Manuali utente per Mitsubishi Electronics servo amplifier mr-j2s- a

Sommario

• Safety Instructions

  2
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  11
• CONTENTS

  12
• Optional Servo Motor Instruction Manual CONTENTS

  17
• 1. FUNCTIONS AND CONFIGURATION

  18
  • 1.1 Introduction

    18
  • 1.2 Function block diagram

    19
  • 1.3 Servo amplifier standard specifications

    20
  • 1.4 Function list

    21
  • 1.5 Model code definition

    22
  • 1.6 Combination with servo motor

    23
  • 1.7 Parts identification

    24
  • 1.8 Servo system with auxiliary equipment

    27
• 2. INSTALLATION

  30
  • 2.1 Environmental conditions

    30
  • 2.2 Installation direction and clearances

    31
  • 2.3 Keep out foreign materials

    32
  • 2.4 Cable stress

    33
• 3. SIGNALS AND WIRING

  34
  • 3.1 Standard connection example

    35
    • 3.1.1 Position control mode

      35
    • 3.1.2 Speed control mode

      39
    • 3.1.3 Torque control mode

      41
  • 3.2 Internal connection diagram of servo amplifier

    43
  • 3.3 I/O signals

    44
    • 3.3.1 Connectors and signal arrangements

      44
    • 3.3.2 Signal explanations

      47
  • 3.4 Detailed description of the signals

    56
    • 3.4.1 Position control mode

      56
    • 3.4.2 Speed control mode

      61
    • 3.4.3 Torque control mode

      63
    • 3.4.4 Position/speed control change mode

      66
    • 3.4.5 Speed/torque control change mode

      68
    • 3.4.6 Torque/position control change mode

      70
  • 3.5 Alarm occurrence timing chart

    71
  • 3.6 Interfaces

    72
    • 3.6.1 Common line

      72
    • 3.6.2 Detailed description of the interfaces

      73
  • 3.7 Input power supply circuit

    78
    • 3.7.1 Connection example

      78
    • 3.7.2 Terminals

      79
    • 3.7.3 Power-on sequence

      80
  • 3.8 Connection of servo amplifier and servo motor

    81
    • 3.8.1 Connection instructions

      81
    • 3.8.2 Connection diagram

      81
    • 3.8.3 I/O terminals

      83
  • 3.9 Servo motor with electromagnetic brake

    85
  • 3.10 Grounding

    88
  • 3.11 Servo amplifier terminal block (TE2) wiring method

    89
  • 3.12 Instructions for the 3M connector

    90
• 4. OPERATION

  92
  • 4.1 When switching power on for the first time

    92
  • 4.2 Startup

    93
    • 4.2.1 Selection of control mode

      93
    • 4.2.2 Position control mode

      93
    • 4.2.3 Speed control mode

      95
    • 4.2.4 Torque control mode

      96
  • 4.3 Multidrop communication

    97
• 5. PARAMETERS

  98
  • 5.1 Parameter list

    98
    • 5.1.1 Parameter write inhibit

      98
    • 5.1.2 Lists

      99
  • 5.2 Detailed description

    122
    • 5.2.1 Electronic gear

      122
    • 5.2.2 Analog output

      126
    • 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

      127
    • 5.2.4 Alarm history clear

      127
    • 5.2.5 Position smoothing

      128
• 6. DISPLAY AND OPERATION

  130
  • 6.1 Display flowchart

    130
  • 6.2 Status display

    131
    • 6.2.1 Display examples

      131
    • 6.2.2 Status display list

      132
    • 6.2.3 Changing the status display screen

      133
  • 6.3 Diagnostic mode

    134
  • 6.4 Alarm mode

    136
  • 6.5 Parameter mode

    137
  • 6.6 External I/O signal display

    138
  • 6.7 Output signal forced output (DO forced output)

    141
  • 6.8 Test operation mode

    142
    • 6.8.1 Mode change

      142
    • 6.8.2 Jog operation

      143
    • 6.8.3 Positioning operation

      144
    • 6.8.4 Motor-less operation

      145
• 7. GENERAL GAIN ADJUSTMENT

  146
  • 7.1 Different adjustment methods

    146
    • 7.1.1 Adjustment on a single servo amplifier

      146
    • 7.1.2 Adjustment using servo configuration software

      147
  • 7.2 Auto tuning

    148
    • 7.2.1 Auto tuning mode

      148
    • 7.2.2 Auto tuning mode operation

      149
    • 7.2.3 Adjustment procedure by auto tuning

      150
    • 7.2.4 Response level setting in auto tuning mode

      151
  • 7.3 Manual mode 1 (simple manual adjustment)

    152
    • 7.3.1 Operation of manual mode 1

      152
    • 7.3.2 Adjustment by manual mode 1

      152
  • 7.4 Interpolation mode

    155
  • 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super

    156
    • 7.5.1 Response level setting

      156
    • 7.5.2 Auto tuning selection

      156
• 8. SPECIAL ADJUSTMENT FUNCTIONS

  158
  • 8.1 Machine resonance suppression filter and adaptive vibration suppression control

    158
    • 8.1.1 Function block diagram

      158
    • 8.1.2 Machine resonance suppression filter

      158
    • 8.1.3 Adaptive vibration suppression control

      160
  • 8.2 Low-pass filter

    161
  • 8.3 Gain changing function

    162
    • 8.3.1 Applications

      162
    • 8.3.2 Function block diagram

      162
    • 8.3.3 Parameters

      163
    • 8.3.4 Gain changing operation

      165
• 9. INSPECTION

  168
• 10. TROUBLESHOOTING

  170
  • 10.1 Trouble at start-up

    170
    • 10.1.1 Position control mode

      170
    • 10.1.2 Speed control mode

      173
    • 10.1.3 Torque control mode

      174
  • 10.2 When alarm or warning has occurred

    175
    • 10.2.1 Alarms and warning list

      175
    • 10.2.2 Remedies for alarms

      176
    • 10.2.3 Remedies for warnings

      181
• 11. OUTLINE DIMENSION DRAWINGS

  182
  • 11.1 Servo amplifiers

    182
  • 11.2 Connectors

    185
• 12. CHARACTERISTICS

  188
  • 12.1 Overload protection characteristics

    188
  • 12.2 Power supply equipment capacity and generated loss

    189
  • 12.3 Dynamic brake characteristics

    191
  • 12.4 Encoder cable flexing life

    193
• 13. OPTIONS AND AUXILIARY EQUIPMENT

  194
  • 13.1 Options

    194
    • 13.1.1 Regenerative brake options

      194
    • 13.1.2 Cables and connectors

      198
    • 13.1.3 Junction terminal block (MR-TB20)

      206
    • 13.1.4 Maintenance junction card (MR-J2CN3TM)

      208
    • 13.1.5 Battery (MR-BAT, A6BAT)

      209
    • 13.1.6 Servo configurations software

      210
  • 13.2 Auxiliary equipment

    212
    • 13.2.1 Recommended wires

      212
    • 13.2.2 No-fuse breakers, fuses, magnetic contactors

      214
    • 13.2.3 Power factor improving reactors

      214
    • 13.2.4 Relays

      215
    • 13.2.5 Surge absorbers

      215
    • 13.2.6 Noise reduction techniques

      215
    • 13.2.7 Leakage current breaker

      221
    • 13.2.8 EMC filter

      223
• 14. COMMUNICATION FUNCTIONS

  224
  • 14.1 Configuration

    224
    • 14.1.1 RS-422 configuration

      224
    • 14.1.2 RS-232C configuration

      225
  • 14.2 Communication specifications

    226
    • 14.2.1 Communication overview

      226
    • 14.2.2 Parameter setting

      227
  • 14.3 Protocol

    228
  • 14.4 Character codes

    230
  • 14.5 Error codes

    231
  • 14.6 Checksum

    231
  • 14.7 Time-out operation

    232
  • 14.8 Retry operation

    232
  • 14.9 Initialization

    233
  • 14.10 Communication procedure example

    233
  • 14.11 Command and data No. list

    234
    • 14.11.1 Read commands

      234
    • 14.11.2 Write commands

      235
  • 14.12 Detailed explanations of commands

    237
    • 14.12.1 Data processing

      237
    • 14.12.2 Status display

      239
    • 14.12.3 Parameter

      240
    • 14.12.4 External I/O pin statuses (DIO diagnosis)

      242
    • 14.12.5 Disable/enable of external I/O signals (DIO)

      243
    • 14.12.6 External input signal ON/OFF (test operation)

      244
    • 14.12.7 Test operation mode

      245
    • 14.12.8 Output signal pin ON/OFF (DO forced output)

      247
    • 14.12.9 Alarm history

      248
    • 14.12.10 Current alarm

      249
    • 14.12.11 Other commands

      250
• 15. ABSOLUTE POSITION DETECTION SYSTEM

  252
  • 15.1 Outline

    252
    • 15.1.1 Features

      252
    • 15.1.2 Restrictions

      252
  • 15.2 Specifications

    253
  • 15.3 Battery installation procedure

    254
  • 15.4 Standard connection diagram

    255
  • 15.5 Signal explanation

    256
  • 15.6 Startup procedure

    257
  • 15.7 Absolute position data transfer protocol

    258
    • 15.7.1 Data transfer procedure

      258
    • 15.7.2 Transfer method

      259
    • 15.7.3 Home position setting

      268
    • 15.7.4 Use of servo motor with electromagnetic brake

      270
    • 15.7.5 How to process the absolute position data at detection of stroke end

      271
  • 15.8 Examples of use

    272
    • 15.8.1 MELSEC-A1S (A1SD71)

      272
    • 15.8.2 MELSEC FX(2N)-32MT (FX(2N)-1PG)

      286
    • 15.8.3 MELSEC A1SD75(AD75)

      299
  • 15.9 Confirmation of absolute position detection data

    314
  • 15.10 Absolute position data transfer errors

    315
    • 15.10.1 Corrective actions

      315
    • 15.10.2 Error resetting conditions

      317
• Appendix

  318
  • App 1. Signal arrangement recording sheets

    318
  • App 2. Analog monitor block diagram

    319
  • App 3. Status display block diagram

    320
• REVISIONS

  322