid when parameterNo. 0 is set to select the positionlspe ed, speedhorqueor torqudposition change mode. Set Value -Clear Connector Pin No. 0 CNI B-5 1 CNlB-14 2 CNl A-8 3 CN 18-7 4 CN18-8 5 CNl B-9 signal (CR) selection 0: Droop pulses are cleared on the leading edge. 1: Always cleared whileon. 5- 14 OOOOh to 0015h 5. PARAMETERS -- -Initial Value Name and Function ~~~ ~~ ~~~~ ~~~ ~~~ ~ nput signal selection2 (CNlB-pin 5 ) : This parameter is unavailable when parameterNo. 42 is set to assign the control change signal (LOP) to CNlB-pin 5 . Allows any input signalto be assigned to CNlB-pin 5 . Note that the setting digit and assigned signal differ according to the control mode. Setting Control Mode OOOOh ?.S.? - - Range 0111 Unit to 0999h 1 modeInput signals of L L _ - " i t i o ncontrol CN1B-pin 5 Speed control Selected. Torque control mode Signals that may be assignedineachcontrol below by their symbols. (Note) Control Mode Set value SON RES RES2 PC TL I TL 3 4 5 SON PC . I CR SP1 I SP1 I SP2 CR CR I 9 Note: P: Position control mode S: Speed control mode T: Torque control mode RS ST1 RS2 ST2 1 nput signal selection 3 (CNlB-pin 14): This parameter is unavailable when parameter No. 42 is set to assign the control change signal (LOP)to CNIB-pin 14. Allows any input signal to be assigned to CNlB-pin 14. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). 1 i L I e P o s i control t i o nmode Input Speed control - SON RES SP2 *DI3 mode areindicated 0223 signak of CNlB-pin 14 selected. - Torque control mode 5 - 15 OOOOh to 0999h 5 . PARAMETERS Name and Function nput signal selection 4 (CNlA-pin 8): This parameter is unavailable when parameter No. 42 is set to assign the control change signal(LOP) to CN1 A-pin 8. Allows any input signal to be assigned to CNlA-pin 8. The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). Initial Value - 3000h to D999h 0770 i p u t signal selection 5 (CNlB-pin 7): This parameter is unavailable when parameterNo. 42 is set to assign the control change signal(LOP)to CN1 B-pin 7. Allows any input signalto be assigned to CNlB-pin 7 . The assignable signals and setting method are the same as in input signal selection 2 (parameter No. 43). OOOOh to 099921 1 control mode Input signals of Speed control CNlA-pin 8 selected. Torque control mode 0 -L-L<e~osition - 1 controlmodeInputsignals of Speed control CN16-pin 7 selected. Torque controlmode 'DI6 [nput signal selectlon6 (CNlB-pin 8): This parameter is unavailable when parameter N o . 42 IS set to assign the control change signal(LOP)to CNlB-pin 8. Allows any input signal to be assigned to CNlB-pm 8. The asslgnable signals and settmg method are the same as in input signal selection 2 (parameter No. 43). 0 -L-LIe~osition *DI7 jetting 0665 0 -L-LIe~osition *DI5 - 0883 OOOOh to 0999h 0994 OOOOh to 099931 1 control mode Inputsignals of Speed control CNIB-pin 8 selected. Torque control mode nput signal selection 7 (CKlB-pin 9): This parameter is unavailable when parameterNo. 42 is set to assign the control change signal6 0 P ) to CNlB-pin 9. .Ulows any input signal to be assigned to CNlB-pin 9. The asslgnable signals and setting method are the same as in input signal selection 2 (parameter NO.43). 0 '-L-LIe~osition 1 controlmodeInputsignals of Speed control CNI 6-pin 9 selected. Torque control mode 5 - 16 - 5. PARAMETERS - - Range Initial Value Name and Function 0000 3utput slgnal selection 1: Usedto selecttheconnector warning (WNG). pins t o outputthe I SetValue 1 0 L Connector Pins CNlB-19 INPor SA 71 :Note) Alam NlBlCNlA :NIA T in 19 pin 18 z Watchdoa Name A. 12 Memory error 1 error A. 18 Board error 3 A.37 Parameter error A. 8E Serial communication error A. 33 Ovewoboe A. 10 1 1 t A. 50 (Ovedoad 1 I A. 51 ]Overload2 . Il A.24 I Undewoltage I Motor outDut fault . around - I A. 32 1 A.31 IOversoeed 1 I ~ Memoryenor2 A.15 A. 17 Board error2 I 0 I Board enur 1 0 D RD 8888 A. 11 A. 13Clock 0 0 I Display 1 1 I CNlA-18 I CNlA-19 I ZSP 1 I Overcurrent A. 35 I Commandpulse A. 52 I Error excessive A. 16 error I Encoder error 1 A.20IEncodererror2 Note: 0:OFF 1:ON -Setting of warning (WNG) output Select the connector pin to output warning. The old signal before selection will be unavailable. I SetValue I Connector Pin NO. 0 Not output. 1 CNlA-19 2 CNIB-18 3 CNlA-18 4 CNlB-19 5 CN1B-6 5 - 17 jetting OOOOh to OO5lh - of alarm codeout~ut L-Settina 0 code and alarm Unit I - 5. PARAMETERS 5.2 Detailed Description 5.2.1 Electronic gear POINT I The g u i d e h e of the electronicgearsettingrange is $c < 50. If the set value is outside t h s range, noise may be generated during acceleratioddeceleration or operation may not be performed at the preset meed andoracceleratioddeceleration time constants. (1 ) Concept of electronic gear The machme can bemoved at anymultiplication factor to input pulses. c -CMX - - ParameterNo.3 CDV - Parameter N O . ~ Encoder feedback pulse Electronic gear Parameters No. 3, 4 Encoder The following setting examples are used to explain how to calculate the electronic gear: (a) For motionin incrementsof l o p per pulse Machme speclfications Ballscrew lead Pb =10[mm] Reduction ratio: n = 1/2 Servo motor resolution: Pt = 8192 Lpulses/rev] Servo motor 81 92 [pulse/rev] CMX 16384 8192 =2048 -=Atom -Pt =Aeo. =- Pt 10x103. - CDV AS 1/2*10 n.Pb 125 1000 Hence, set 2048to CMX and 125 to CDV. w (b) Conveyor setting example For rotation in increments of 0.01" per pulse Servo motor 8192 [pulse/rev] Machme specfications Table Table resolution: 36000 pulseslrev Reduction ratio: n = 4/64 Servo motor resolution: Pt = 8192 Lpulses/rev] -CMX = CDV -Pt- AS Pt 36000x4/64 = - 131072 =36000 Timing belt : 4/64 4096 1125 Reduce CDV to 32767 or less and roundoff the result to the units. Hence, set4096 to CMX and 1125 to CDV. 5- 18 5. PARAMETERS (2)Setting for use of AD75P TheAD75P also has the followingelectronicgearparameters.Normally,theservoampfierside electronic gear must also be set due to the restriction on the command pulse frequency (differential 500kpps, opencollector 2OOkpps). AI?: Number of pulses permotor revolution A L : Moving &stance per motor revolution A M : Unit scale factor Servo amplifier AP75P Electronic gear I pulse Servo motor Electronic gear setting example for use of AD75P I 1 Rated Servo Motor Speed Servo amplifier ADiSP c 3000dmin [nput system Max. input pulse frequency Opencollector/Differentiallinedriver 200kpps 1500kpps Feedback pulse/revolution 8192pulse/rev 1251256 1/1 Electronic gear (ChWCDV? Command pulse frequency (Note 1) 409.6kpps 200kpps Number of pulses per servo motor revolutiona s viewed from AD75P 4000pulse/rev 8192pulse/rev 1 AP lRJ0te 2) Minimum command unit AL 1 l(N0te 2) lpulse 1 AM l(N0te 2) Electronic gear AP 4000 8192 Minimum command unit AL 1000 1000 0.lpmRjote 3) AM 100 100 .L Note: 1. Command pulse frequencyat rated speed 2. Assuming thatAP;8192 and AL=8000. the command unit a m o u n t p e rmotor revolution is 8000 pulsedrev, which makes positioning data setting easier. 3. In t h e case where the ballscrew leadis 10mm. 5 - 19 5 . PARAMETERS 5.2.2 Changing the status display screen The status &splay itemof the servo amplifier &splay showna t power-on can be changed by changing the parameter No. 18 settings. The item &splayedin the initial status changes with the control mode as follows: Control Mode Position control mode Speed control mode Torque control mode Displayed Item Cumulative feedback pulses Motor speed Torque command voltage For &splay details, referto Section 6.2. Selection of status display at power-on 0: Cumulative feedback pulses 1: Servo motor speed 2: Droop pulses 3: cumulative command pulses 4: Command pulse frequency 5: Analog speed commandvdtage (Note 1) 6: Analog torque command voltage (Note 2) 7: Regenerative load ratio 8: Effective load ratio 9: Peak load ratio A: Within one-revolution position 8: ABS counter C: Load inertiamoment ratio Note: 1. In speed controlmode. Analog speed limit voltage in torque control mode. 2. In torque controlmode. Analog torque limit voltagein speedor position controlmode. Status display at power-on in corresponding controlmode 0: Depends on the controlmode. I Control Mode Status Display at Power-On Position Cumulative feedback pulses Positiordspeed Cumulative feedback pulsedservo motor speed Speed Servo motor speed Speednorque Servo motorspeedlanalogtorque command vdtage Torque Analog torque command voltage Torque/position Analog torque command voltage/cumulative feedback pulses 1: Depends on the first digit settingof this parameter. 5 - 20 5.PARAMETERS 5.2.3 Using forwardheverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forwardheverse rotation stroke end is made vahd. A slow stop can be made by changing the parameterNo. 22 value. Parameter No.22 Setting nono (initial value) Stopping Method Sudden stop Droop pulses are reset to make a stop. Slow stop Position control mode : T h e m o t o r is decelerated to a stop in accordance with the uno1 p a r a m e t e r No. 7 value. Speed control mode : T h e m o t o r is decelerated to a stop in accordance with the p a r a m e t e r No. 12 value. 5.2.4 Alarm history clear The servo amphfier stores onecurrent alarm andfive past alarms from when its power is switched on first. To control alarms whchwdl occur during operation, clear the alarmhstory using parameter No.16 before starting operation. Parameter No.16 - - - -IAlarm history clear 0: Invalid (not cleared) 1: Valid (cleard) 5 - 21 6. DISPLAY AND OPERATION 6. DISPLAY AND OPERATION 6.1 Display Flowchart Use the &splay (C&git, 7-segment LED) on the front panel of the servo amplifier for status &play, an alarm, c o n f i r m external parametersetting,etc.Settheparameters before operation,hagnose sequences, and/or confirm the operation status. Press the "MODE" "UPr or "DOWN' button once to move to the next screen. To refer to or set the expansion parameters, make them valid with parameter No. 19 (parameter write disable). Ir-oF/ Cumulative feedbad pulses [pulse] T I (Note Motor speed b b Droop pulses Current alarm u F] External I/O Last alarm Output signal forced outuut Second alarm in past ,P,:; Test operation Joa feed Command pulse i F u e w [brisl Test operation Positlonmo omration Speed command vonag Speed lmn vonage(mV] Test operation Motor-less operatlon Cumulative comman IPY~S~I, Regenerative load ratio f%1 Effective load ratic I Sequence m, ] p + i i Parameter No. 20 Parameter No. 1 p-Fq Third alarm in past N [R3--1 Fourth alarm Parameter No. 18 in past m l g / Fifth alarm in past Parameter No. 19 1-1 jot-I I _I Software version L Sixth alarm in past Software Parameter error No. ,- p Parameter No. 0 Irn Parameter No. 48 F E l IJ Parameter No. 49 It Automatic VC offset k, Peak load ratio Within one-revolutlor [pulse,] ri;n Multi-revolution counter [rev] r] Load Inertla moment ratlo [t~mes] Note: The initial status displayat power-on depends onthe control mode. Positon control mode: Cumulative feedback pulses(C), Speed control mode: Motor speed(r), Torque control mode: Torque command voltage(U) 6- 1 6. DISPLAY AND OPERATION 6.2 Status Display Theservo status during operation is shown on the 4-digt, 7-segmentLEDdisplay. Press the "UP or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the"SET" button to display its data. The servo amph6er &splay shows thelower four & g i t sof 13 data items such as the motor speed. The followingtable lists display - - examples: Item Displayed Data Status Servo amplifierdisplay Forward rotation a t 3000r/min Motor speed Reverse rotation a t 3000r/min 1 Reverse rotation is indicated Lit by the lit decimal points in the upper threc Load inertia 15.5 times moment I Value of XO. 1 times is shown. 11252pulse ?.Idtirevolution 2ounter -12566pulse 1 Negative value 6- 2 is indicated by the lit decimal points in the upper thre 6. DISPLAY AND OPERATION - The following table lists the servo statuses that maybe shown: - Description Unit pulse rlmin pulse pulse v U Analog torque command voltage Analog torque limit voltage I Regenerative load ratio v I L n Effective load ratio I Peak load ratio b % Within one-revolution position Cy pulse Multi-revolution counter LS rev dc 0.1 Times Load inertia moment ratio I - Display Range -9999 Feedbackpulses from theservomotorencoderarecountedand to displayed.Thevalueinexcess of k9999iscounted,bussincethe 9999 servo amplifier display is four digits, it shows the lower four digits of the actual value. Press the"SET' button to reset the display value to zero. The servo motor speedis displayed. When the servo motor is rotating -6000 to in the reverse direction, the decimal points in the upper 3 digits are 6000 lit. The value roundedoff is displayed in XO.lr/min. -9999 The number of droop pulses in the deviation counter is displayed. Whentheservomotorisrotatinginthereversedirection,the to 9999 decimal points in the upper 3 digits are lit. Since the servo amplifier display is four digits, it shows the lower four digits of the actual value. The position command input pulses are counted and displayed. -4s -9999 to the value displayed is not multiplied by the electronic gear, it may notmatchtheindication of thecumulativefeedbackpulses.The 9999 value in excess of +9999 is counted, but since the servo amplifier displayis four digits, it shows the lower four digits of the actual "SET buttontoresetthedisplayvalue to zero. value.Pressthe Whentheservomotor is rotatinginthereversedirection,the decimal points in the upper3 digits are lit. -500 The frequency of the position command input pulses is displayed. to The value displayed is not multiplied by the electronic gear. When 500 theservomotor is rotatinginthereversedirection,thedecimal points in the upper 3 digits are lit. -10.00 (1)Torque control mode Analog speed limit (TU) voltage is displayed. to 10.00 (2)Speed control mode Analog speed command (VC)voltage is displayed. Refer to (1)Position control mode, speed control mode (TU)voltage is displayed. the Reverse rotation analog torque limit DescripIndication range: -10 to +1OV. tion (2)Torque control mode Reverse rotation analog torque command (TU) voltage is column. displayed. Indication range: 0 to +1OV The ratio of regenerative power to permissible regenerative power is 0 to displayed in %. 100 The continuous effective load torque is &splayed. 0 to The effective value is displayed relative to the rated torque of 100%. 300 Themaximumtorquegeneratedduring acceleration/deceleration, 0 to etc. 400 The highest value in the past 15 seconds is displayed relative to the rated torque of 100%. Position within one revolution is displayed in encoder pulses. 0 0 when it exceedsthemaximumnumber of to The value returns to 8191 pulses. -32768 The value of the multi-revolution counter is displayed. to Since the servo amplifier display is four digits, it shows the lower 32767 four digits of the actual value. 0 The estimated ratio of the load inertia moment to the servo motor shaft inertia moment 1s displayed. to 1000 - 6- 3 6.DISPLAY AND OPERATION 6.3 Diagnostic mode Description DisDlav Name ~~~ Not ready. Indicates that the servo ampllfier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is readyto operate. Refer to section6.6. External I/O signal iisplay Indicates the ON-OFF statesof the external 110 signals. The upper segments correspondto the input signals and the lower segmentsto the output signals. Lit: ON Extinguished: OFF The I/O signals can be changed using parameters No. 4 3 to 49. Output signal forced 3utput The digital output signal canbe forced onloff. For more information, refer to section 6.7. /donnl 1, Jog feed -,peration operation mode Motorless operation r 5 M I Automatic VC offset The servo configuration software (MRZJW3-SETUP61E) is required for positioning operation. This operation cannot be performed from the operation sectionof the servo amplifier. Positioning operation can be performed once when there is no command from the external command device. Without connectlon of the servo motor, the servo amplifier provides output signals and dlsplays the status as If the servo motor is running actually In response to the external input signal. For details, refer to sectlon 6.8.4. Indicates the version of the software. Software version Lou Software version High Jog operation canbe performed when there is no command from the externalcommand device. For details, refer to section 6.8.2 nn j- 5 uul Indicates the system number of the software. IH I El If offset voltages in the analog cxcuits inside and outside the servo amplifier cause the servo motor to rotate slowly a t t h e analog speed commandP C ) or analog speed llmit67-4) of OY, this function automatically makes zero-adjustmentof offset voltages. When using this function. make it valid in the following procedure. Making I t valid causes the parameter No. 29 value to be the automatically adjustedoffset voltage. 1) Press "SET'once. 2) Choose 1 ulth "UP"I"D0LVN". 3) Press "SET". 6- 4 6. DISPLAY AND OPERATION 6.4 Alarm mode The current alarm, past alarm hstory and parameter error are &splayed. The lower 2 &gibon the &splay indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below Name Description Display I Current alarm tklI ' Indicates no occurrence of an alarm. Indicates the occurrenceof alarm 33 (overvoltage). Flickers at occurrence of the alarm. Indicates that the last alarm is alarm 50 (overload 1). Indicates that thesecond alarm in the past is alarm33 (overvoltage). Indicates that the third alarm in the past is alarm 10 (undervoltage). Alarm history Indicates that the fourth alarm in the past is alarm 31 (overspeed). Indicates that there is no fifth alarm in the past. Indicates that there is no sixth alarm in the past. m- Indicates no occurrence of alarm 37 (parameter error). Parameter error Indicates that the dataof parameter No. 1 is faulty. Functions at occurrence of an alarm (1) Any mode screen &splays the current alarm. (2) The other screen is visible during occurrence of an alarm. At t h s time, the decimal point in the fourth digit fickers. (3) For any alarm, remove its cause and clear it in any of the following methods: (a) Switch power OFF,then ON. (b) Press the "SET' button on the current alarm screen. (c) Turn on the alarm reset(RES)signal (for clearable alarms, refer to Section 9.2.1). (4)Use parameter KO.16 to clear the alarm hstory. 6- 5 6. DISPLAY AND OPERATION 6.5 Parameter mode The servo amphfieris factory-set in the position control mode. Change the parameter settings when: * The control mode is changed; * The number of pulses per servo motor revolution is changed; or * The machme mounted with the servo motor hunts or operational performance is further improved. Some parameters are madevalid by changing the setting and then switchmg power off once and switchmg it on again. (Refer to Section 5.1.2.) (1) Operation example (a) 4-d1gt parameter The following example shows the operation procedureperformed control mode (parameter No. 0) to the speed control mode. I a after power-on to change the I , Press MODE 0 three times Press UP once. ... During flickering, the set value can be changed. 0 0 Use UP Or DOWN' ( 0 0 0 2 : Speed control mode) 0 Press SET to enter. 01 0 To s M t to the next parameter, press the UP DOWN button. When changing the parameterNo. 0 setting, change its set value, then switch poweroff once and switch it on again to make the new value valid. 6.DISPLAY AND OPERATION (b) 5-&git parameter Thefollowing example shows the operation procedure performed denominator (parameter No. 4) into "12345": to change the electronic gear Call the &splay screen shown after power-on. L a- @ @ @ Press MODE once. Select oarameter No.4 with UP / DOWN. 0 nI setting digit Press SET once. Fifth setting Lower 4 digits Press MODE once. Press SET once. .. The screen flickers. Change the set value 0 0 with UP / DOWN 0 I- n I ' 'I 1 Press SET once The set value is enterd. 0 Press SET once. ' I 0 0 Press UP or DOWN. I J T \ To the next parameter (2)Expansion parameters To use the expansion parameters, change the setting of parameter No. 19 (parameter write &sable). Refer to section 5.1.1. 6- 7 6.DISPLAY AND OPERATION 6.6 External I/O signaldisplay The ON/OFF states of the dgital IIO signals connected to the servoa m p u e r can be confirmed. (1) Operation Call the display screen shown after power-on. IC I I 0 I 0 Press MODE once. I 0 0 Press UP once. External I/O signal display screen (2)Display definiiion CNl B 9 CNlBCNlB CNlACNlB CNlBCNlB CNlB 0 7 CN1A 14 CNPP CN10 9 10 15 CNlBCNlB 4 6 5 17 CNlBCNlA 19 la 16 CNI A 19 Lit: ON Extinguished: OFF The 7-segment LED shown above indxates ONIOFF. Each segment at top inhcates the input signal and each segment at bottom indxates the output signal. The signals correspondingto the pins in the respectivecontrol modes are indicated below: 6- 8 6. DISPLAY AND OPERATION (a) Control modes and 110 signals Note: 1. I : Input signal, 0: Output signal 2. P : Position control mode, S: Speed control mode, T: Torque control mode,Pis: Positionispeed control change mode, S/T: Speedkorque control change mode,TIP: Torqueiposition control change mode 3. Set parameter No. 45 to use CR. 4. Set parameter No. 47 to use PC. 5. Set parameter No. 48 to use TL. 6 . Set parameter No. 49 to use WNG. 7. Set parameters No. 43 to 48 to change signals. 8. Set parameter No. 49 t o output the alarmcode. (Refer to Section 9.2.1.) 9. The signal of CNlA-18 is always output. (b) Symbol and signal names 6- 9 6.DISPLAY AND OPERATION (3) Default signal indications (a) Position control mode TL (CN 1 B-9) Torque limit PC (CN 1 B-8) Proporfionalcontrol CR (CN 1 A-8) Clear SON(CN 1 8-54 Servo-on Input signals [ LSP (CN 1 8-16) Forward rotation stroke end Lit: ON Extinguishd:OFF RD (CN 1 A-19) Ready LNP (CN 1 A-18) In position ZSP (CN 1 B-19) Zero speed TLC (CN 1 B-6) Limiting torque DO1 (CN 1 8-4) In position ALM (CN 1 8-18) Trouble B1 (CNP 2-9) Electromagneticbrake OP (CN 1 A-14) Encoder 2-phase pulse (b) Speed control mode -ST2 (CN 1 8-9) Reverse rotation start ST1 (CN 1 B-8) For ward rotation start SP1 (CN 1 A-8) Speed selection 1 SON (CN 1 8-5) Servo-on EMG (CN 1 8-15) Forced stop input signals LSP (CN 1 B-16) Forward rotation stroke end Lit: Extinguished: OFF ON L SA (CN 1 A-18) Limiting speed ZSP (CN 1 8-19) Zero speed I- TLC (CN 1 B-6) Limiting torque DO1 (CN 1 8-4) Lirnltlng speed ALM (CN 1 8-18)Trouble B1 (CNP 2-9) Electromagneticbrake OP (CN 1 A-14) Encoder Z-phase pulse (c) Torque control mode 11 - RS1 (CN 1 B-9) Forward rotation selection RS2 (CN 1 B-8) Reverse rotation selection Speed selection 2 SP2 (CN 1 8-7) SP1 (CN 1 A-8) Speed selection 1 RES'" ) 1 ; Reset SON (CN 1 8-5) Servo-on EMG (CN 1 B-15) Forced stop Output signals Lit: ON Extinguished: OFF RD (CN 1 A-19) Ready LZSP (CN 1 B-19) Zero s p e d VLC (CN 1 B-6) Speed reached ALM (CN 1 8-18) Trouble B1 (CNP 2-9) Electromagneticbrake OP (CN 1 A-14) Encoder 2-phase pulse 6 - 10 6. DISPLAY AND OPERATION 6.7 Output signal forced output (DO forced output) POINT I When the servo system is used in a vertical Lft application, turning off CNP2-9 (electromagnetic brake)wdl release the electromagnetic brake, side. causing a drop.Take drop preventive measures on the machme The output signal can be forced odoff independently of the servo status. "ius function is used for output signal wiring check,etc. T h s operation mustbe performed in the servooff state (SON signal off). Operation Call the display screen shownafter power-on. I I 0 0 Press MODE once 0 Press UP twice. I I 0 Press SET for more than2 seconds. ] ] CNlA 14 CNPZ C N l B C N l B C N l B C N lC B N lC AN l A 9 18 19 18 19 ......Switch ordoff the signal below thelit segment. . . Indicates the ON/OFF of the output singal. The correspondences between segments and signals are as in the output signals of the external I/O signal display. (Lit: ON, extinguished: OFF) 0 Press MODE once. The segment aboveCN1A-pin 18 is lit. 0 Press UP once CN1A-pin 18 is switched on. (CN1A-pin 18-SG conduct.) -a- 0 Press DOWN once. CN1A-pin 18 is switched off, 0 Press SET for more than 2 seconds 6- 11 6.DISPLAY AND OPERATION 6.8 Test operation mode A CAUTION The test operation mode is designed to confirm servo operation and not to confirm machine operation. In this mode, do not use the servo motor with the machine. If any operational fault has occurred, stop operation using the forced stop (EMG) signal. I POINT The Servo Configuration softwareis required to perform positioning operation. 6.8.1 Mode change Call the &splay screen shown after power-on. Choose jog operatiodmotor-less operation in the following procedure: I I is- 0 Press MODE once. II ' Press times. three UP Press . 0 I 0 times. UP five 0 0 I 0 0 Press SET for more than Press SET for more than 2s. . . . When this screen performed. + ' ' appears, motor-less operation can jog feed be Flickers in the test operationmode.- 6 - 12 4 ' When this screen is displayed, can be performed. 6. DISPLAY AND OPERATION 6.8.2 Jog operation Jog operation canbe performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connectVDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop. When using the ServoConfigurationsoftware,you can change the operation conhtions. The initial conhtions and setting rangesfor operation are listedbelow: ~~ ~ ~ Item Initial Setting Setting Range Speed [r/min] Acceleratioddeceleration time constant [ms] 200 1000 0 to instantaneous permissible speed 0 to 50000 How to use the buttons is explained below: ~~~ Button "UP "DOWN" ~~ Description Press to start CCW rotation. Release to stop. Press to start CW rotation. Release to stop. If the communicationcable is hsconnectedduringjogoperationperformed Cofiguration software, the servo motor wdlbe decelerated to a stop. by usingtheServo (2) Status display You can confirm the servo status during jog operation. Pressing the "MODE" button in the jog operation-ready status calls the status&splay screen. Withthis screen being shown, perform jog operation withthe "UP" or "DOWN" button. Every timeyou press the "MODE" button, the next status display screen appears, and on completion of a screen cycle, pressing that button returns to the jog operation-ready status screen. Forfull information of the status display, refer to Section 6.2. In the test operation mode, you cannot use the " U P and "DOWN' buttons to change the status &splay screen from one to another. (3) Termination of jog operation To end thejog operation, switchpower off once or press the"MODE" button to switch to the next screen and thenhold down the "SET" button for 2 or more seconds. 6 - 13 6.DISPLAY AND OPERATION Positioning operation 6.8.3 POINT 1 The Servo Configuration softwareis required to perform positioning operation. Positioning operation can device. be performed once when there is no command from the external command (1) Operation Connect EMG-SG to s t a r t positioning operation and connect VDD-COM to use the internal power supply. Pressing the "Forward"or "Reverse" button on the Servo Configuration software starts the servo motor, w h c h wlll then stop after moving the preset travel distance.You can change the operation conhtions on the Servo Configuration software. Theinitial conhtions and setting rangesfor operation are listed below: .~~ ~ ~ ~ Item Initial Setting Setting Range Travel distance Lpulse] Speed [rlmin] Acceleration/decelerationtime constant [ms] 10000 200 1000 0 to 9999999 0 to instantaneous permissible speed 0 to 50000 How to use the keysis explained below: Description Key "Forward" "Reverse" "Pause" Press to startpositioning operation CCW. Press to start positioning operation CW. Press during operation to make a temporary stop. Pressing the "Pause" button again erases the rematning distance. To resume operation. press the button that was pressed to start the operation. If the communication cable is disconnected during positioning operation, the servo motor wdl come to a sudden stop. (2) Status display You can monitor the statusdisplay even during positioning operation. 6 - 14 6. DISPLAY AND OPERATION 6.8.4 Motor-lessoperation Without connecting the servo motor, you can provide output signals or monitor the status display asif the servo motor is running in response to external input signals. T h s operation can be used to check the sequence of a host programmable controller or the &e. (1) Operation After turning off the signal across SON-SG, choose motor-less operation. After that, perform external operation a s in ordmary operation. (2) Status display You can confirm the servo status during motor-less operation. Pressing the "MODE" button in the motor-less operation-ready status calls the status &splay screen. With t h s screen being shown,perform motor-less operation. Every timeyou press the "MODE" button, on completion of a screen cycle, pressing that button the next status &splay screen appears, and returns to the motor-less operation-ready status screen. For full information of the status display, refer to Section 6.2. In the testoperation mode, you cannot use the"UP" and "DOWN" buttons to change the status &splay screen from one toanother. (3) Termination of motor-less operation To terminate themotor-less operation, switch poweroff. 6 - 15 7. ADJUSTMENT 7. ADJUSTMENT 7.1 What Is Gain Adjustment? 7.1 .I Difference between servo amplifier and other drives Besides the servo amphfier, there are other motor dnves suchas an inverter and stepping dnver.Among these drives, the servo amphfier requires gain adjustment. The inverter and stepping dnver arein a n open loop (actual motor speed and position are not detected on the driver side). Load Inverter On the other hand, the servo amphfier always detects the positions and speeds of the motor and machme using the servo motor encoder, and exercises controlto match the position and speed commands with the actual motor (machme) position and speed. In the servo system, adjustment is needed because: Load Servo amDlifier Servo motor r\ (1) Response changes accorhngto the inertia momentof the machme; (2) Vibration occurs due to the resonance point, etc. pecullar tot h e m a c h e ; a n d (3) Operation delay and accuracy speclfication M e r between machmes and response should satisfy t h s specdication. 7- 1 7. ADJUSTMENT A general servo system configuration is shown above. The servo control system consists of three loops: current loop, speed loop and position loop. Amongthese three loops, the response of the insideloop must be increased 4 to 6 times hgher. If t h s condtion is not satisfied, vibration wlll be generated. If the conhtion further worsens, huntingwill occur. (1) Current loop For this servo amphfier, the response levelof the current loop is factory-set to a h g h value and need not be adjusted. If the motor is installed to the machine, the response of the current loop wdl hardly vary. (2) Speed loop Response wdl vary according to the inertia moment of the machme. 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 settigVG2 [rad/s] Speed loop response fv[rad/s] = l+m m: Load inertia moment ratio JL= load inertia moment Jhl= servo motor shaft inertia moment (3) Position loop The response level wdl not vary according tomachne conditions. Position loop response fp [rads] = a m p M e r gain setting PG2 [rad/s] When the motoris installed to the machme, the gain mustbe adjusted to satisfy to the load inertia moment ratio m. 7- 2 fv = 4 to 6fp according 7. ADJUSTMENT 7.2Gain Adjustment 7.2.1 Parameters required forgain adjustment 7.2.2 Blockdiagram The block h a g r a m of the ServoAmphfierservo omitted.) controlsection is shown above. (The current loop is (1) Actual loop section A control loop designed to control the actual motor and acts to control the servo system stably response to the load torque of the machme. in (2) Model section Acts to provide the ideal operation values to the currentloop in response to the command. (3) Auto tuning section Judges theload inertia moment of the m a c h e fitted with the actual motor from the operation errorof the motor to change each control gain in real time. The gains changed by auto tuning are PGl, VG1, PG2,VG2 and VIC. 7- 3 7. ADJUSTMENT 7.2.3 What is auto tuning? The load inertia moment is estimated from the angular speed (a)and torque (T) in accordance with the equation of motion (7.1) used for motor acceleratiorddeceleration. In actuality, theacceleratioddeceleration characteristics of the model and those of the actual motor are comparedto estimate the inertia momentof the load in realtime. J : Inertia moment w : Angular speed T : Torque Real-time auto tuningis performed in the following procedure: (1) When the motor makes acceleratiorddeceleration, load inertia moment J L 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 according to the response level set in parameter No. 2.Note that these gains have been patterned beforehand to satis& the aforementioned s t a b h a t i o n condtion. 7- 4 7. ADJUSTMENT 7.3 Gain Adjustment by Auto Tuning Adjustmentmethod 7.3.1 In thefactory setting of the servo amphfier, auto tuning is valid and theresponse setting is "2". The initial settingsprovide sufficient tuningfor general machnes. Higher-level tuning canbe provided by No. 2) according to machme rigichty. adjusting the response setting (parameter The following table lists g u i d e h e s for response setting to drive systems.Choose slow response when using a reduction gear having backlash: I I Main Drive System Direct coupling Ballscrew With reduction gear Direct coupling Rack & pinion Fast Response < < Slow Response I > < < With reduction gear Direct coupling Chain I Middle Response I < < With reduction gear Direct coupling Timing belt I > > > > < < With reduction gear > The following is how to adjust theresDonse setting to machme phenomena: No. 2 Setting Ideal Machine Operation Actual Machine Operation Parameter Increase response setting. Reduce settling time. Settling time is long I Large overshoot at stop ~ Gseoaugr ne dn e r a t e d from m a c h m e II Decrease response setting. Reduce overshoot. I Reduce gear sound. Set machine selection settine to "large fixtion". Decrease response setting. II Note: Settling timeindmtes time from zero command pulseto servo motor stop. 7.3.2 Valid conditions If the acceleratioddeceleration time is long or the motor speed used is only low speed, the vahd conditions of auto tuning are not satisfied. Therefore,it may result in false tuning. I n t h s case,after performing operation w h c h satisfiestheautotuning conditions, set parameterNo. 20 to "auto tuningnot executed". T h s section provides constraints on the operation pattern to enable excellent auto tuning.If the conditions in t h s section cannot be satisfied, normal auto tuning may notbe performed. In t h s case, after executing auto tuning in operation which satisfies theconditions given in this section. make auto tuning invalid to disallow the gain setting from being changed. (1) Set theacceleration time (time until the preset speed is reached) to 5s or lessand theacceleration/ deceleration current to 50%or more. ( 2 ) Perform operation several times until the cumulativeacceleratioddeceleration time is 1s or more. (3) Set the servo motor speedto 500r/min or more. 7- 5 7. ADJUSTMENT 7.4ManualGain Adjustment On some m a c h e s , gain adjustment may not be made by auto tuning or excellent gain setting may notbe made if gain adjustment is performed by auto tuning. In t h s case, adjust the gains manually. Use any of the methods given in t h s section to adjust the gains. 7.4.1 When machine rigidity is low (1) Machine condition Because of low machme rigidity, the response settingof auto tuningis set to slow response and it takes too much time to reach the target position. is moved lightly at a stop, it moves easily. When the machme or motor shaft (2) Adjustment procedure (a) Adjustment 1 1)Execute auto tuning with the response setting of the level at w h c h machme will not vibrate. Set 0101 in parameter No. 2. 2) Set "Not executed' auto tuningin parameter No. 2. 3) Gradually decrease the speed integral compensation VIC (parameter No. 38) setting. (b) Adjustment 2 1)Perform auto tuning with the response setting of slow response. Set 0101 in parameter No. 2. 2)Set the machine resonance suppression a t e r (Parameter No. 22) in order from h g h e r to lower frequencies. 3)Alternate a s t a r t and a stop several times, execute auto tuning, and check whether the machine does not vibrate. 4)If the machnecondition does notbecome excellent after the above adjustment, reduce the setting of speed integral compensationas in Adjustment 1. 7- 6 -. . 7. ADJUSTMENT 7.4.2 When the machine vibrates due to machine resonance frequency (1) Machine condition The servo motor shaft is oscdlating a t h g hfrequency (100Hzor more). The servo motor shaft motion cannot be c o h e d visually. However, if the machme generates large noise and vibrates, make Adjustment1. If h g h e r "response setting" of auto tuning increases vibration, make Adjustment 2. (2) Adjustment procedure Adjustment 1 1)Perform auto tuning with the response setting of slow response. Set 0101 in parameter No. 2. 2) Set 563Hz or 375Hz to the m a c h e resonance suppressionfilter (Parameter No. 22). 3)Alternate a start and a stop several times, execute auto tuning, and check whether the machne does not vibrate. 4) Decrease the machme resonance suppression filter value gradually and repeat step 3). The optimum valueis provided at thepoint where vibrationis minimum. 5)To further shorten the settlmg time, gradually increase the response setting in parameter No. 2 and repeat steps1)to 4). Adjustment 2 1)Choose the response settingof slow response. Set 0101 in parameter No. 2. 2) Set the load inertia moment ratio (machne inertia moment ratio in parameter No. 34). If an exactm a c h e inertia moment ratiois unknown, entera n approximate value. When the value is set in t 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. 6 No. 35 No. 36 No. 37 No. 38 I Symbol PG 1 Name I Position l o o D gain 1 I Position loop gain 2 Speed loop gain 1 Speed loop gain 2 Speed integral compensation 3) Set parameter No. 2 to UOU2 (auto tuning not executed). 4) Decrease the speedloop gain 2 (parameter No. 37) to a value about100 to 200 smaller than the automatically set value. The optimum valueis provided at thepoint just before vibration increases. 5 ) Set 563Hz or 375Hz to the machine resonance suppressionfilter (Parameter No. 22). 6)Alternate a start and a stop several times, execute auto tuning, and check whether the machme does not vibrate. 7 )Decrease the machme resonance suppression filter value gradually and repeat step6). The optimum value is provided at thepoint where vibration is minimum. 8)When there isno machine resonance,check the operating status and gradually increase the speed loop gain 2 (parameter No. 37) and repeat steps5 ) to 7 ) . Set the value about50 to 100 smaller than the value at whch gear sound begins to be generated. if there is variation in the machme because a timing belt or the hke is used. Make this gain a little 9)To further shorten the settling time, gradually increase the response setting of parameter No. 2 and repeat steps1) to 8). 7- 7 7. ADJUSTMENT 7.4.3 Load inertia moment is 20 or more times (1) Machine condition The machme inertia moment is 20 times or more and the servo motor oscdates at low frequency (5Hz or more). Atthis time, servo motor shaft vibration can be confirmed visually. Ths adjustment method is validfor the following machnes: is dnven without reduction gear (a) Machme in whch a timing belt Servo motor (b) Machine in w h c h a &sc is rotated without reduction gear 7 7 Disc Servo motor (c) Machine of which ballscrew lead is long Ballscrew Servo motor (2) Adjustment procedure 1)Choose the response settingof slow response. Set 0101in parameter No. 2. 2) Set the load inertia moment ratio (machme inertia moment ratio in parameter No.34). If an exact machme inertia moment ratio is unknown, enter an approximate value. When the value is set in this 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. Name Parameter No. Symbol No. 6 No. 35 PG 1 Position loop gain 1 PG2 Position loop gain 2 KO.36 VG 1 Speed loop gain 1 No. 37 VG2 Speed loop gain 2 KO.38 VIC Speed integral compensation - 3) Set parameterNo. 2 to 02170 (auto tuning not executed). 4)Alternate a start anda stop several times and check whether the machme does not vibrate. 5 ) If vibration still persists, repeat steps1) to 4). 6) If vibration s t d persists, make (a) adjustment 1 and (b) adjustment 2 in paragraph(2) of Section 7.4.2. 7 )If you want to further increase the response, set parameterNo. 2 to "auto tuning executed"( t h d digit) with operation at a stop, and increase the response setting (first hgit).After that, set the parameter to "auto tuning not executed" ( t h r d hgt). For example, after setting parameterNo. 2 to "0102", set itto "0202". 8) Reducing the speedloop's integral time constant (parameterNo. 38) may improve the performance. However, mahng ittoo small may generate vibration. 7- 8 7. ADJUSTMENT 7.4.4 When shortening the settling time (1) Machine condition The s e t t h g time wdl be increasedby the gains providedby auto tuning. (2) Adjustment procedure 1)Choose the response settingof slow response. Set 0101 in parameter No.2. 2)Alternate a start and a stop several times, execute auto tuning, and check whether the machne does not vibrate. 3) Set theload inertia moment ratio (machme inertia moment ratio in parameter No. 34). If an exact machme inertia moment ratio is unknown, enter an approximate value. When the value is set in this 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. Name Parameter No. Symbol No. 6 No. 35 No. 36 No. 37 No. 38 PG1 Position loop gain 1 PG2 Position loop gain 2 VG 1 Speed loop gain 1 VG2 Speed loop gain2 VIC Speed integral compensation 4) Set 0 2 0 0 in parameter No. 2 to make auto tuning invalid. Make the parameter No. 6, 35 to 38 settings manually adjustable. 5 ) Check the operatmg status and adjust the following parameter values: Parameter No. Symbol Name No. 6 No. 35 No. 36 No. 37 PG1 Position loop gain 1 Higher setting shortens the settling time but PG2 Position loop gain 2 is liable to cause overshooting. VG1 Speed loop gain 1 Speed loop gain Description Higher setting improves the servo response 2 VG2 level but is liableto cause vibration. Lower setting keeps the speed constantto I No. 38 VIC Speed integral compensation load disturbance and increases holding force to cause at a stop (servo rigxhty) but is liable Make adjustment by gradually increasing the parameterNo. 6, 35 to 37 settings at the same ratio and reducing the speed integral compensation (parameter No. 38). The optimum value is provided at the point just before vibration increases. Use of the machme resonance suppression filter (parameter No. 22) may increase the b i t point. However, note that the setting increased up to the limit point may cause resonance due to the machme’s variations and changes with time. 7- 9 7.4.5 When the same gain is used for two or more axes (1) Machine condition To perform interpolation operation with twoor more axes of servo amphiiers, the positionloop gains of the axes are setto the same value. (2) Adjustment procedure 1) To adjust the gains of each axis, adjust the gains of all axes in the adjustment procedures in Sections 7.4.1 to 7.4.4. 2) Set 0 0 0 0 or 0 2 0 0 in parameter No. 2. 0 0 0 0 : Interpolation control. . The following parameter values change at the next startfstop. - Name Parameter No. Symbol No. 35 No. 37 PG2 Position loop gain 2 VG2 Speed loop gain 2 No. 38 VIC Speed integral compensation 0 2 0 0 : N o a u t o t u n i n g . . . . . . . . . . . . Make auto tuning invahd and set each gain manually. 3) Match positionloop gain 1to the minimum valueof each axis to make the gainsof all axes equal. 7.5 Slight Vibration Suppression Control The slight vibration suppression control mode is used to reduce servo-speclfic +1 pulse vibration at the time of a stop. ‘ l h s mode produces an effect especially when the ratio of load inertia moment to servo motor inertia moment issmall (2to 5 times). Note that when vibration is attributable to looseness (such as gear backlash) or machme resonance, use the machine resonance suppression flter in parameter No.22. The slight vibration suppression control mode should be used after real-time auto tuning or manual gain adjustment. pulses. Set 0100 in parameter No. 20 to enter the slight vibration suppression mode at the timeof a stop Parameter No. 20 I Slight vibration suppression control execution 7 - 10 8. INSPECTION 8. INSPECTION Before starting maintenance/inspection, switch power off, and after more than 10 seconds have elapsed,confirm that the voltageis 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,you may getanelectricshock.Forrepairandpartsreplacement, contact your safes representative. /F\WARNING I I POINT Do nottesttheservo a m p u e r witha megger (measureinsulation resistance), or it maybecome faulty. Do not disassemble andor repair the equipment on customer side. I (1) Inspection Check thecablesandthehke operating condtions. for scratchesandcracks.Performperiodxinspectionaccordingto (2) Life The following parts mustbe changed periodically as listed below. If any partis found faulty, it must be changed immediately even when it has not yet reached the end of its We, which depends on the operating method and environmental conditions. Part Name Life Guideline Smoothng capacitor Relay 10 years 100,000times (a)Smoothingcapacitor : Affected by ripplecurrents,etc.anddeterioratesincharacteristic.The Me of the capacitor greatly depends on ambient temperature and operating conhtions. The capacitorWLU reach the endof its Me in 10 years of continuous operation in normal air-conhtioned environment. (b) Relays Their contactswill wear due to switchng currents and contact faults occur. Relays reach the endof their We at cumulative 100,000 switchmg times (switchmgMe), w h c h depends on the power supply capacity. 8- 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING 9.1 Trouble at Start-up I 1 Excessive adjustment or change of parameter setting must not be made as it will make operation instable. /i\CAUTIoN I POINT Using the optional Servo Configurationsoftware, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up.If any of such faults occurs, take the correspondmg action. 9.1.1 - Position control mode (1) Troubleshooting No. 1 Fault Start-up Sequence Power on ' LED is not lit. ' LED flickers. Investigation Not improved if connectors dmonnected. Improved when connectors CNlA and CNlB are disconnected. Improved when connector CNP2 is disconnected. Swltch on servo-on slgnal. 3 - Enter input command. (Test operation) Possible Cause 3. CNPl connection fault Power supply of CNPl cabling is shorted. 1. Power supply of encoder cabling is shorted. 2. Encoder is faulty. Alarm occurs. Refer to Section 9.2 and remove cause. Alarm occurs. Refer to Section 9.2 andrem e cause. Servo motor shaft is Check the display to see if 1. Servo on signal is not input. not servo-locked the servo amplifier is ready (Wiring mistake) (is free). to operate. 2. 24VDC power is not supplied to COM. Servo motor does Check cumulative command 1. Wiring mistake not rotate. pulses. (a) For open collector pulse train input, 24VDC power is not supplied to OPC. (b) LSPLSN-SG are not connected. 2. No pulses is input. 9- 1 Refer To 1. Power supply voltage fault 2. Servo amplifier is faulty. CNlA, CNlB and CNP2 are \ Section 9.2 Section 9.2 Section 6.3 Section 6.2 9. TROUBLESHOOTING Investigation Possible Cause Refer To i In the Gain adjustment fault Make gainChapter adjustment following procedure: 1. Increase the auto tunlng response level. 2. Repeat acceleration and deceleration several times to complete auto tunlng. Large load inertia Make gain adjustment in the Gam adjustment fault moment causes the following procedure: servo motor shaft to If the servo motor maybe oscillate side to side. run with safety, repeat acceleration and deceleration several times to complete auto tuning. Pulse countlng error, etc. Confirm the cumulative 2yclic operation Position shift occurs command pulses, cumulative due to noise. feedback pulses and actual servo motor position. (speed fluctuations) are large atlow speed 9- 2 Chapter i 2) in this section 9.TROUBLESHOOTING (2) How to find the cause of position shift Servo amplifier unit Positioning (a) Output pulse counter Machine Electronic gear (parameters No. 3,4) - bP (A) (C) Servo on (SON), stroke end (LSPLSN) input n - c CMX CDV (b) Cumulative command pulses - ; (B) I I C (c) Cumulative feedback pulses When a position s M occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c) cumulative feedback pulse &splay, and(d) machme stop position in theabove hagram. (A), (E%)and (C) inhcate position sldt causes. For example, (A) indicates that noise entered the wiring between positioning unit and servo amphlier, causing pulsesto be mis-counted. In a normal status without positionsM, there are thefollowing relationships: 1) Q = P (positioning unit’s output counter= servo amphlier’s cumulative command pulses) CMX (parameter No. 3) 2)P * CDV (parameter No. 4) = C (cumulative command pulsesx electronic gear = cumulative feedback pulses) 3) C * A t = M (cumulative feedback pulses x travel per pulse= machine position) Check for a position shdt in the following sequence: 1)WhenQ t P Noise entered the pulse train signal wiring between positioning unit and servo amphfier. causing pulses to be miss-counted. (CauseA) Make the following check or take the following measures: * Check how the shleldmg is done. Change the opencollector system to the dlfferential line driver system. . Run wiring away from the power circuit. Install a data h e lilter. (Refer to Section 12.2.4.) 2)When P *- CMX + C CDV During operation, the servo on signal (Soh3 or forwardheverse rotation stroke end signal was switched off or the clear signal(CR) and the reset signal (RES) switched on. (CauseC) If a malfunction may occur due to much noise, increase the input filter setting (parameter No. 1). 3)When C A f t M Mechanical slip occurred between the servo motorand machine. (CauseB) 9- 3 9.TROUBLESHOOTING 9.1.2 No. 1 Speed control mode Start-Up Sequence 'ower on 2 switch on servo-on ,ignal. 3 h i t c h on forward ,otation start (ST1) )r reverse rotation ; t a r t (ST2). 4 ;ain adjustment Fault LED is not lit. LED flickers. ilarm occurs. ilarm occurs. ;ervo motor shaft is lot servo-locked is free). servo motor does lot rotate. iotation ripples speed 5uctuations) tre large a t low ;peed. Arge load inertia noment causes the servo motor shaft to willate side to side. Investigation Not improved if connectors C1N14, CNlB and CNP2 are iisconnected. [mproved when connectors CN1A and C N l B are iisconnected. [mproved when connector CNP2 is disconnected. Possible Cause 1. Power supply voltage fault 2. Servo amplifier is faulty. Power supply of CN1 cabling is shorted. 1. Power supply of encoder cabling is shorted. 2. Encoder is faulty. Refer to Section 9.2 andremove cause. Refer to Section 9.2 andremc e cause 1. Servo on signal is not input. Check the display to see if (Wiring mistake) the servo amplifier is ready 2. 24VDC power is not to operate. supplied to COM. Analog speed command isOV. Call the statusdisplay and :heck the input voltage of the analog speed command. Call the external I/O signal LSP, LSN, ST1 or ST2 isoff display and check the ON/OFF status of the input signal. Set value is0 Check the internal speed commands 1 to 3 (parameters No. 8 to 10). Check the internal torque limit 1 (parameter No. 28). Make gain adjustment in the Gain adjustment fault following procedure: 1. Increase the auto tuning response level. 2. Repeat acceleration and deceleration several times to complete auto tuning. Make gain adjustment in the Gain adjustment fault following procedure: If the servo motor may be run with safety, repeat acceleration and deceleration several times to complete auto tuning. 9- 4 Refer To \ Section 9.2 Section 9.2 Section 6.3 Section 6.2 Section 6.6 (l), Section 5.1.2 Chapter 7 Chapter 7 9.TROUBLESHOOTING 9.1.3 Torque control mode Start-up Sequence Power on Switch on servo-on signal. Switch on forward rotation s t a r t (RS1) or reverse rotation start (RS2). Refer To Possible Cause Investigation if connectors 1.Powersupplyvoltagefault CN1.4, CNlB and CNP2 are 2. Servo amplifier is faulty. disconnected. Improved when connectors Power supply of CN1 cablingis shorted. CNlA and CNlB are disconnected. 1. Power supply of encoder Improved when connector cabling is shorted. CNP2 is disconnected. 2. Encoder is faulty. Alarm occurs. Refer to Section 9.2 and remove cause. Section 9.2 Alarm occurs. Section 9.2 Refer to Section 9.2 and remove cause. Servo motor shaft is Check the display to see if 1. Servo on signal is not input. Section 6 . 3 mistake) the servo amplifier is ready not(Wiring servo-locked 2. 24\3C power is not to operate. (is free). supplied to COM. Servo motor does Call the status display and Analog torque command is OV. Section 6.2 not rotate. check the analog torque command. Call the external I/O signal RS1 or RS2 is off Sectlon 6.6 display and check the ONlOFF status of the input signal. Check the internal speed Set value is 0. (1)s limits 1 to 3 Section 5.1.2 (parameters No. 8 to 10). Check the internal torque Set value is 0. limit 1 (parameter No. 28). Fault . LEDisnotlit. . LED flickers. I Notimproved 9- 5 I \ 9. TROUBLESHOOTING 9.2 When Alarm or Warning Has Occurred 9.2.1 Alarmsand Warning list When a fault occurs during operation, the correspondmg alarm or warning is displayed. If any alarm or warning has occurred, refer t o Section 9.2.2 or 9.2.3 and take the appropriate action. Set 0001 in parameter No. 49 to output the alarm code in ONlOFF status across the corresponding pin and SG. Warnings (A. 96 to A. E9) have nocodes. Any alarm code is output a t occurrence of the correspondmg alarm. In the normal status, the signals a v d a b l e before alarm code setting (CNlB-19:ZSP, CNlA-18: INP or SA, CNlA-19:RD) are output. (Note 2) Alarm Code Alarm Deactivation CNlA-18 pin Press ‘SET’ on current alarm screen. Display CNlB-19 pin A. 10 0 1 reset CNlA-19 pin Name OFF+ON Undervoltage Board error 1 0 Power 0 0 Alarm (RES) signal 0 Removing the cause of occurrence deactivates the alarm Note 1.: Deactivate the alarm about 15 minutes of cooling time after removing the cause of occurrence. 2. 0:OFF, 1:ON 9- 6 9.TROUBLESHOOTING 9.2.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm,andrestartoperation.Otherwise,injurymayoccur. ACAUTIoN POINT I When any of the following alarms has occurred, always remove its cause and allow about 15 minutesfor cooling before resuming operation. If operation is resumed by switchmg control circuit power off, then on to reset the alarm, the servo ampmer andservo motor may become faulty. * Overload 1 (A. 50) * Overload 2 (A. 51) The alarm can be deactivated by switchmg poweroff, then on or by turning on the reset signal(RES). For detads, referto Section 9.2.1. When an alarmoccurs, the trouble signal( A L M ) switches off and the dynamic brake is operated to stop the servomotor. At t h s time, the &splay in&cates thealarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with t h s section. The optional Servo Configuration Software may be usedto refer to the cause. Dtsplay L 10 Definition Name Undervoltage Power supply voltage dropped to 20V or less Cause Action 1. Power supply voltage is low. Review the power supply. 2. Power failed instantaneously for 15ms or longer. 3. Shortage of power supply capacity caused the power supply voltageto drop at start, etc. 4. Power switched on within 5s after it had switched off. 5 . Faulty parts in the servo amplifier (Change the servo amplifier. Checking method Alarm (10) occurs if power is switched on after connectors CN1.4. C N l B , CNP2, CNF'3 are &connected. Change the servo amplifier fault Checking method Alarm (any of 11 to 13 a n d 15) after connectors CNLA, C N l B , CNF'B, C W 3 are h c o n n e c t e d . ,. 16 Encoder error 1 Communication 1. CNPZ connector disconnected. Connect correctly. error occurred 2. Encoder fault Change the servo motor. between encoder 3. Motor cable faulty Repair or change cable. and servo amplifier. (Encoder wiring broken or shorted) 9- 7 9. TROUBLESHOOTING Definition ?aulty parts in the servo amplifier Change the servo amplifier. Checking method Alarm (A. 1 7 o rA. 18) occurs if power is switched on after connectors CN1.4. C N l B , .. 20 .. 24 .. 31 Encoder error 2 Communication error occurred between encoder and servo amplifier. Ground fault IMotor outout occurred at the ground fault servo motor outputs (U,V and W phases) of the servo amplififer. Speed hasexceeded loverspeed the instantaneous permissible speed. rlotor cable faulty &pair or change the cable. Encoder wiring broken or shorted) 3ervo motor power cable insulation leteriorated. i . Input command pulse frequency Set command pulses correctly. exceeded the permissible instantaneous speed frequency. ?. Small acceleration/deceleration time constant causedovershoot to be large. 1. Servo system is instable to cause overshoot. 1. Electronlc gear ratio is large ._32 Iercurrent -Current thatflew is Change the cable. Increase acceleration/deceleration time constant. 1. Re-set servo gain to proper value. 2. If servogaincannot be set to prope value: 1) Reduce load inertia moment ratio: or 2) Reexamine acceleration/ deceleration time constant. Set correctly. barameters No. 3, 4) 5. Encoder faulty. Change the servo motor. 1. Short occurred in servo amplifier Correct the wring. output phases U,V and W. higher than the permissible current 2. Transistor (TPM) of the servo of the servo amplfier faulty. amplifier. Checking method Change the servo amplifier. Alarm (X.32) occurs if power is switched on afterU, V and W are disconnected. 3. Ground fault occurred in servo Correct the wiring. amplifier output phasesU, V and i.External noise caused the .. 33 Overvoltage Input value of converter bus voltage reached or exceeded 35V. overcurrent detection circuitto misoperate. ?ower supply voltage is outside the lermissible voltage range. 9- 8 Take noise suppression measures. Change battery. 9.TROUBLESHOOTING Definition Dis la Cause nput pulse pulse frequency requency of the ommand pulse is error 00 high. Parameter 37 pulse is too high. 2, Noise entered command pulses. 3 . Command device failure 'arameter setting i: vrong. Jarameter setting to be rewritten. a a d exceeded 1. Servo amplifier is usedin excess 'verload protection of its continuous output current. haracteristic of ervo amplifier. a a d ratio 200%: 2. Servo system is instable and 86s or more hunting. ~~ i. 1. Pulse frequency of the command ~~ Action Change the command pulse frequency to : proper value. Take action against noise. Change the command device. ~ Change the servo amplifier. servo amplifier fault caused the 1. Reduce load. 2. Review operation pattern. 3. Useservomotorthatprovideslarge output. 1. Repeat acceleration/ deceleration to execute auto tunmg. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gail adjustment manually. 3. Machine struck something. 1. Review operation pattern. 2. Install limit switches. i.Wrong connection of servo motor. Connect correctly. Servo amplfier's output terminals U, V , W do not match servo motor's input terminals U, V, W. 5 . Encoder faulty. Change the servo motor. I ' C h e c h g method I 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 slaps orreturns midway, the encoder is faulty. 9- 9 9.TROUBLESHOOTING Display L. 51 Name herload 2 Action Cause Definition 1. Review operation pattern. vlachine collision or 1. Machine struck something. 2. Install limit switches. he like caused max. lutput currentto 2. Wrong connection of servo motor. Connect correctly. low successively for Servo amplifier's output terminals everal seconds. U, V, W do not match servo ;ervo motor locked: motor's input terminals U, V , W . 1s or more 3. Servo system is instable and 1. Repeat acceleration/ deceleration to execute auto tuning. hunting. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gair adjustment manually. Change the servo motor. 4. Encoder faulty. Checkmg method I -- - 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 returnsmidway, the encoder is faulty. L. 52 kror excessive Iroop pulse value ofll.Acceleration/deceleration time constant is too small. he deviatlon ounter exceeded 2. Torque limit value (parameter No.28) is too small. IOk pulses. 3. Motor cannot be started due to torque shortage causedby power supply voltage drop. 4 . Position control gain 1 (parameter No.6) value is small. 5. Servo motor shaft was rotated by external force. IIncrease the acceleration/deceleration time constant. Increase the torque limit value. 1. Review the power supply capacity. 2. Use servo motor which provides large] output. Increasesetvalueandadjusttoensurc proper operation. 1. Whentorque 1s limited,increase thc hmit value. 2. Reduce load. 3. Useservomotor that provideslarge: output. 1. Review operation pattern. 6. Machine struck something. 2. Install limit switches. Change the servo motor. 7 . Encoder faulty 8. Wrong connection of servo motor. Connect correctly. Servo amplifier's output terminals U, V , W do not match servo motor's input terminals U , Y,W. 9- 10 9.TROUBLESHOOTING Display 1 Name 3 Action Cause Definition ~~ .A. 8E (Serial Serial L . Communication cable fault lcommunication communication (Open cable or short clrcuit) error occurred error between servo amplifier and ?.Communication device (e.g. Change the communication communication personal computer) faulty personal computer). device (e.g. persona computer). CPU, parts faulty device (e.g. 7ault of partsinservoamplifierChangeservoamplifier. C h e c h g method 1 Alarm (88%) occurs if power is switched on after connectors CNlq CNlB, CNP2, CNP3 are 9.2.3 Remedies for Warnings If A.E1 (overload warning) occurs, operation may be continued but an alarm may take place or proper operation may notbe performed. If another warning (A.E6 or A.E9) occurs, the servo amphiier wdl go into a servo-off status. Eliminate the cause of the warning accorhg to t h s section. Use the optional Servo Configuration software to refer to the causeof warning. Display I A. IRefer to A. 50, A. 51. A. Definition I Name Cause E l loverloadIThereisapossibilitythat l h a d increased to 85% or more of overload alarm 1 or 2 may overload alarm 1 or 2 occurrence level. warning Cause, checking method occur. Refer to A 50, 51. E6 A. E9 forced stop EMG-SG are open. Servo External forced stop was made valid. (EMG-SG opened.) Main circuit off Servo was switchedon with main circuit power warnmg 9 - 11 Action Ensure safety and deactivate forced stop. Switch on main circuit power. IO. SPECIFICATIONS 10. SPECIFICATIONS 10.1 Servo Amplifier Standard Specifications Servo Amplifier MKJ2-03A5 Item 21.6 to 30VDC (instantaneous permissible voltage 34\7 Continuous 0.8.4,max. 2.4A Continuous 1.6.4, max. 4.8A Continuous 2.4.4, max. 7.2.4 24VDC+IO%, 200m.4(400mA whenusingtheservomotorequippedwith electromagnetic brake) Voltage Circuit power supply Power supply capacity HC-.4Q0135D HC-.4Q0235D HC-.4Q0335D Control circuit power supply(Note) Sine-wave PWM control, current control system System Built-in Dynamic brake Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder fault protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection Protective functions 250Hz or more Speed frequency response I I I + I Max. input pulse frequency 01 I Command pulse multiplying factor L l I I 5OOkpps (for differential receiver), 200kpps Electronic gear A B , (for open collector) A, B: 1 to 32767, 1/50 < A B < 50 Y 0 to +lo000 pulse In-position range setting E .c +BO kpulse Error excessive 05 a 4 2 * Parameter setting system Torque limit Speed control range DCO to +1OV Analog speed command input E 8 Speed fluctuation ratio z 8 Analog speed command 1: 1000, internal speed command 1: 5000 -0.03% or less (load fluctuation 0 to 100%) rO.02% or less (power fluctuation ?lo%) +3% or less Torque limit Parameter setting system I Torque Analog torque command inuut DCO to +8V (input impedance 10 to 12kil) mbient temperature Kote: To comply with the Low Voltage Directwe, use a reinforced insulation type s t a b k i n g power supply. 10- 1 I I 1 I 10. SPECIFICATIONS 10.2 Outline Dimension Drawings 10.2.1 Servo amplifiers ~ 7 (2.756) 0 max. 1 90 (3.543) ,- ' [Unit: mm] ([Unit: in]) 1 Ej 295 (00,197)hole (0.906) Servo Amplifier Weight [kg1 W l ) MR-J2-03A5 0.2 (0.44) (Note) H TXD SDP 1 P24L RXD 4 Note: One connector (5557-08R) and10 terminals (5556) for CNPl wiring are includedin the package. IEarth terminall c Terminal screw: M4 Tightening torque: 1.24[N.m] (175.6 [oz.in]) 10- 2 10. SPECIFICATIONS 10.2.2 Connectors (1) Connectors for CNlNCNlB <Sumitorno 3M make> Model kit [Unit: rnm] Connector : 10120-3000VE Shell : 10320-52FO-008 - Model in]) ([Unit: 12.0 (0.47) 22.0 (0.87) 14.0 (0.55) -r-! Model Shell kit : 10320-52A0-008 an option. Note: Not available as h Q) (? Shell kit : 10320-3210-000 14.0 2 7 Logo, etc. are indicated'here. ([Unit: in]) The crimping toolis required for wiringto the connector. For the crimpingtool, contact Nippon AMP. 10- 3 ([Unit: in]) 12.0 (0.47) -8 0) 0 [Unit: mm] : 10120-6000EL [Unit: : 10120-3000VE 1 33.3(1.31) J l'.i 12.7 (0.50) Connector mrn] Connector ,22.0 (0.87)d 10. SPECIFICATIONS (2) Connectors for CNPlICNPZCNP3 <molex make> Connector 0.6 ( 0 . 0 2 4 h $1 [Unit: mrn] ([Unit: in]) number Layout diagrams clossifiedby the number of pdes - poles 4 lv 8 poles Variable Dimensions Model (0.138) I 5557-08R 5557-12R Terminal Model: 5556 12 pdes A I B I 12.6(0.496) I 18.0(0.709) I I 21 .O (0.827) I 26.4(1.039) [Unit: mrn] ([Unit: in]) h -8 .f W *[- 5.5 (0.217) 14.7 (0.579) 6.6 (0.26) I4 (0.079) d fl (0.102) I ' Applicable wire [Core size : AWG#18 to #24 (5556-PBTL) I I (5556-PBT2L) AWG28 Sheath OD:$13.1 mrn (Q.122in) max. [Strip length: 3.0 to 3.5 [mm] (0.1 18to 0.138 [in]) 10- 4 11. CHARACTERISTICS 11. CHARACTERISTICS 1 1.1 Overload Protection Characteristics An electronic thermal relay is b d t in the servo amphfier to protect the servo motor and servo amphfier from overloads. The operation characteristics of the electronic thermal relay are shown below. Overload 1 alarm (A. 50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. Overload 2 alarm (A. 51) occurs if the maximum current flew continuously for several seconds due to machme colhsion; etc. Use the equipment on the left-hand side area of the continuous or broken Line in the graph. If load is applied a t stop (during servolock), 70%of the rated torque must notbe exceeded. HC-AQ Series ,ooo . . . . . . -E .- 10 , . . . . . . . . . . I I . . . . . . . . . . . . . . . . . . . . . I W , I I I 150 200 250 1 0" 1 0.1 0 50 100 Load ratio [%I Fig 11.1 Electronic Thermal Relay Protection Characteristics 11 - 1 300 1 1. CHARACTERISTICS 11.2 Dynamic Brake Characteristics When an alarm, emergency stop orpower failure occurs, the dynamic brakeis operated t o bring the servo motor to a sudden stop. Fig. 11.2 shows the pattern in whch the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.1to calculate an approximate coasting distanceto a stop. The dynamic brake time constant T varies with the servo motor and machine operation speeds.(Refer to Fig. 11.3.) Emergency stop (EMG) OFF Machinespeed T Time constant T Vo ~ ! --_ . ----__------ b-4 Time Fig. 11.2 Dynamic Brake Operation Diagram hax- . .............................................................. 60 (11.1) Lmax:Ma-umcoasting~stance ....................................................... [mml [in1 Vo : M a c h e r a p i d f e e b a t e ................................................... [mmlmin][dmin] JM : Servomotorinertial moment.............................................. [kg * cm2][oz * i n 2 1 JL T . . : Load inertia moment converted into equivalent value on servo motor shaft ..... [kg cmz][oz in21 .......................................................... :Braketimeconstant(Fig.11,3) : Delay tirne of control section (Fig, 11.2) ................................................... [SI [SI (There is internal relay delay time of about 30ms.) 0.0025 7.i I 0.002. LC-AQO135 P c 5 L HC-Am235 0.0015 ’ i v) 8 0.001 ’ E i= 0.0005 . t 0 HC-AW335 0 ‘ I00 400 700 1000 1300 1600 1900 2200 2500 2800 3000 Speed [r/min] Fig. 11.3 Dynamic Brake TimeConstant Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is hgher than t h s value, the b d t - i n dynamic brake may burn. If there is a possibility that the load inertia moment mayexceed the value, contact Wtsubish. Servo Amplifier Load InertiaMoment Ratio [times] MR-J2-03A5 100 11 - 2 11. CHARACTERISTICS 11.3 Encoder Cable Flexing Life The flexing Me of the MR-JRCBLOM-H cable is shown below. T h s graph gwes calculated values. Since they are not guaranteed values, providea little allowance for these values. I x 5x l x 5x 5x l x 5x 4 7 10 20 40 70 100 Flexing radius [mm] 11 - 3 200 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT 1 Before connecting any option or auxiliary equipment, switch power off, and after more than 10 secondshaveelapsed, confirm that the voltage is safe in a testeror the like. Not doingso can cause an electric shock. AWARNING ACAUTION Use the specified auxiliary equipmentand options. Unspecified ones may lead to a fault or fire. 12.1 Options 12.1.I Cables and connectors Cable make-up The following cables are used for connection with the servomotor and other models. I L - - Servo amplifier Servo motor fl HC-AQ r-l 5) CNP1 CNP2 Personal computer ] I _ _ I Note : Those i n d a t e d by broken linesare not a v d a b l e a soptions. 12- 1 12. OPTIONS AND AUXILIARY EQUIPMENT ~~~ Model Application Description IP44 MR-JRCBLOM-H Servo amplifiersideconnectorServomotorsideconnector Refer to (2) in this (Molex make) (Molex make) Connector: 5555-12R-210 Connector: 5559-12P-210 section 5558 Terminal: 5556 Terminal: Motor cable connector set MR-JRCNM Control signal connector set MR-J2CN1 Junctlon termlnal block cable MR-JPTBLO5M Refer to section 12.1.2. ServoamplifiersideconnectorServomotorsideconnector (Evlolex make) Connector: 5557-12R-210 Connector: 5559-12P-210 5558 Terminal: 5556 Terminal: L cable compliant c ? ;I -t MR-TB2O IP44 (Molex make) Servo amplifier side connector (3M or equivalent) Connector: 1020-3OOOVE Q t y 2 each Shell kit: 10320-52F0-008 Junctionterminal block sideServoamplifiersideconnector For junction terminal connector (Hirose Electric) (3hl equivalent) or block Connector: HIF3BA-20D-2.54R Connector: 10120-6000EL connection Shell kit: 10320-3210-000 I Junctlon termlnal block Communlcatlon cable compliant I IRefer Section to12.1.2. Servo amplifier side connector Personal computer side connector MRJRPC98CBL3M (Molex (Japan make) Electronics) Aviatlon 5557-04R-210 Connector: DE-25PF-N Refer to (4)in this Connector: DE-C2-J9 Terminal: 5556 Terminal: section. MRJRPCATCBLJM Refer to (4) In this section. ; For connection with PC-98 personal computer 1 Servo amplifier slde connector Personal computer side connector (hlolex Electronics) Aviation (Japan make) Connector: 5555-04R-210 Connector: DE-9SF-N Terminal: DE-C1-J6-S6 Terminal: 5556 For connection with PC-.AT compatible personal computer 12. OPTIONS AND AUXILIARY EQUIPMENT (2) Motor cable h If you have fabricatedthe motor cable, connectit correctly. Otherwise, misoperation or explosion may occur. /S\CAUTIoN POINT cable is not oil resistant. Refer tosection 11.3 for the flexing Me of the motor cable. Generally use the encoder cable avadable a s our options. If the required length is not found in the options, fabricate the cable on the customer side. Motor Cable Servo Motor Model YC-AQ0135D to HC-AQ0335D (Note 1)Model Use for EN/UL Standard (Note 2) Long flexjng life Connector Set 0 0 MR-JRCNM MR-JRCBLCIM-H Note: 1. 0 indxates thecable length:2, 5, 10, 20, 30(m). 2. The standardcable has along flexing Me. (a) Model explanation Model: MR-JRCBLOM-• T 5(16.4) 1 O(32.8) 20(65.6) 30(98.4) 30 (b) O u t h e drawing 12- 3 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Connection hagram When fabricating the cable,use the recommended wire (J14B1180) given in Section 12.2.1 and follow the connection hagram shown below. A cable of up to 30m maybefabricated for t h s connection. Servo amplifier Servo side Connector: 5557-1 2R-210 Terminal 5 5 5 6 motor side Connector: 5559-1 2P-210 Terminal :5558 LG LG P5 P5 B2 82 B1 B1 U U V 7 W V W E 1 E MR 6 MR MRI 12 MRR SD SD 12- 4 12. OPTIONS AND AUXILIARY EQUIPMENT (3) Communication cable POINT 1 T h s cable may not be used with some personal computers.After fully examining the signals of the RS-232C connector, refer tot h s section and fabricate the cable. Select the communicationcableaccordmg t~ theshape of the RS-232Cconnector of the personal computer used. When fabricating the cable, refer to the connection hagram inthis section. (a) Fabricating instructions The following must be observed in fabrication: 1)Always usea shelded, multi-core cable and connect the sheld withFG securely. 2) The optional communication cable is 3m (10 ft) long. When the cable is fabricated, its maximum length is 15m (49ft) in offices of good environment with minimal noise. (b) Outline drawing MR-JRPC98CBL3M 3m(9.8ft) k MR-JRPCATCBLSM i i (c) Connection h a g r a m MR-JRPCATCBLBM MR-JRPC98CBL3M computer Personal computer Personal side side Servoside amplifier Servoside amplifier SD RD SG RS cs D-SUB25 pins (Note) TXD RXD GND RTS CTS DSR D-SUB9 pins Note: The PC98 Notes havingthe connector of half-pitch 14 pins are also available. Confirm the shapeof the RS-232C connectorof the personal computer used. 12- 5 12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Junction terminal block (MR-TB20) (1) How to use the junction terminal block Alwaysuse thejunctionterminal block(MR-TB2O) withthejunctionterminal J2TBL05M) as a set. A connection example is shownbelow: - block cable (MR- Sarvo amplifier Cable clamp (AERSBAN-ESET), - Junction terminal block MR-TB20 blockcable =k (MR-J2TBL05M) - Groundthejunctionterminal block cableon the junctionterminal block side with the standard accessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to Section 12.2.4, (Z), (b). (2) Terminal labels Among the terminal block labels for the junction terminal block, use the two for the MR-J2-A. When changmg the input signals in parameters No. 43 to 48, refer to (4) in this section and Section 3.3 and apply the accessory signal seals to the labels. 2) For CN1B 1) For CNlA (3) Outline drawing 126 (4.96) I [Unit: mm] ([Unit: in.]) , 117 (4.61) 4 MITS~BISHI MR-kB20 ' \ 2-@5 (0.18) Terminal screw: M3.5 Applicable cable: Max. 2mm2 (Crimping terminal width: 7.2mrn (0.283 in) ma.) 12- 6 12. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable (MR-J2TBL05M) Model: MR-J2TBLOSM T Cable length: 0.5[m] Junction terminal block side connector (Hirose Electric) Servo amplifier side (CNlA CNl 8) connector (3M) HIF38A-20D-2.54R(connector) 1020-6000EL (connector) 10320-3210-000 (shell kit) Note: The labels are designedfor position control mode. Sincethe signals change with parameter setting andcontrol mode, use the accessory signal seals to change thesignal symbols. 12- 7 12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Servo configurations software The Servo Coniiguration software uses the communication function of the servo amphfier to perform parameter settingchanges, graph display, test operation, etc. on a personal computer. (1) Specifications Itern (Note 1) Description Communication signal Conforms to Rs-232C. Baudrate 19200bps, 9600bps Batch display, high-speed display, graph &splay (Note 2) Monitor Alarm Alarm display, alarm history, data display at alarmoccurrence External I/O signal&splay,no-rotationreasondisplay,cumulativepower-ontimedisplay, software number display, motor information display, tuning data display, automatic VC offset Diagnostic disolav Parameters Data setting, list &splay, change list display, detailed information display Jog operation, positioning operation, motor-less operatlon, output signal forced output, program Test operation operation in simple language. File operation Data read, save, print Others i\utomatic operation, station setting, help display Note: 1.On some personal computers,thls softwaremay not run properly. 2. Minimumresolution changes with the processing speed of the personal computer. (2) System configuration (a) Components To use t h s software, the following components are required in addtion to the servo ampmer and servo motor: . b Personal computer os Display Keyboard Mouse Printer Communicatlon cable - RS-232C/RS-422 converter Which contains a 80386 or higherCPU and on which Windows 3. 11 95 runs (80486 or higher recommended).Memory: 8MB or more, hard disk:1MB or more, serial port used. Windows 3.11 95 640x400 or more color or 16-scale monochrome display which can be used with Windows 3.11 95. Which can be connected to the personal computer. Which can be used with Windows 3.11 95. Note that a serial mouse is not used. Which can be used with Windows 3. l i 95. MR-JRPC98CBL3M’ MR-JRPCATCBL3M When these cannot be used, refer to(3) Section 12.1.1 and fabricate. Needed to use the RS-422 multidrop communication function of the servo amplifier. Note: Windows is a trade markof Mmosoft Corporation. 12- 8 12. OPTIONS AND AUXILIARY EQUIPMENT - (b) Configuration hagram 1)When using RS-232C Servo amplifier Personal computer !/ Communication cable J I I motor CNP3 ServoCNP2 I TO RS-232C 2) When using RS-422 You can make multidrop connection of up to 32 axes. Servo amplifier Personal computer RS-232CfRS-422 converter (Note 1) CNPl CNPP Servo motor I (Axis 1) connector Servo amplifier CNPl CNP2 (Axis2) Servo motor 3 Servo motor I Servo amplifier CNPl CNP2 (Axis 32) Note: For cable connection, refer to section 13.1.1 12- 9 12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Auxiliaty Equipment Always use the devices indicated inths section or equivalent. To comply with the EN Standard or ULICUL Standard, use the productswhich conform to the correspondmg standard. 12.2.1 Recommended wires (1) Wires for power supply wiring The following hagram shows thewiresused equivalent. for wiring.Use 24VDC power supply Servo amplifier the wiresgivenin t h s sectionor For the wire designed for motor cable, The wires used assume that they are600V vinyl wires and the wiring &stance is 30m max. If the wiring &stance is over30m, choose the wire size in considerationof voltage drop. (2) Wires for cables When fabricating acable, use the wire models given in the following table or equivalent: Core Size Wire Model [mm'~ 0.5 0.88 1.3 1.53 0.08 4 (2 pairs) 0.9 to 1.27 0.3 UL20256AWG28 7pair (BL4C4C) Core Insulation Finishing OD Sheath Outlined [mml [mm] (Note 1) 2 (1 pair) 2 (1 pair) 6 (3 pairs) 0.2 J14B1180 (Note 2) Number of Cores 10.5 to 11 Motor cable Conductor Insulation sheath 12.2.2 Circuit protector MR-J2-03A5 I Circuitprotector I CP-3OBA 1 2 - 10 .. . . Cable Model MR-JRCBLUM-H Communication MR-JRPC98CBLOM MR-JRPCATCBLOM cable 5.6 Note: d is as shown below: Servo Amplifier Cable Type .. 12. OPTIONS AND AUXILIARY EQUIPMENT 12.2.3 Relays The following relays shouldbe used with the interfaces: Interface Relay used especially for switching on-off input command (interface DI-1) signals Selection Example To prevent defective contacts, use a relay for small slgnal (twin contacts). (Ex.) OMRON : type G 2 A , MTi Relay used for digital output signals (interfaceDO-1) Small relay with 12\rDC or 24VDC of 40mA or less 12.2.4 Noise reduction techniques Noises are classfled into external noises whch enter the servo amplifier to cause it to malfunction and those radiated by the servo amphfier to cause peripheral devices to malfunction. Since the servo amplifier is a n electronic device w h c h handles small signals, the following general noise reduction techmques are required. Also, the servo amphfier canbe a source of noise as its outputs are choppedby h g h carrier frequencies. If peripheral devices malfunction dueto noises produced by the servo amphfier,noise suppression measures must be taken. The measureswlll vary slightly with the routes of noise transmission. (1) Noise reduction techniques (a) General reduction techmques * Avoid laying power lines (input and output cables) and signal cables sideby side or do not bundle them together. Separatepower lines from signal cables. * Use shelded, twisted paircables for connection withthe encoder and for controlsignal transmission, andconnect the slueld tothe SD terminal. Ground the servoa m p u e r , servo motor, etc. togetherat one point (referto Section 3.9). (b) Reduction techniques for external noises that cause the servo amphfierto malfunction If there are noisesources(such a s a magnetic contractor, a n electromagnetic brake, and many relays which make a large amount of noise) near the servo amphfier and the servo amphfier may malfunction. thefollowing countermeasures are required. * Provide surge absorbers on the noise sources to suppress noises. * Attach data linefilters to the signal cables. . Ground the shieldsof the encoder connecting cableand the control signal cables with cable clamp fittings. 3 1 2 - 11 12. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radated by the servo amphfier that cause peripheral devices to malfunction Noises produced by the servo amphfier are classfled into those radiatedfrom the cables connected its main circuits (input and output circuits), those induced to the servo amphfier and electromagnetically or statically by the signal cablesof the peripheral deviceslocated near the main circuit cables, and those transmitted through the power supply cables. Noise radiateddirectly from servo amplifier ,-Route 1) Noise radiatedfrom the power supplycable I H Magnetic induction noise Static induction noise . I 1 1 I Noise radiatedfrom servo motor cable .-Route 3) J -.Routes 4) i n d 5) -Route 6) Noises transmitted Noise transmitted through -Route 7 ) power supplycable leakaae current A Q ,-Route 2) I ~ 7 ) Servo ReceiverInstrument ____~ 1 2 - 12 - 12. OPTIONS AND AUXILIARY EQUIPMENT - Noise TransmissionRoute Suppression Techniques When measuring instruments, receivers, sensors. etc. which handle weak signals and may malfunction due to nome and/or their signal cables are containedin a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. Thefollowing techniques are required. \ ( I ) Provlde maximum clearance between easilyaffected devices and the servo amplifier. l(2) Provlde maximum clearance between easilyaffected signal cables and the I/O cables of the servl amplifier. (3) Avoid laylng the power lines (TO cables of the servo amplifier) and signal cables side by side or bundling them together. (4) Insert a linenoise filter to the I/O cables or a radio noise filter on the input he. ( 5 ) Use shielded wires for signal and power cables or put cables in separate metal conduits. When the power lines and the slgnal cables are laid side by side or bundled together, magnetic induction noise and static induction noisewill be transmitted through the signal cables and malfunction may occur. The following techniques are required. (1) Provide maximum clearance between easilyaffected devices and the servo amplifier. l(2) Provide maximum clearance between easily affected signal cables and I/O the cables of the serv amplifier. (3) Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling them together. (4) Use shielded wires for signal and power cables or put the cables in separate metal conduits. When the power supply of peripheral devices is connected to the power supply ofthe servo amplifie \system, noises producedby the servo amplifier may be transmitted back through the power suppl! - -~ 0 8) \cable and the devices may malfunction. The following techniques are required. l(1) Insert the radionoise filter on the power cables(TI0 cables) of the servo amplifier. (2) Insert the linenolse filter on the power cables of the servo amplifier. When the cablesof peripheral devices are connected to the servo amplifier to make closed a loop circuit. leakage current mayflow to malfunction the peripheral devices.If so. malfunction may be prevented by dlsconnecting the grounding cableof the peripheral device. (2) Noise reduction products (a) Data line mter Noise can be preventedby i n s t d h g a data line fdter onto the encoder cable, etc. Example: Data lineater: ZCAT3035-1330 [TDK] ESD-SR-25 [Tohn] Impedance specdications (ZCAT3035-1330) [Unit: Impedance[Q] rnm]([Unit: in.]) 2%’ (1.Ma.mL Loopforfixingthe cable band The above impedances are reference values and not guaranteed values. 7 9 i i o 0 +I 7 \- / Productname Lot number Outline drawing (ZCAT3035-1330) 1 2 - 13 r 12. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable clamp fitting (AERSBAN-OSET) Generally, the earth of the sluelded cablemay only be connected to the connector's SD terminal. However, the effect can be increased by drectly connecting the cableto an earth plate as shown below. Install the earth plate near the servo a m p a e r for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thm, clamp several cables in a bunch. The clamp comesas a set with the earth plate. Cable Cable clamp (AB) - .r Lo Srip the cable sheath of athe clamped area. c Y 0 P External conductor Clamp section diagram W O u t h e drawing [Unit: mm] ([Unit: in.]) Clamp section diagram Earth date 22(0.87) (Note)M4 screw r c Note: Screw hole for grounding. Connect it to the earth date of the control box. I Type AERSB.w-DSET AERSBAN-ESET I A loo I B I C 30 (3.94) (3.39) (1.18) 70 56 (2.20) (2.76) I Accessory Fittings Clamp Fitting clamp A: ~ p c s . clamp B: lpc. I L (2.76) (1.77) 13. COMMUNICATION FUNCTIONS 13. COMMUNICATION FUNCTIONS The MR-JZ-03A5 has the RS-422 and RS-232C serial communication functions. These functions can be used to perform servo operation,parameter changing, monitor function, etc. However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS422 and RS-232C with parameter No.16. (Refer to Section 5.2.5.) This function is also available for RS-485. Make the same connections, settings, etc. asRS-422. in 13.1 Configuration 13.1.1 RS-422 configuration (1) Outline Up to 32 axes of servo ampMers from stations0 to 31 can be operated on the same bus. amplifier Servo amplifier Servo Servo amplifier 'Unavailable as option To be prepared by customer. (2) Cable connection diagram Wire as shownbelow: (Note 3)30m MX. 14 (Note 1) Axisamplifier 1 servo connectorCNP1 (Note 1) A m 2 servo amplifier CNPl connector r 4 1 RS-422 output unit Note: 1. Molex's CNPl connector Connector: 5557-08R 2. In the last axis, connect TRE and RDN 3. Overall &stance is 30m mas. in the environment where thereIS a little nolse. 13- 1 J (Notel) Axis 32 (last axts) servo amplifier I I CNPl conneclor 13. COMMUNICATION FUNCTIONS 13.1.2 RS-232C configuration (1 ) Outline A single axis of servo amphiieris operated. Servo amplifier m Controller such as personal computer (2) Cable connection diagram Wire as shown below. Thecommunication cable for connection with the personal computer CPCATCBLSM MR-CPC98CBL3hI) is avadable. (Refer to Section 12.1.1.) . Persoml computer connector D-SUBS(socket) , (Note 2) 15m m a . U (Note 1) Servo amplifier CNP3 connector CNP3 connector 1 GND CNP3 connector 4 TXD CNP3 connector 1 GND PC-9800 series Note: 1. Molex's CNP3 connector Connector: 555i-04R-210 Terminal: 5556 2. 15m max. in environment of little noise. 3. For PC-AT compatible controller senes. 13- 2 -. (MR- 13. COMMUNICATION FUNCTIONS 13.2 Communication Specifications 13.2.1 Communication overview The MELSERVO-J2 series is designedto send a reply on receipt of an instruction. The device w h c h gives t h s instruction (e.g. personal computer) is called a master station and the device whch sends a reply in response to the instruction (servo ampMer) iscalled a slave station. When f e t c h g data successively, the to send data. master station repeatedly commands the slave station Item Baudrate I Transfer code Transfer protocol Description 4800/9600/19200 asynchronous system Start bit : 1bit Data bit : 8 bits Parity bit : 1 bit (even) Stopbit : 1bit Character system, half-duplex communication system 13- 3 13. COMMUNICATION FUNCTIONS 13.2.2 Parameter setting When the RS-422IRS-232C communication function is used to operate the servo, set the communication specdications of the servo amphfier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Communication baudrate Choose the communication speed. Match t h s value to the communication speed of the sending end (master station). Parameter No. 16 Communication baudrate 0: 9600[bps] 1:19200[bps] 2: 4800[bps] (2) RS-42URS-232C serial interface selection Select the RS-422 or RS-232C communication standard.RS-422 and RS-232C cannot be used together. Parameter No. 16 W] RS-42YRS-232C communication standard selection 0: RS-232C used 1: RS-422 used (3) Communication delay time Set the time from when the servo amphfier (slave station) receives communication data to when it sends back data. Set "0" to send back data in less than 400p s or "1" to send back data in 400p s or more. 1- Parameter No. 16 Communication delay time 0: Invalid, reply sentin less than 400ps 1: Valid, reply sentin 400ps or more (4) Station number setting Set the station numberof the servo amphfier in parameterNo. 15. The setting rangeis stations 0 t o 31. 13. COMMUNICATION FUNCTIONS 13.3 Protocol Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to determine the destination servo ampMer of data communication. Set the station number to each servo amphfier using the parameter. Transmission data is vahd for the servo amphfier of the specfied station number. (1) Transmission of data from the controller to the servo I I 10 frames + (data) Positive response: Error code= A Negative response: Error code= other than A (2) Transmission of data request from the controller tothe servo 10 frames L m I E -z E m v s z Controller side 0 (Master station) H I m E, I E X No. X Check sum I I Data I I L m S Servo side (Slave station) R E = 8 ;. m I E Data' T E - x I S g X I ..... I Check sum I 6 frames + (data) (3) Recovery of communication statusby time-out - EOT causes the servo to return to E Controller side 0 (Master station) T the receive neutral status. Servo side (Slave station) * I-'; Data: Choosethe data length from among4, 8, 12 and 16 frames (data length depends on the command). Or 4 frames or 12 frames or 16 frames 0 frames 13- 5 13. COMMUNICATION FUNCTIONS 13.4 Character Codes (1) Control codes Code Name SOH STX ETX EOT Hexadecimal Personal Computer Terminal Description (ASCII code) 01H s t a r t of h e a d 02H s t a r t of text 03H 04H e n d of text Key Operation (General) ctrl + A ctrl + B ctrl + C ctrl + D end of t r a n s m i s s i o n (2) Codes for data JIS8 unit codes are used. b8 D b7 bs bj 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 1 1 0 1 0 0 1 1 1 0 1 1 1 0 (3) Station numbers You may set 32 station numbers from station 0 to station 31 and theJIS8 unit codes are used to spec& the stations. Example: Station number "0" (axis 1) Transmit "30H" in hexadecimal. 13- 6 13. COMMUNICATION FUNCTIONS 13.5 Error Codes Error codes are used in the following casesand an errorcode of single-code length is transmitted. On receipt of data from the master station, theslave station sends the errorcode correspondmg to that data to the master station. The error code sent in upper-case ind~catesthat the servo is normal and the one in lower-case indcates that an alarmoccurred. Error Code Servoalarm Servonormal : - I Error Name ~41 [a1 PI PI [CI [CI Normal operation Parity error Checksum error Dl [dl Character error [El [el Command error F1 VI Data No. error * I Description Data transmitted was processed properly. Parity error occurred in the transmitted data. Checksum error occurred in the transmitted data. Character not existing in the specifications was transmitted. Command not existing in the specifications was transmitted. Data No. not existing in the specifications was transmitted. Remarks Positive response Negative response 13.6 Checksum Checksum range Checksum range The check sum is a JIS8-coded hexadecimal representing the lower two digts of the sum of JIS8-coded hexadecimal numbers up to ETX, with the exceptionof the first control code (STX or SOH). (Example) S T X PI [AI VI PI PI [Frl E T 151 121 X 02H 30H 41H 31H 32H 35H 46H t 03H ~ O H + ~ I H + ~ I H + ~ ~ H + ~ ~ I H + ~ ~ H + O ~ H = 152H T- Lower 2 digits 52 is sent after conversion into ASCII code [5][2]. 13- 7 13. COMMUNICATION FUNCTIONS 13.7 Time-out Operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed theabove operation three times.(Communication error) 1OOms 300ms - W Controller (Master station) E 0 T m a 8 I 1OOms 300ms m 300ms m m m E m 0 a I T 2 I - 1OOms - E - 'Time-out 300ms m m a 0 T I I * Servo (Slave station) 13.8 Retry Operation When a fault occurs in communication between the master and slave stations, the error code in the response data from the slave station is a negative response code ([B] to F],b] to [fJ). In this case, the master station retransmits the message whch was sent at occurrence the of the fault (Retry operation). A communication error occurs if the above operation is repeated and results in the error three or more consecutive times. Controller (Master station) Servo (Slave statlon) m m W cn m m yl u) yl f 2 I 'Communication error 8 T z s z s ; s z T : T : T X x B m 5 x .B m 5 : B m 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 occurrence the of the fault. A communication error occursIf the retry operationis performed three times. 13- 8 13. COMMUNICATION FUNCTIONS 13.9 Initialization After the slave station is switched on. it cannot reply to communication until the internal initialization processing terminates. Hence,a t power-on, orchary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Makmg sure that normal communication can be made by readlng the parameter or other data whch does not pose any safety problems. 13.10 Communication Procedure Example The followingexample a m p u e r of station 0: Data Item Station number Command Data No. readsthesetvalue Value 0 05 02 of parameter No.2 "function selection 1" from the servo Description Servo a m p E e r station 0 Read command Parameter No.2 Axis No. Command Data= [ Checksum calculation and Data No. O~B+~sTxklol~~~l = lOIPl[51 lsTxl [ 0 1 [ 2 1 r m Checksum=30H+30H+35H+02H+3OH+32H+03H~~ Transmission d a t a = m + u 5 + m + f l p l + m up transmission data r Master station+ slave station I. Data transmission Master stationt slave station I Master station+ slave station 1OOms after EOT transmission 13- 9 13. COMMUNICATION FUNCTIONS 13.11 Command and Data No. List 13.1 1.1 Read commands (1) Status display (Command[ON1I) Command Data No. [Ol[lI [8] [O] Status display data value and [OI [I1 [8] [ 11 processing information [Ol[lI [81P [OH11 [81[31 LO1 [11 PI Description I 12 droop pulses [41 cumulative command pulses 12 command pulse frequency analog speed command voltage 12 12 analog speed limit voltage I analog torque command voltage analog torque limit voltage regenerative load ratio effective load ratio ratio load peak within one-revolution position 1 i: 1 12 12 12 Multi-revolution counter inertia moment 12 load ratio (2) Parameter (Command [0][5]) Command Data No. to [OI [51 [31[11 Description Frame Length Current value of each parameter (The decimal equivalent of t h e d a t a No. value (hexadecimal) corresponds 8 to the parameter number.) (3)External I/O signals (Command [1][2]) Frame Length Command Data No. [11[21 [4][0] External input pin statuses 8 [11[21 [C][O] External output pin statuses 8 Description (4) Alarm history (Command [3][3]) Alarm number in alarm history Alarm occurrence time in alarm 13- 10 13. COMMUNICATION FUNCTIONS (5) Currentalarm(Command [OH21 [3][5]) Command Data No. [OI P I [O][O] Frame Length Description 4 Current alarm number Description Frame Length Display Item cumulative feedback pulses servo motor speed 12 processing information at alarm Occurrence droop pulses 12 12 Status display data value and 12 cumulative command pulses command pulse fiequency analog speed command voltage analog speed Limit voltage analog torque command voltage analog torque limit voltage regenerative effective load load ratio ratio 12 12 12 12 12 peak load ratio within one-revolution position Multi-revolution counter load inertia moment ratio 12 12 12 12 (6) Others Command Frame DataLength No. , Description 101[21 I01121 [9][0] Servo motor end pulse unit absolute position [9][1] Command unit absolute position I01I21 [7][0] Software version 13.1 8 8 16 1.2 Write commands (1 ) Status display (Command[8][1]) No. DataLength Command Frame [8l[ll [O][O] Description Status &play data clear Setting Range 1EA5 4 (2)Parameter (Command [8][4]) Command [81[41 Data No. [O][O] to [3][1] Frame Length Setting Range Description Each parameter write (The decimal equivalent of t h e d a t a No. value Depends on t h e parameter. (hexadecimal) corresponds to t h e p a r a m e t e r number.) 8 (3)Alarm history (Command [8][2]) Command [81P I Data No. [2][0] Frame Length Setting Range Description 1EA5 Alarm history clear 4 (4)Current alarm (Command[8][2]) Command PI PI Data No. [O][O] Description Alarm reset Setting Range 1EA5 13- 11 Frame Length 4 13. COMMUNICATION FUNCTIONS (5) Operation mode selection (command [S][B]) Command Description Setting Range 'rame Lengtt 0000 to 0004 Operation mode changing 0000: Exit from test operation mode 0001: Jog operation [81PI 4 0002: Positioning operation 0003: Motor-less operation 0004: DO forced output (output signal forced output) (6) External input signal disable(command [9][0]) Description T m s off the external input signals @I), external analog 1EA5 input signals and pulse train inputs with the exception of EMG, LSP a n d LSN, independently of the external ONiOFF statuses. into the valueof C h a n g e s t h e e x t e r n a l o u t p u t s i g n a(DO) ls command [8]p] or command [A][O]+ d a t a N o . [O][l]. Enables the disabled external input signals (DI), external 1EA5 4 1EA5 4 analog input signals and pulse train inputs with the exception of EMG. LSP a n d LSN. E n a b l e s t h e h s a b l e d e x t e r n a l o u t p u t s i g n a l(DO). s . (7) Data fortest operation mode (command [9][2] [A][O]) Frame Length Setting Range Command Data No. [91[21 [O][O] Input signal for test operation 8 [A][O] Forced output from signal pin 8 [91P I Description Data No. Description [AI [OI [1][0] Writes the speedof the test operation mode (jog operation, [AI LO1 [ 11[I] Command Frame Length Setting Range 0000 to 7 F F F 4 positioning operation). acceleratioddeceleration time constant of t h e t e s t operation mode (jog operation, positioning operation). Clears the acceleratioddeceleration time constant of the test operation mode (jog operation, positioning operation). Writes the moving &stance (in pulses)of the test operation I mode (jog operation, positioning operation). Temporary stop commandof the test operation mode (jog I operation) positioning operation, 1 3 - 12 00000000 to Writes the 8 7FFFFFFF 13. COMMUNICATION FUNCTIONS 13.12 Detailed Explanations of Commands 13.12.1 Data processing When the master station transmits a command + data KO.or a command + data No. + data to a slave station, the servo ampuler returns areply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed accordmg to the application. Since whether data mustbe processed or not and how to process data depend on the monitoring, parameters, etc.,follow the detailed explanationof the corresponding command. The following methods are how to process send and receive data when reading and writing data. (1) Processing the read data When the &splay type is O? the eight-character data is converted from hexadecimal to decimal and a decimal point is placed accordmg to the decimal point position mformation. When the display type is 1,the eight-character datais used unchanged. The following exampleindicates how to process the receive data "003000000929" givento show. The receive data is asfollows. 0 0 3 0 0 0 0 0 0 9 2 9 7 - Data 32-bit length (hexadecimal representation) (Data conversionis required as indicatedin the display type) Display type [O]:Data must be converted into decimal. [l]: Data is used unchanged in hexadecimal I Decimal point position [O]:No decimal point [l]: First least significant digit (normally not used) [2]: Second least siginificant digit [3]:Third least siginificant digit (41: Forth least siginificant digit [5]: Fifth least siginificant digit 161: Sixth least siginificant digit Since the display type is"0" in t h s case, the hexadecimal data is converted into decimal. 00000929H+2345 As the decimal point position is "3". a decimal point is placed in thet h d least siglllficant hgit. Hence, "23.45" is displayed. 13- 13 13. COMMUNICATION FUNCTIONS (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specfled. If it is not specfied, the data cannot be written. When the data is handled as hexadecimal, spec& "0" as the decimal pointposition. The data tobe sent is the following value. Decimal p i n t p s i t i o n [O]:No decimal point [l]: First least significant digit 121: Second least siginificant digit [3]:Third least siginificant digit [4]: Forth least siginificant digit [5]: Fifth least siginificant digit By way of example, here is describedhow to process the set data when a value of "15.5" is sent. Since the decimal point position isthe second &git, the decimal point position data is "2'. As the data to be sent is hexadecimal, the decimal datais converted into hexadecimal. 155-9B Hence, "0200009B" is transmitted. 13- 14 13. COMMUNICATION FUNCTIONS 13.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the following table for assignment) to the slave station, the slave station sends back the data value and data processing information. 1)Transmission Transmit command [O][l] and the dataNo. corresponding to thestatus &splay item to be read. Refer to Section 13.11.1. 2) %Ply The slave station sends back the status display data requested. ! Data32 tits long (representedin hexadecimal) (Dataconversion into displaytype is required) Display type [O]: Used unchmged in hexadecimd [l]:Conversion into decimal required Decimd point position [O]: No decimd point [I]: Lower first digit (usudly not used) [2]:Lower second digit [3]: Lower third digit [4): Lower fourth digit [5]: Lower fifth digit [6]: Lower sixth digit (2) Status display data clear The cumulative feedback pulse data of the status display is cleared. Send t h s command immediately after rea&ng the status display item. The data of the statusdisplay item transmittedis cleared to zero. For example, after sending command [O][l] and data No. [8][0] and receiving the status display data, send command [S][l], data No. [O][O] and data [1EA5] to clear the cumulative feedback pulse value to zero. 13- 15 13. COMMUNICATION FUNCTIONS 13.12.3Parameter (1) Parameter read Read the parameter setting. 1) Transmission Transmit command [0][5] and the dataNo. corresponding to the parameter No. The data No. isexpressedinhexadecimalequivalent of the data No. valuecorrespondstothe parameter number. 2) Reply The slave station sends back the data and processing d o r m a t i o n of the requested parameterNo.. Data is transferred in hexadecimal I , Decimal point position [O]:No decimal point [l]:Lower first digit (21: Lower second digit [3]:Lower third digit [4]: Lower fourth digit [5]:Lower fifth digit Display type 0: Used unchanged in hexadecimal 1: Conversion into decimal required i Parameter write type 0: Valid after write 1: Valid when poweris switched on again after write Read enable/disable 0: Read enable 1: Read disable Enableldisable mformation changes accordmg to the setting of parameter No.19 "parameter write inhtbit". When the enable/&sable setting is read disable, ignore the parameter data part and process it as unreadable. 1 3 - 16 13. COMMUNICATION FUNCTIONS (2) Parameter write POINT I The number of parameter write times is restricted to 100,000 times. I Write the parameter setting. Write the valuew i t h the setting range.Refer to Section 5.1 for the setting range. Transmit command [8][4], the dataNo., and the set data. The data No. is expressed in hexadecimal. Thedecimal equivalent of the data No. value corresponds to the parameter number. When the datato be written is handled asdecimal, the decimal pointposition must be s p e d e d . If it is not specdied, data cannot be written. When the data is handled as hexadecimal, spec& 0 as the decimal point position. Write the data after makmg sure that it isw i t h the upperllower limit value range given in Section 5.1.2. Readtheparameterdata to be written, confirm thedecimalpointposition,andcreate transmission data to prevent error occurrence. On completion of write, read the same parameter data to venfy that data has been written correctly. No. Command PI 0 [41 T [O] Set Data Data [O] to See below. Data is transferred in hexadecimal LDecimal point position [O]:No decimal point [l]: Lower first digit [2]: Lower second digit [3]:Lower third digit [4]: Lower fourthdigit [5]: Lower fifth digit 1 3 - 17 13. COMMUNICATION FUNCTIONS 13.12.4 External I/O pin statuses ( D l 0 diagnosis) (1) External input pin status read Read the ON/OFF statusesof the external input pins. (a) Transmission Transmit command [1][2] and data No. [4][0]. ($1 Reply The ON/OFFstatuses of the input pins are sent back. I : ON 0 : OFF Command of each bitis transmitted to the master station as hexadecimal data. bit I I External Input Pin bit 0 CNlB-16 a 1 1 2 CNlB-17 9 1 CNlB-15 External Input Pin CNlB-9 - 15 I (2) External output pin status read Read the ONOFF statusesof the external output pins. (a) Transmission . Transmit command [1][2] and dataNo. [C][O]. h l+l CommandData No. The slave station sends backthe ONIOFF statusesof the output pins. 1: ON 0 : OFF Command of each bit is transmitted to the master station as hexadecimal data. 13- 18 13. COMMUNICATION FUNCTIONS 13.12.5 Disable/enable of external I/O signals (DIO) Inputs can be disabled independently of the external I/O signal ONIOFF. When inputs are dsabled, the input signals are recognized as follows. Among the external input signals, EMG, LSP and LSN cannot be disabled. Status Signal External input signals01) External analog input signals Pulse train inputs OFF ov None (1) Disabhglenabling the external input signals @I), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN. Transmit thefollowing communication commands: (a) Disable I Command I Data No. I I Data (b) Enable Command Data No. Data [91PI 111101 1EA5 (2) Disabhg/enabhg the external output signals (DO) Transmit thefollowing communication commands: (a) Disable Command Data No. Data [91[OI [OI [SI 1EA5 @) Enable Command Data No. Data [91[OI Dl [31 1EA5 13- 19 A 13. COMMUNICATION FUNCTIONS 13.12.6 External input signal ON/OFF (Test operation) Each input signal canbe turned ordoff for test operation. Turnoff the external input signals. Send command[9][2], data No. [O] [O] and data. I Command [9][2] I I Data No. [O] [O] I Set Data I See below I I 1: ON 0 : OFF Command of each bit is transmitted to the slave station as hexadecimal data. 1 3 - 20 13. COMMUNICATION FUNCTIONS 13.12.7 Test operation mode (1) instructions for test operation mode The test operationmode must be executed in the following procedure. If communication is interrupted for longer than 0.5s during test operation, the servo amphfier causes themotor to be decelerated to a the stop and servo-locked. To prevent ths, continuecommunicationwithoutabreak,e.g.monitor status display. (a) Execution of test operation 1)Turn off all external input signals. 2) Disable the external inputsignals. Command Data No. Data [91P I [OI [OI 1EA5 3) Choose the test operation mode. Command P I [BI PIPI PI PI P IP I P I [BI Data No. 101[OI [OI D l [OI [OI P I [OI [OI P I Transmission Data Selection of Test Operation Mode Test operation mode cancel Jog operation Positioning operation Motor-less operation DO forced output 0000 000 1 0002 0003 0004 4) Set the data needed for test operation. 6) Start. 6) Continue communication using the status display or other command. of test operation To terminate the test operationmode. complete the corresponding operation and: 1)Clear the test operation acceleratioddeceleration time constant. (b) Termination Command Data No. Data ~ 4lo1 1 Dl P I 1EA5 2) Cancel the test operation mode. Command Data No. Data P I PI [OI to1 0000 3) Enable the disabled external input signals. Command Data No. Data 191 101 111ro1 1EA5 1 3 - 21 13. COMMUNICATION FUNCTIONS (2) Jog operation Transmit thefollowing communication commands: (a) Settingof jog operation data Command Data No. Item Speed Acceleration/decelerati on time constant 1-41P I [A][O] [l][O] [ 11[l] Data Write the speed [r/min] in hexadecimal. Write the acceleratioddeceleration time constant [ms] in hexadecimal. (b) Start Turn on the external input signals SON and STl/ST2by using command 191[2] + data No. [O] [O]. Item Command Forward rotation start Reverse rotation start [9][2] [9][2] Data No. [O][O] [O][O] Data 00000801: Turns on SON and ST1. 00001001: Turns onSON and ST2. (3) Positioning operation Transmit thefollowing communication commands: (a) Settingof positioning operation data Item Data No. Data [AI [OI [A][O] [l] [0] [l] [l] [AI 101 [ 1][3] Write the speed [r/min] in hexadecimal. Write the acceleratioddeceleration time constant [ms] in hexadecimal. Write the moving distanceLpulse] in Command Speed Acceleratioddecelerati on time constant Moving distance (b) Start Turn on the external input signals SON a n d S T X T 2by using command [9][2] + data No. [O][O] Command Data No. Item Forward rotation start Reverse rotation start [9][2] [9][2] [O][O] [O][O] Data 00000801: Turns on SON and ST1. 00001001: Turns on SON and ST2. Temporary stop A temporary stop canbe made during positioning operation. Command 1441[OI No. [11[51 Data Data lEA5 Retransmit the same communication commands as at the start time to resume operation. To stop positioning operation after a temporary stop, retransmit the temporary stop communication command. The remainingmoving distance is then cleared. 13. COMMUNICATION FUNCTIONS 13.12.8 Output signal pin ON/OFF (DO forced output) In the test operationmode, the outputsignal pins canbe turned odoff independently of the servo status. Using command [9][0], disable the outputsignals in advance. (1) Choosing DO forced output in test operation mode Transmit command [8][B] + data No. [O][O]+ data "0004" to choose DO forced output. -I Selection of test operation mode 4: DO forced output (output signal forced output) (2) External output signal ON/OFF Transmit thefollowing communication commands: I Command I Data No. I I [91[21 I [A][O] Settina Data ISee below. 1 I 1: ON 0:OFF Command of each bit is sent to the slave station in hexadecimal. 13- 23 13. COMMUNICATION FUNCTIONS 13.12.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past.The alarm numbers and occurrence timesof No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data KO.[lJ[O]to [1][5]. Refer to Section 13.11.1. 0)Reply The alarm No. corresponlng to the data No. is provided. m L I a m No. is transferred in decimal. For example, “0032” means A. 32 and “OOFF’means A. - (no alarm). (2) Alarm occurrence time read Read the occurrence time of alarm w h c h occurred in the past. Thealarm occurrence timecorrespondingto the data No. is provided in terms of thetotaltime beginning with operationstart, with the minuteunit omitted. (a)Transmission Send command [3][3] and data No. [2][0] to [2][5]. Refer to Section 13.11.1. The alarm Occurrence time is transferred in decimal into decimal Hexadecimal must be converted For example, data[O][l][F][5] means that the alarmoccurred in 501 hours after start of operation (3) Alarm history clear Erase the alarm hstory. Send command [8][2] and data No. [2][0]. Command I Data No. I Data I 1 3 - 24 13. COMMUNICATION FUNCTIONS 13.12.10 Current alarm (1) Current alarm read Read the alarm No. whch isoccurring currently. (a) Transmission Send command [0][2] and dataNo. [ O ] [ O ] . CO) Reply The slave station sends backthe alarm currently occurring. A l a n No. is transferred in decimal For example, “0032’ means A. 32 and “OOFF means A. - (no alarm). (2) Read of the status display at alarm occurrence Read the status &splay data at alarm occurrence. When the data No. correspondmg to the status &splay item is transmitted, the data value and data processing dormation are sent back. (a) Transmission Send command [3][5] and any of data No. [8][0] to [8][E]correspondmg to the status &splay item to be read. Refer to Section 13.11.1. (b) Reply The slave station sendsback the requested status display dataa t alarm occurrence. ! Data 32 bits long (representedin hexadecimal) (Data conversion into display type is required) Display type [O]:Conversion into decimal required [l]: 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 entry of the RES signal, reset the servo ampllfier alarm to make the servo amphfier ready to operate. After removing the cause of the alarm, reset the alarm with no command entered. ~ Command Data No. Data [81[21 [Ol[OI [1l[El[A1[51 1 3 - 25 13. COMMUNICATION FUNCTIONS 13.1 2.1 1 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. (a) Transmission Send command [0][2] and data No. [9][0]. Command I Data No. co) Reply The slave station sendsback the requested servomotor end pulses. Absolute valueis sent backin hexadecimal in the servo motor end pulse unit. (Must be converted into decimal) For example, data "000186AO' is 100000 Lpulse] in the motor end pulse unit. (2) Command unitabsolute position Read the absolute position in the command unit. (a) Transmission Send command [0][2] and data No. [9][1]. co) %Ply The slave station sendsback the requested command pulses. Absolute value is sent backin hexadecimal inthe command unit. (Must be convertedinto decimal) For example, data "000186AO" is 100000 [pulse] in the command unit. (3) Software version Reads the software versionof the servo ampbfier. (a) Transmission Send command [O] [2] and data No.['i] [O] Command 1 Data No co) Reply The slave station returns the software version requested. 0 Software version(15 digits) 1 3 - 26 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data ‘Manual Revision Number Feb..1999 SH(NA)3200-A Oct.,1999 SH(NA)3200-B First e h t i o n Deletion of 2(3)(a) in COMPLIANCE WITH EC DIRECTIVES Section 1.3: Rating plate changed Section 3.2: Corrections made to CNlB-4 and CNlA-18 connections Section 3.3.1 (1): Addition of CNPlICNP2ICNP3 signal arrangement Section 3.3.2 (1): of t h e Corrections made to the Control Mode columns clear, control change and analog torque command signals Section 3.3.2 (2): Reconsideration of the sentence in the Functions/ Applications column of the warning signal Correction made to the maximum pulse width in the Functions/Applications column of the encoder Z-phase pulse Section 3.3.2 (3): Correction madeto the sentence in the Functions/ Applications column of the digital I F common signal Section 3.4.1 (l)(b)l): Corrections made to the transistor timing chart Section 3.4.3 (3)(a): Reconsideration of description Section 3.6.1: Reconsideration of common line connection Section 3.6.2 (4)(a): Addition of maximum output current Section 3.7.3 (4): Adbtion Section 4.2.2 (7): A d b t i o n of description for the servo motor equipped witt Section 4.2.3 (6): A d h t i o n of description for the servo motor equipped witk Section 4.2.4 (6): A d h t i o n of description for the servo motor equipped witk electromagnetic brake electromagnetic brake electromagnetic brake Section 5.1.2 (2): Initial value of p a r a m e t e r No. 1 changed Section 5.2.1 (2): Addition of setting for useof AD75P Section 5.2.3: Description of stopping method changed Section 6.4 (3): Reconsideration of writing Section 6.6 (3)(b): of reverse rotation Correction made to the abbreviation start Section 7.2.2: Corrections made to theblock h a g r a m Section 7.4.2 (2)(a)4): Reconsideration of writing Section 5.4.2 (2)(b): Reconsideration of writing Section 7.4.3 (2): Reconsideration of writing Section 7.3.4 (2)5): Reconsideration of writing Section 9.1.1 (2): Addition of measures against positionshift Section 9.2: Reconsideration of description related to alarm deactivation Section 9.2.2: Deletion of the cause 4of X . 16 Section 10.1: Indication of the power supply capacitieson a motor capacity basis *The manual numberis given on the bottom left of the back cover. Print Data 'Manual Number Revision Section10.2.2 (1): A d h t i o n of theoutlinedrawings of connector10120 -3000EL and shellkt 10320-52AO-008 Section 11.1: Addition Section12.2.1 (2): of descriptionrelatedtoloadduring stop a Addition of h s h m g OD Changes made to the core insulation sheath outline d of J14B1180 Changes made to the numberof cores of UL20276AWG28 Section12.2.4(l)(c):Figurecorrection Section 13.1.1: Corrections made to the outline drawing and connection diagram Section 13.1.2 (2): Section 13.12.1: I Corrections made to the connection hagram Reconsideration of all sentences