用户手册 — Mitsubishi Electronics MR-J2M-P8A

目录

• Safety Instructions

  2
• About processing of waste

  7
• COMPLIANCE WITH EC DIRECTIVES

  8
• CONFORMANCE WITH UL/C-UL STANDARD

  10
• About the manuals

  11
• CONTENTS

  12
• 1. FUNCTIONS AND CONFIGURATION

  18
  • 1.1 Overview

    18
  • 1.2 Function block diagram

    19
  • 1.3 Unit 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

    26
• 2. INSTALLATION AND START UP

  28
  • 2.1 Environmental conditions

    28
  • 2.2 Installation direction and clearances

    29
  • 2.3 Keep out foreign materials

    30
  • 2.4 Cable stress

    30
  • 2.5 Mounting method

    31
  • 2.6 When switching power on for the first time

    33
  • 2.7 Start up

    34
• 3. SIGNALS AND WIRING

  38
  • 3.1 Control signal line connection example

    39
  • 3.2 I/O signals of interface unit

    42
    • 3.2.1 Connectors and signal arrangements

      42
    • 3.2.2 Signal explanations

      43
    • 3.2.3 Detailed description of the signals

      48
    • 3.2.4 Internal connection diagram

      52
    • 3.2.5 Interface

      53
  • 3.3 Signal and wiring for extension IO unit

    57
    • 3.3.1 Connection example

      57
    • 3.3.2 Connectors and signal configurations

      59
    • 3.3.3 Signal explanations

      60
    • 3.3.4 Device explanations

      63
    • 3.3.5 Detailed description of the device

      67
    • 3.3.6 Device assignment method

      68
  • 3.4 Signals and wiring for base unit

    72
    • 3.4.1 Connection example for power line circuit

      72
    • 3.4.2 Connectors and signal configurations

      74
    • 3.4.3 Terminals

      75
    • 3.4.4 Power-on sequence

      75
  • 3.5 Connection of drive unit and servo motor

    76
    • 3.5.1 Connection instructions

      76
    • 3.5.2 Connection diagram

      77
    • 3.5.3 I/O terminals

      78
  • 3.6 Alarm occurrence timing chart

    79
  • 3.7 Servo motor with electromagnetic brake

    80
  • 3.8 Grounding

    83
  • 3.9 Instructions for the 3M connector

    84
• 4. OPERATION AND DISPLAY

  86
  • 4.1 Display flowchart

    86
    • 4.1.1 Normal indication

      87
    • 4.1.2 If alarm/warning occurs

      88
    • 4.1.3 If test operation

      89
  • 4.2 Interface unit display

    90
    • 4.2.1 Display flowchart of interface unit

      90
    • 4.2.2 Status display of interface unit

      91
    • 4.2.3 Diagnostic mode of interface unit

      92
    • 4.2.4 Alarm mode of interface unit

      93
    • 4.2.5 Interface unit parameter mode

      94
    • 4.2.6 Interface unit output signal (DO) forced output

      95
  • 4.3 Drive unit display

    96
    • 4.3.1 Drive unit display sequence

      96
    • 4.3.2 Status display of drive unit

      97
    • 4.3.3 Diagnostic mode of drive unit

      99
    • 4.3.4 Alarm mode of drive unit

      100
    • 4.3.5 Drive unit parameter mode

      101
    • 4.3.6 Drive unit external input signal display

      101
    • 4.3.7 Drive unit external output signal display

      102
    • 4.3.8 Drive unit output signal (DO) forced output

      103
• 5. PARAMETERS

  104
  • 5.1 DRU parameter list

    104
    • 5.1.1 DRU parameter write inhibit

      104
    • 5.1.2 Lists

      105
  • 5.2 Interface unit

    117
    • 5.2.1 IFU parameter write inhibit

      117
    • 5.2.2 Lists

      117
  • 5.3 Detailed description

    124
    • 5.3.1 Electronic gear

      124
    • 5.3.2 Analog monitor

      128
    • 5.3.3 Using forward rotation stroke end (LSP[ ] ) reverse rotation stroke end (LSN[ ] ) to change the stopping pattern

      131
    • 5.3.4 Alarm history clear

      131
    • 5.3.5 Position smoothing

      132
• 6. GENERAL GAIN ADJUSTMENT

  134
  • 6.1 Different adjustment methods

    134
    • 6.1.1 Adjustment on a MELSERVO-J2M

      134
    • 6.1.2 Adjustment using MR Configurator (servo configuration software)

      135
  • 6.2 Auto tuning

    136
    • 6.2.1 Auto tuning mode

      136
    • 6.2.2 Auto tuning mode operation

      137
    • 6.2.3 Adjustment procedure by auto tuning

      138
    • 6.2.4 Response level setting in auto tuning mode

      139
  • 6.3 Manual mode 1 (simple manual adjustment)

    140
    • 6.3.1 Operation of manual mode 1

      140
    • 6.3.2 Adjustment by manual mode 1

      140
  • 6.4 Interpolation mode

    142
• 7. SPECIAL ADJUSTMENT FUNCTIONS

  144
  • 7.1 Function block diagram

    144
  • 7.2 Machine resonance suppression filter

    144
  • 7.3 Adaptive vibration suppression control

    146
  • 7.4 Low-pass filter

    147
  • 7.5 Gain changing function

    148
    • 7.5.1 Applications

      148
    • 7.5.2 Function block diagram

      148
    • 7.5.3 Parameters

      149
    • 7.5.4 Gain changing operation

      151
• 8. INSPECTION

  154
• 9. TROUBLESHOOTING

  156
  • 9.1 Trouble at start-up

    156
  • 9.2 Alarms and warning list

    159
  • 9.3 Remedies for alarms

    161
  • 9.4 Remedies for warnings

    168
• 10. OUTLINE DRAWINGS

  170
  • 10.1 MELSERVO-J2M configuration example

    170
  • 10.2 Unit outline drawings

    171
    • 10.2.1 Base unit (MR-J2M-BU[ ] )

      171
    • 10.2.2 Interface unit (MR-J2M-P8A)

      171
    • 10.2.3 Drive unit (MR-J2M-[ ] DU)

      172
    • 10.2.4 Extension IO unit (MR-J2M-D01)

      173
    • 10.2.5 Battery unit (MR-J2M-BT)

      173
  • 10.3 Connectors

    174
• 11. CHARACTERISTICS

  180
  • 11.1 Overload protection characteristics

    180
  • 11.2 Power supply equipment capacity and generated loss

    181
  • 11.3 Dynamic brake characteristics

    183
  • 11.4 Encoder cable flexing life

    185
• 12. OPTIONS AND AUXILIARY EQUIPMENT

  186
  • 12.1 Options

    186
    • 12.1.1 Regenerative brake options

      186
    • 12.1.2 Cables and connectors

      193
    • 12.1.3 Junction terminal block (MR-TB50)

      202
    • 12.1.4 Junction terminal block (MR-TB20)

      204
    • 12.1.5 Maintenance junction card (MR-J2CN3TM)

      206
    • 12.1.6 MR Configurator (servo configurations software)

      208
  • 12.2 Auxiliary equipment

    209
    • 12.2.1 Recommended wires

      209
    • 12.2.2 No-fuse breakers, fuses, magnetic contactors

      211
    • 12.2.3 Power factor improving reactors

      212
    • 12.2.4 Relays

      213
    • 12.2.5 Surge absorbers

      213
    • 12.2.6 Noise reduction techniques

      213
    • 12.2.7 Leakage current breaker

      219
    • 12.2.8 EMC filter

      220
• 13. COMMUNICATION FUNCTIONS

  222
  • 13.1 Configuration

    222
    • 13.1.1 RS-422 configuration

      222
    • 13.1.2 RS-232C configuration

      224
  • 13.2 Communication specifications

    225
    • 13.2.1 Communication overview

      225
    • 13.2.2 Parameter setting

      226
  • 13.3 Protocol

    227
  • 13.4 Character codes

    228
  • 13.5 Error codes

    229
  • 13.6 Checksum

    229
  • 13.7 Time-out operation

    230
  • 13.8 Retry operation

    230
  • 13.9 Initialization

    231
  • 13.10 Communication procedure example

    231
  • 13.11 Command and data No. list

    232
    • 13.11.1 Read commands

      232
    • 13.11.2 Write commands

      234
  • 13.12 Detailed explanations of commands

    236
    • 13.12.1 Data processing

      236
    • 13.12.2 Status display

      238
    • 13.12.3 Parameter

      239
    • 13.12.4 External I/O pin statuses (DIO diagnosis)

      241
    • 13.12.5 Disable/enable of external I/O signals (DIO)

      244
    • 13.12.6 External input signal ON/OFF (test operation)

      245
    • 13.12.7 Test operation mode

      246
    • 13.12.8 Output signal pin ON/OFF (output signal (DO) forced output)

      249
    • 13.12.9 Alarm history

      250
    • 13.12.10 Current alarm

      251
    • 13.12.11 Other commands

      252
• 14. ABSOLUTE POSITION DETECTION SYSTEM

  254
  • 14.1 Outline

    254
    • 14.1.1 Features

      254
    • 14.1.2 Restrictions

      254
  • 14.2 Specifications

    255
  • 14.3 Signal explanation

    256
  • 14.4 Serial communication command

    256
  • 14.5 Startup procedure

    257
  • 14.6 Absolute position data transfer protocol

    258
    • 14.6.1 Data transfer procedure

      258
    • 14.6.2 Transfer method

      259
    • 14.6.3 Home position setting

      262
    • 14.6.4 How to process the absolute position data at detection of stroke end

      263
  • 14.7 Confirmation of absolute position detection data

    264
• APPENDIX

  266
  • App 1. Status indication block diagram

    266
• REVISIONS

  268