Manuali utente per Mitsubishi Electronics MR-J2S- CL

Sommario

• Safety Instructions

  2
• About processing of waste

  7
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  10
• CONTENTS

  12
• Optional Servo Motor Instruction Manual CONTENTS

  18
• 1. FUNCTIONS AND CONFIGURATION

  20
  • 1.1 Introduction

    20
    • 1.1.1 Function block diagram

      21
    • 1.1.2 System configuration

      22
    • 1.1.3 I/O devices

      27
  • 1.2 Servo amplifier standard specifications

    28
  • 1.3 Function list

    30
  • 1.4 Model code definition

    31
  • 1.5 Combination with servo motor

    32
  • 1.6 Structure

    33
    • 1.6.1 Part names

      33
    • 1.6.2 Removal and reinstallation of the front cover

      37
  • 1.7 Servo system with auxiliary equipment

    39
• 2. INSTALLATION

  44
  • 2.1 Environmental conditions

    44
  • 2.2 Installation direction and clearances

    45
  • 2.3 Keep out foreign materials

    46
  • 2.4 Cable stress

    47
• 3. SIGNALS AND WIRING

  48
  • 3.1 Standard connection example

    49
  • 3.2 Internal connection diagram of servo amplifier

    51
  • 3.3 I/O signals

    52
    • 3.3.1 Connectors and signal arrangements

      52
    • 3.3.2 Signal (devices) explanations

      53
  • 3.4 Detailed description of signals (devices)

    60
    • 3.4.1 Forward rotation start Reverse rotation start Temporary stop/Restart

      60
    • 3.4.2 Movement complete

      61
    • 3.4.3 Override

      62
    • 3.4.4 Torque limit

      63
  • 3.5 Alarm occurrence timing chart

    65
  • 3.6 Interfaces

    66
    • 3.6.1 Common line

      66
    • 3.6.2 Detailed description of the interfaces

      67
  • 3.7 Input power supply circuit

    70
    • 3.7.1 Connection example

      70
    • 3.7.2 Terminals

      72
    • 3.7.3 Power-on sequence

      73
  • 3.8 Connection of servo amplifier and servo motor

    74
    • 3.8.1 Connection instructions

      74
    • 3.8.2 Connection diagram

      74
    • 3.8.3 I/O terminals

      76
  • 3.9 Servo motor with electromagnetic brake

    78
  • 3.10 Grounding

    81
  • 3.11 Servo amplifier terminal block (TE2) wiring method

    82
  • 3.12 Instructions for the 3M connector

    83
• 4. OPERATION

  84
  • 4.1 When switching power on for the first time

    84
    • 4.1.1 Pre-operation checks

      84
    • 4.1.2 Startup

      85
  • 4.2 Program operation mode

    88
    • 4.2.1 What is program operation mode?

      88
    • 4.2.2 Programming language

      89
    • 4.2.3 Basic setting of signals and parameters

      108
    • 4.2.4 Program operation timing chart

      109
  • 4.3 Manual operation mode

    110
    • 4.3.1 Jog operation

      110
    • 4.3.2 Manual pulse generator operation

      112
  • 4.4 Manual home position return mode

    114
    • 4.4.1 Outline of home position return

      114
    • 4.4.2 Dog type home position return

      116
    • 4.4.3 Count type home position return

      118
    • 4.4.4 Data setting type home position return

      119
    • 4.4.5 Stopper type home position return

      120
    • 4.4.6 Home position ignorance (servo-on position defined as home position)

      121
    • 4.4.7 Dog type rear end reference home position return

      122
    • 4.4.8 Count type front end reference home position return

      123
    • 4.4.9 Dog cradle type home position return

      124
    • 4.4.10 Home position return automatic return function

      125
  • 4.5 Absolute position detection system

    126
  • 4.6 Serial communication operation

    129
    • 4.6.1 Positioning operation in accordance with programs

      129
    • 4.6.2 Multidrop system

      129
    • 4.6.3 Group designation

      130
  • 4.7 Incremental value command system

    132
• 5. PARAMETERS

  134
  • 5.1 Parameter list

    134
    • 5.1.1 Parameter write inhibit

      134
    • 5.1.2 List

      135
  • 5.2 Detailed explanation

    154
    • 5.2.1 Electronic gear

      154
    • 5.2.2 Changing the status display screen

      155
    • 5.2.3 S-pattern acceleration/deceleration

      156
    • 5.2.4 Analog output

      156
    • 5.2.5 Changing the stop pattern using a limit switch

      158
    • 5.2.6 Alarm history clear

      158
    • 5.2.7 Software limit

      158
• 6. SERVO CONFIGURATION SOFTWARE

  160
  • 6.1 Specifications

    160
  • 6.2 System configuration

    160
  • 6.3 Station setting

    162
  • 6.4 Parameters

    163
  • 6.5 Simple Program

    165
    • 6.5.1 Program data

      165
    • 6.5.2 Indirect addressing

      168
  • 6.6 Device assignment method

    170
  • 6.7 Test operation

    174
    • 6.7.1 Jog operation

      174
    • 6.7.2 Positioning operation

      176
    • 6.7.3 Motor-less operation

      178
    • 6.7.4 Output signal (DO) forced output

      179
    • 6.7.5 Program test operation

      180
  • 6.8 Alarm history

    182
• 7. DISPLAY AND OPERATION

  184
  • 7.1 Display flowchart

    184
  • 7.2 Status display

    185
    • 7.2.1 Display transition

      185
    • 7.2.2 Display examples

      186
    • 7.2.3 Status display list

      187
  • 7.3 Diagnosis mode

    188
    • 7.3.1 Display transition

      188
    • 7.3.2 Diagnosis mode list

      189
  • 7.4 Alarm mode

    191
    • 7.4.1 Display transition

      191
    • 7.4.2 Alarm mode list

      192
  • 7.5 Parameter mode

    194
    • 7.5.1 Parameter mode transition

      194
    • 7.5.2 Operation example

      195
  • 7.6 External I/O signal display

    197
  • 7.7 Output signal (DO) forced output

    198
  • 7.8 Test operation mode

    199
    • 7.8.1 Mode change

      199
    • 7.8.2 Jog operation

      200
    • 7.8.3 Positioning operation

      201
    • 7.8.4 Motor-less operation

      202
• 8. GENERAL GAIN ADJUSTMENT

  204
  • 8.1 Different adjustment methods

    204
    • 8.1.1 Adjustment on a single servo amplifier

      204
    • 8.1.2 Adjustment using servo configuration software

      205
  • 8.2 Auto tuning

    206
    • 8.2.1 Auto tuning mode

      206
    • 8.2.2 Auto tuning mode operation

      207
    • 8.2.3 Adjustment procedure by auto tuning

      208
    • 8.2.4 Response level setting in auto tuning mode

      209
  • 8.3 Manual mode 1 (simple manual adjustment)

    210
    • 8.3.1 Operation of manual mode 1

      210
    • 8.3.2 Adjustment by manual mode 1

      210
  • 8.4 Interpolation mode

    213
  • 8.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

    214
    • 8.5.1 Response level setting

      214
    • 8.5.2 Auto tuning selection

      214
• 9. SPECIAL ADJUSTMENT FUNCTIONS

  216
  • 9.1 Function block diagram

    216
  • 9.2 Machine resonance suppression filter

    216
  • 9.3 Adaptive vibration suppression control

    218
  • 9.4 Low-pass filter

    219
  • 9.5 Gain changing function

    220
    • 9.5.1 Applications

      220
    • 9.5.2 Function block diagram

      220
    • 9.5.3 Parameters

      221
    • 9.5.4 Gain changing operation

      223
• 10. INSPECTION

  226
• 11. TROUBLESHOOTING

  228
  • 11.1 Trouble at start-up

    228
    • 11.1.1 Position control mode

      228
  • 11.2 When alarm or warning has occurred

    229
    • 11.2.1 Alarms and warning list

      229
    • 11.2.2 Remedies for alarms

      230
    • 11.2.3 Remedies for warnings

      236
• 12. OUTLINE DIMENSION DRAWINGS

  238
  • 12.1 Servo amplifiers

    238
  • 12.2 Connectors

    243
• 13. CHARACTERISTICS

  246
  • 13.1 Overload protection characteristics

    246
  • 13.2 Power supply equipment capacity and generated loss

    247
  • 13.3 Dynamic brake characteristics

    249
  • 13.4 Encoder cable flexing life

    251
  • 13.5 Inrush Currents at Power-On of Main Circuit and Control Circuit

    252
• 14. OPTIONS AND AUXILIARY EQUIPMENT

  254
  • 14.1 Options

    254
    • 14.1.1 Regenerative brake options

      254
    • 14.1.2 Brake unit

      262
    • 14.1.3 Power return converter

      264
    • 14.1.4 Cables and connectors

      267
    • 14.1.5 Junction terminal block (MR-TB20)

      275
    • 14.1.6 Maintenance junction card (MR-J2CN3TM)

      277
    • 14.1.7 External digital display (MR-DP60)

      279
    • 14.1.8 Manual pulse generator (MR-HDP01)

      281
    • 14.1.9 Battery (MR-BAT, A6BAT)

      282
  • 14.2 Auxiliary equipment

    283
    • 14.2.1 Recommended wires

      283
    • 14.2.2 No-fuse breakers, fuses, magnetic contactors

      285
    • 14.2.3 Power factor improving reactors

      285
    • 14.2.4 Relays

      286
    • 14.2.5 Surge absorbers

      286
    • 14.2.6 Noise reduction techniques

      286
    • 14.2.7 Leakage current breaker

      292
    • 14.2.8 EMC filter

      294
    • 14.2.9 Setting potentiometers for analog inputs

      296
• 15. COMMUNICATION FUNCTIONS

  298
  • 15.1 Configuration

    298
    • 15.1.1 RS-422 configuration

      298
    • 15.1.2 RS-232C configuration

      299
  • 15.2 Communication specifications

    300
    • 15.2.1 Communication overview

      300
    • 15.2.2 Parameter setting

      301
  • 15.3 Protocol

    302
  • 15.4 Character codes

    304
  • 15.5 Error codes

    305
  • 15.6 Checksum

    305
  • 15.7 Time-out operation

    306
  • 15.8 Retry operation

    306
  • 15.9 Initialization

    307
  • 15.10 Communication procedure example

    307
  • 15.11 Command and data No. list

    308
    • 15.11.1 Read commands

      308
    • 15.11.2 Write commands

      311
  • 15.12 Detailed explanations of commands

    313
    • 15.12.1 Data processing

      313
    • 15.12.2 Status display

      315
    • 15.12.3 Parameter

      316
    • 15.12.4 External I/O signal statuses

      318
    • 15.12.5 Device ON/OFF

      320
    • 15.12.6 Disable/enable of I/O devices (DIO)

      321
    • 15.12.7 Input devices ON/OFF (test operation)

      322
    • 15.12.8 Test operation mode

      323
    • 15.12.9 Output signal pin ON/OFF output signal (DO) forced output

      326
    • 15.12.10 Alarm history

      327
    • 15.12.11 Current alarm

      328
    • 15.12.12 Current position latch data

      329
    • 15.12.13 General-purpose register

      330
    • 15.12.14 Servo amplifier group designation

      332
    • 15.12.15 Software version

      333
• APPENDIX

  334
  • App 1. Status indication block diagram

    334
  • App 2. Junction terminal block (MR-TB20) terminal block labels

    335
• REVISIONS

  336