Mitsubishi Electronics MR-J2-03A5 マニュアル

目次

• Safety Instructions

  2
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  10
• CONTENTS

  11
• Optional Servo Motor Instruction Manual CONTENTS

  15
• About the Manuals

  16
• Relevant manuals

  16
• 1. FUNCTIONS AND CONFIGURATION

  17
  • 1.1 Introduction

    17
  • 1.2 Function List

    18
  • 1.3 Model Code Definition

    19
  • 1.4 Combination with Servo Motor

    19
  • 1.5 Parts Identification

    20
  • 1.6 Servo System with Auxiliary Equipment

    21
• 2. INSTALLATION

  22
  • 2.1 Environmental conditions

    22
  • 2.2 Installation direction and clearances

    23
  • 2.3 Keep out foreign materials

    24
  • 2.4 Cable stress

    24
  • 2.5 Using the DIN rail for installation

    25
• 3. SIGNALS AND WIRING

  26
  • 3.1 Standard connection example

    27
    • 3.1.1 Position control mode AD75P[] (A1SD75P[])

      27
    • 3.1.2 Speed control mode

      29
    • 3.1.3 Torque control mode

      30
  • 3.2 Internal Connection Diagram of Servo Amplifier

    31
  • 3.3 I/O Signals

    32
    • 3.3.1 Connectors and signal arrangements

      32
    • 3.3.2 Signal explanations

      35
  • 3.4 Detailed Description of the Signals

    44
    • 3.4.1 Position control mode

      44
    • 3.4.2 Speed control mode

      49
    • 3.4.3 Torque control mode

      51
    • 3.4.4 Position/speed control change mode

      54
    • 3.4.5 Speed/torque control change mode

      56
    • 3.4.6 Torque/position control change mode

      58
  • 3.5 Alarm Occurrence Timing Chart

    59
  • 3.6 Interfaces

    60
    • 3.6.1 Common line

      60
    • 3.6.2 Detailed description of the interfaces

      61
  • 3.7 Input Power Supply Circuit

    65
    • 3.7.1 Connection example

      65
    • 3.7.2 Explanation of signals

      66
    • 3.7.3 Power-on sequence

      66
  • 3.8 Servo Motor with Electromagnetic Brake

    68
  • 3.9 Grounding

    70
  • 3.10 Instructions for the 3M Connector

    71
• 4. OPERATION

  72
  • 4.1 When Switching Power On for the First Time

    72
  • 4.2 Startup

    73
    • 4.2.1 Selection of control mode

      73
    • 4.2.2 Position control mode

      73
    • 4.2.3 Speed control mode

      75
    • 4.2.4 Torque control mode

      76
  • 4.3 Multidrop Communication

    77
• 5. PARAMETERS

  78
  • 5.1 Parameter List

    78
    • 5.1.1 Parameter write inhibit

      78
    • 5.1.2 Lists

      79
  • 5.2 Detailed Description

    95
    • 5.2.1 Electronic gear

      95
    • 5.2.2 Changing the status display screen

      97
    • 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern

      98
    • 5.2.4 Alarm history clear

      98
• 6. DISPLAY AND OPERATION

  99
  • 6.1 Display Flowchart

    99
  • 6.2 Status Display

    100
  • 6.3 Diagnostic mode

    102
  • 6.4 Alarm mode

    103
  • 6.5 Parameter mode

    104
  • 6.6 External I/O signal display

    106
  • 6.7 Output signal forced output (DO forced output)

    109
  • 6.8 Test operation mode

    110
    • 6.8.1 Mode change

      110
    • 6.8.2 Jog operation

      111
    • 6.8.3 Positioning operation

      112
    • 6.8.4 Motor-less operation

      113
• 7. ADJUSTMENT

  114
  • 7.1 What Is Gain Adjustment?

    114
    • 7.1.1 Difference between servo amplifier and other drives

      114
    • 7.1.2 Basics of the servo system

      115
  • 7.2 Gain Adjustment

    116
    • 7.2.1 Parameters required for gain adjustment

      116
    • 7.2.2 Block diagram

      116
    • 7.2.3 What is auto tuning?

      117
  • 7.3 Gain Adjustment by Auto Tuning

    118
    • 7.3.1 Adjustment method

      118
    • 7.3.2 Valid conditions

      118
  • 7.4 Manual Gain Adjustment

    119
    • 7.4.1 When machine rigidity is low

      119
    • 7.4.2 When the machine vibrates due to machine resonance frequency

      120
    • 7.4.3 Load inertia moment is 20 or more times

      121
    • 7.4.4 When shortening the settling time

      122
    • 7.4.5 When the same gain is used for two or more axes

      123
  • 7.5 Slight Vibration Suppression Control

    123
• 8. INSPECTION

  124
• 9. TROUBLESHOOTING

  125
  • 9.1 Trouble at Start-Up

    125
    • 9.1.1 Position control mode

      125
    • 9.1.2 Speed control mode

      128
    • 9.1.3 Torque control mode

      129
  • 9.2 When Alarm or Warning Has Occurred

    130
    • 9.2.1 Alarms and Warning list

      130
    • 9.2.2 Remedies for alarms

      131
    • 9.2.3 Remedies for Warnings

      135
• 10. SPECIFICATIONS

  136
  • 10.1 Servo Amplifier Standard Specifications

    136
  • 10.2 Outline Dimension Drawings

    137
    • 10.2.1 Servo amplifiers

      137
    • 10.2.2 Connectors

      138
• 11. CHARACTERISTICS

  140
  • 11.1 Overload Protection Characteristics

    140
  • 11.2 Dynamic Brake Characteristics

    141
  • 11.3 Encoder Cable Flexing Life

    142
• 12. OPTIONS AND AUXILIARY EQUIPMENT

  143
  • 12.1 Options

    143
    • 12.1.1 Cables and connectors

      143
    • 12.1.2 Junction terminal block (MR-TB20)

      148
    • 12.1.3 Servo configurations software

      150
  • 12.2 Auxiliary Equipment

    152
    • 12.2.1 Recommended wires

      152
    • 12.2.2 Circuit protector

      152
    • 12.2.3 Relays

      153
    • 12.2.4 Noise reduction techniques

      153
• 13. COMMUNICATION FUNCTIONS

  157
  • 13.1 Configuration

    157
    • 13.1.1 RS-422 configuration

      157
    • 13.1.2 RS-232C configuration

      158
  • 13.2 Communication Specifications

    159
    • 13.2.1 Communication overview

      159
    • 13.2.2 Parameter setting

      160
  • 13.3 Protocol

    161
  • 13.4 Character Codes

    162
  • 13.5 Error Codes

    163
  • 13.6 Checksum

    163
  • 13.7 Time-Out Operation

    164
  • 13.8 Retry Operation

    164
  • 13.9 Initialization

    165
  • 13.10 Communication Procedure Example

    165
  • 13.11 Command and Data No. List

    166
    • 13.11.1 Read commands

      166
    • 13.11.2 Write commands

      167
  • 13.12 Detailed Explanations of Commands

    169
    • 13.12.1 Data processing

      169
    • 13.12.2 Status display

      171
    • 13.12.3 Parameter

      172
    • 13.12.4 External I/O pin statuses (DIO diagnosis)

      174
    • 13.12.5 Disable/enable of external I/O signals (DIO)

      175
    • 13.12.6 External input signal ON/OFF (Test operation)

      176
    • 13.12.7 Test operation mode

      177
    • 13.12.8 Output signal pin ON/OFF (DO forced output)

      179
    • 13.12.9 Alarm history

      180
    • 13.12.10 Current alarm

      181
    • 13.12.11 Other commands

      182
• REVISIONS

  183