Mitsubishi Electronics MR-J2S- CP User Manuals

Table of Contents

• Safety Instructions

  2
• About processing of waste

  7
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  10
• About the manuals

  10
• CONTENTS

  12
• 1. FUNCTIONS AND CONFIGURATION

  20
  • 1.1 Introduction

    20
    • 1.1.1 Function block diagram

      20
    • 1.1.2 System configuration

      23
    • 1.1.3 I/O devices

      28
  • 1.2 Servo amplifier standard specifications

    29
  • 1.3 Function list

    31
  • 1.4 Model code definition

    32
  • 1.5 Combination with servo motor

    33
  • 1.6 Structure

    34
    • 1.6.1 Part names

      34
    • 1.6.2 Removal and reinstallation of the front cover

      38
  • 1.7 Servo system with auxiliary equipment

    40
• 2. INSTALLATION

  46
  • 2.1 Environmental conditions

    46
  • 2.2 Installation direction and clearances

    47
  • 2.3 Keep out foreign materials

    48
  • 2.4 Cable stress

    49
• 3. SIGNALS AND WIRING

  50
  • 3.1 Standard connection example

    51
  • 3.2 Internal connection diagram of servo amplifier

    52
  • 3.3 I/O signals

    53
    • 3.3.1 Connectors and signal arrangements

      53
    • 3.3.2 Signal (devices) explanations

      54
  • 3.4 Detailed description of signals (devices)

    62
    • 3.4.1 Forward rotation start Reverse rotation start Temporary stop/restart

      62
    • 3.4.2 Movement finish Rough match In position

      63
    • 3.4.3 Override

      65
    • 3.4.4 Torque limit

      66
  • 3.5 Alarm occurrence timing chart

    68
  • 3.6 Interfaces

    69
    • 3.6.1 Common line

      69
    • 3.6.2 Detailed description of the interfaces

      70
  • 3.7 Input power supply circuit

    74
    • 3.7.1 Connection example

      74
    • 3.7.2 Terminals

      76
    • 3.7.3 Power-on sequence

      77
  • 3.8 Connection of servo amplifier and servo motor

    78
    • 3.8.1 Connection instructions

      78
    • 3.8.2 Connection diagram

      78
    • 3.8.3 I/O terminals

      80
  • 3.9 Servo motor with electromagnetic brake

    82
  • 3.10 Grounding

    86
  • 3.11 Servo amplifier terminal block (TE2) wiring method

    87
    • 3.11.1 For the servo amplifier produced later than Jan. 2006

      87
    • 3.11.2 For the servo amplifier produced earlier than Dec. 2005

      89
  • 3.12 Instructions for the 3M connector

    91
• 4. OPERATION

  92
  • 4.1 When switching power on for the first time

    92
    • 4.1.1 Pre-operation checks

      92
    • 4.1.2 Startup

      93
  • 4.2 Automatic operation mode

    96
    • 4.2.1 What is automatic operation mode?

      96
    • 4.2.2 Absolute value command system

      99
    • 4.2.3 Incremental value command system

      101
    • 4.2.4 Absolute value command/incremental value command specifying system

      103
    • 4.2.5 Automatic operation timing chart

      105
    • 4.2.6 Automatic continuous operation

      106
  • 4.3 Manual operation mode

    113
    • 4.3.1 Jog operation

      113
    • 4.3.2 Manual pulse generator operation

      115
  • 4.4 Manual home position return mode

    117
    • 4.4.1 Outline of home position return

      117
    • 4.4.2 Dog type home position return

      119
    • 4.4.3 Count type home position return

      121
    • 4.4.4 Data setting type home position return

      122
    • 4.4.5 Stopper type home position return

      123
    • 4.4.6 Home position ignorance (servo-on position defined as home position)

      125
    • 4.4.7 Dog type rear end reference home position return

      126
    • 4.4.8 Count type front end reference home position return

      127
    • 4.4.9 Dog cradle type home position return

      128
    • 4.4.10 Home position return automatic return function

      129
    • 4.4.11 Automatic positioning function to the home position

      130
  • 4.5 Absolute position detection system

    131
  • 4.6 Serial communication operation

    134
    • 4.6.1 Positioning operation in accordance with point tables

      134
    • 4.6.2 Positioning operation

      135
    • 4.6.3 Multidrop system

      135
    • 4.6.4 Group designation

      136
• 5. PARAMETERS

  138
  • 5.1 Parameter list

    138
    • 5.1.1 Parameter write inhibit

      138
    • 5.1.2 List

      139
  • 5.2 Detailed explanation

    156
    • 5.2.1 Electronic gear

      156
    • 5.2.2 Changing the status display screen

      157
    • 5.2.3 S-pattern acceleration/deceleration

      158
    • 5.2.4 Analog output

      158
    • 5.2.5 Changing the stop pattern using a limit switch

      161
    • 5.2.6 Alarm history clear

      161
    • 5.2.7 Rough match output

      161
    • 5.2.8 Software limit

      161
• 6. MR Configurator (SERVO CONFIGURATION SOFTWARE)

  162
  • 6.1 Specifications

    162
  • 6.2 System configuration

    162
  • 6.3 Station setting

    164
  • 6.4 Parameters

    165
  • 6.5 Point table

    167
  • 6.6 Device assignment method

    169
  • 6.7 Test operation

    173
    • 6.7.1 Jog operation

      173
    • 6.7.2 Positioning operation

      175
    • 6.7.3 Motor-less operation

      177
    • 6.7.4 Output signal (DO) forced output

      178
    • 6.7.5 Single-step feed

      179
  • 6.8 Alarm history

    180
• 7. DISPLAY AND OPERATION

  182
  • 7.1 Display flowchart

    182
  • 7.2 Status display

    183
    • 7.2.1 Display transition

      183
    • 7.2.2 Display examples

      184
    • 7.2.3 Status display list

      185
  • 7.3 Diagnosis mode

    186
    • 7.3.1 Display transition

      186
    • 7.3.2 Diagnosis mode list

      187
  • 7.4 Alarm mode

    189
    • 7.4.1 Display transition

      189
    • 7.4.2 Alarm mode list

      190
  • 7.5 Point table mode

    192
    • 7.5.1 Point table transition

      192
    • 7.5.2 Point table mode setting screen sequence

      193
    • 7.5.3 Operation method

      194
  • 7.6 Parameter mode

    196
    • 7.6.1 Parameter mode transition

      196
    • 7.6.2 Operation example

      197
  • 7.7 External I/O signal display

    199
  • 7.8 Output signal (DO) forced output

    200
  • 7.9 Test operation mode

    201
    • 7.9.1 Mode change

      201
    • 7.9.2 Jog operation

      202
    • 7.9.3 Positioning operation

      203
    • 7.9.4 Motor-less operation

      204
  • 7.10 Teaching function

    205
    • 7.10.1 Preparations for teaching

      205
    • 7.10.2 Position data setting method

      206
• 8. GENERAL GAIN ADJUSTMENT

  208
  • 8.1 Different adjustment methods

    208
    • 8.1.1 Adjustment on a single servo amplifier

      208
    • 8.1.2 Adjustment using MR Configurator (servo configuration software)

      209
  • 8.2 Auto tuning

    210
    • 8.2.1 Auto tuning mode

      210
    • 8.2.2 Auto tuning mode operation

      211
    • 8.2.3 Adjustment procedure by auto tuning

      212
    • 8.2.4 Response level setting in auto tuning mode

      213
  • 8.3 Manual mode 1 (simple manual adjustment)

    214
    • 8.3.1 Operation of manual mode 1

      214
    • 8.3.2 Adjustment by manual mode 1

      214
  • 8.4 Interpolation mode

    217
  • 8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

    218
    • 8.5.1 Response level setting

      218
    • 8.5.2 Auto tuning selection

      218
• 9. SPECIAL ADJUSTMENT FUNCTIONS

  220
  • 9.1 Function block diagram

    220
  • 9.2 Machine resonance suppression filter

    220
  • 9.3 Adaptive vibration suppression control

    222
  • 9.4 Low-pass filter

    223
  • 9.5 Gain changing function

    224
    • 9.5.1 Applications

      224
    • 9.5.2 Function block diagram

      224
    • 9.5.3 Parameters

      225
    • 9.5.4 Gain changing operation

      227
• 10. INSPECTION

  230
• 11. TROUBLESHOOTING

  232
  • 11.1 Trouble at start-up

    232
  • 11.2 When alarm or warning has occurred

    233
    • 11.2.1 Alarms and warning list

      233
    • 11.2.2 Remedies for alarms

      234
    • 11.2.3 Remedies for warnings

      240
  • 11.3 MR-DP60 external digital display error

    241
• 12. OUTLINE DIMENSION DRAWINGS

  242
  • 12.1 Servo amplifiers

    242
  • 12.2 Connectors

    247
• 13. CHARACTERISTICS

  250
  • 13.1 Overload protection characteristics

    250
  • 13.2 Power supply equipment capacity and generated loss

    251
  • 13.3 Dynamic brake characteristics

    253
    • 13.3.1 Dynamic brake operation

      253
    • 13.3.2 The dynamic brake at the load inertia moment

      255
  • 13.4 Encoder cable flexing life

    255
  • 13.5 Inrush currents at power-on of main circuit and control circuit

    256
• 14. OPTIONS AND AUXILIARY EQUIPMENT

  258
  • 14.1 Options

    258
    • 14.1.1 Regenerative options

      258
    • 14.1.2 FR-BU2 brake unit

      266
    • 14.1.3 Power regeneration converter

      272
    • 14.1.4 Cables and connectors

      275
    • 14.1.5 Junction terminal block (MR-TB20)

      283
    • 14.1.6 Maintenance junction card (MR-J2CN3TM)

      285
    • 14.1.7 External digital display (MR-DP60)

      287
    • 14.1.8 Manual pulse generator (MR-HDP01)

      289
    • 14.1.9 Battery (MR-BAT, A6BAT)

      290
  • 14.2 Auxiliary equipment

    291
    • 14.2.1 Recommended wires

      291
    • 14.2.2 Circuit breakers, fuses, magnetic contactors

      293
    • 14.2.3 Power factor improving reactors

      293
    • 14.2.4 Relays

      294
    • 14.2.5 Surge absorbers

      294
    • 14.2.6 Noise reduction techniques

      295
    • 14.2.7 Leakage current breaker

      302
    • 14.2.8 EMC filter

      304
    • 14.2.9 Setting potentiometers for analog inputs

      307
• 15. COMMUNICATION FUNCTIONS

  308
  • 15.1 Configuration

    308
    • 15.1.1 RS-422 configuration

      308
    • 15.1.2 RS-232C configuration

      309
  • 15.2 Communication specifications

    310
    • 15.2.1 Communication overview

      310
    • 15.2.2 Parameter setting

      311
  • 15.3 Protocol

    312
  • 15.4 Character codes

    314
  • 15.5 Error codes

    315
  • 15.6 Checksum

    315
  • 15.7 Time-out operation

    316
  • 15.8 Retry operation

    316
  • 15.9 Initialization

    317
  • 15.10 Communication procedure example

    317
  • 15.11 Command and data No. list

    318
    • 15.11.1 Read commands

      318
    • 15.11.2 Write commands

      321
  • 15.12 Detailed explanations of commands

    324
    • 15.12.1 Data processing

      324
    • 15.12.2 Status display

      326
    • 15.12.3 Parameter

      327
    • 15.12.4 External I/O signal statuses

      329
    • 15.12.5 Input devices ON/OFF

      331
    • 15.12.6 Disable/enable of I/O devices (DIO)

      332
    • 15.12.7 Input devices ON/OFF (test operation)

      333
    • 15.12.8 Test operation mode

      334
    • 15.12.9 Output signal pin ON/OFF output signal (DO) forced output

      337
    • 15.12.10 Alarm history

      338
    • 15.12.11 Current alarm

      339
    • 15.12.12 Point table

      340
    • 15.12.13 Servo amplifier group designation

      346
    • 15.12.14 Software version

      347
• APPENDIX

  348
  • App 1. Status indication block diagram

    348
  • App 2. Junction terminal block (MR-TB20) terminal block labels

    349
  • App 3. Combination of servo amplifier and servo motor

    350
  • App 4. Change of connector sets to the RoHS compatible products

    351
• REVISIONS

  352