Mitsubishi Electric PUY-A.NHA Manual de instrucciones

CONFORMANCE WITH UUC-UL STANDARD Use the standard model of servo amphfier (wdl be hted soon) and the WC-UL Standard-compliant model of servo motor.

4. OPERATION 4.6.3 Group designation When using several servo amphfiers, command-dnven parameter settings, etc. can be made on a group basis. Yo

4. OPERATION ~~ (2) Timing chart In the following bmmg chart, operation is performed group-by-group in accordance with the values set in K0.l. G

5. PARAMETERS 5. PARAMETERS I ACAUTloN instable, Never adjust or change the parameter values extremely as it will make operation I I 5.1 Parame

5. PARAMETERS 5.1.2 Lists For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on ag

5. PARAMETERS 5- 3

5. PARAMETERS (2) Detail list *OP1 - Name and function bntrol mode. Fkgeneradve brake option selection Use to select the control mode and regener

5. PARAMETERS AUT *CDV PED - Name and Fundron Jut0 tuning :sed to set the response level, etc. for esecubon of auto tuning. or generates large Incre

5. PARAMETERS - Initial Value 36 - 0014 - Symbol PG1 T - qefer To Unit jetting Ran ge 4 to 1000 Name and Function Position loop gain 1 Used to set the

5. PARAMETERS Symbol *BPS MOD Name and Fundon Communication baudrate Used to select the RS-485lRS-232C communicadon baudrate and choose various cond

5. PARAMETERS Name and Fundon Status &splay selection, alarm histon. clear Used to select the status &play shown at power-on and choose ala

CONTENTS 1 . FUNCTIONS AND CONFIGURATION 1-1-1-15 1 12 . INSTALLATION 2-1 -2-4 I 13 . SIGNALS AND WlRlNG 3-1 -3-35 I 4 . OPERATION 4-1 -4-31

5. PARAMETERS - Symbol *OP2 *OP3 *OP4 - Name and Fundion Function selection 2 Used to select slight nbratlon suppression control 101 Io1 I IIIII

5. PARAMETERS - Syfllbo’ *SIC FFC s‘co TM TL 1 TU *BKC hI0 1 5102. Name and Fundron Serial communication dme-out selecbon Used to choose the time-

5. PARAMETERS - Symbol MBR GD 2 PG2 *ZPS Name and Fundion Initial Unit Setting Ran Value Qe Refer Tc Electromagnetic brake sequence output or large

5. PARAMETERS - Clas - Symbol Name and Function Stopper type zerorng stopper time In stopper type zeroing, used to set the de &om when the m

5. PARAMETERS - Symbol OLT 1 OCT2 OUT2 'DIO *DI1 'DI2 Name and Function OLT1 output tune selecuon ThLs parameter turn on OLTl during t

5. PARAMETERS - Class - Symbol 'D13 'DI4 'DI5 *DI6 Name and Fundron Input dene selection 3 Used select the function of CNlB-8 pm an

5. PARAMETERS - Symbol ‘DI7 *DO1 - *DO2 - ‘DO3 Name and Fundlon nputioutput device selecnon 7 klected to the function dek-ice signal turns on automat

5. PARAMETERS .- 5.2 Detailed Explanation 5.2.1 Electronic gear ljse the electronic gear (parameters No.4. 5) to make adjustment so that the ser

5. PARAMETERS 5.2.2 Changing the status display screen The status &splay item of the servo ampldier &splay and the -lay item of the externa

5. PARAMETERS 5.2.4 Analog output The servo status can be output to two channels in terms of voltage. Use ths function when using an ammeter to monit

. 4.1.2 startup ... 4-2 4.2.1 What is operation ...

5. PARAMETERS Change the following &gits of parameter No.17: Parameter No. 17 I Analog monltor chl output selection (Signal output to across Mol-

5. PARAMETERS 5.2.7 Selectton of communication specifications When the RS-483M-232C communication function is used to operate the servo. choose th

5. PARAMETERS (5) Serial communication time-out No communication for a even period of time between the master and slave stations may be judged a

6. SERVO CONFIGURATION SOFTWARE 6. SERVO CONFIGURATION SOFTWARE The Servo Configuration software uses the communication function of the servo ampuer

6. SERVO CONFIGURATION SOFTWARE (3) Parameter value batch-read ( 3) ) Press the Read All button to read and &splay all parameter values from

6. SERVO CONFIGURATION SOFTWARE (5) Function assignment changing (a) Function assignment changing Drag the pin number whose function assignment i

7 . DISPLAY AND OPERATION 7-1 -7-6 1 18 . COMMUNICATION FUNCTIONS 8-1 -8-24 I 9 . ADJUSTMENT 9-1 -9-11 I

6. SERVO CONFIGURATION SOFTWARE (1) Servo motor speed setting ( 1) ) Enter a new value into the "Motor speed" input field and press the

7. DISPLAY AND OPERATION 7. DISPLAY AND OPERATION 7.1 Display Flowchart Use the &splay (4-&git, 7-segment ED) on the front panel of the serv

7. DISPLAY AND OPERATION 7.2 Status Display The servo status during operation is shown on the 4-&git, '7-segment LED &splay. Press the

7. DISPLAY AND OPERATION The following table lists the servo statuses that may be shown: Current position Command position - Command remaining distanc

7. DISPLAY AND OPERATION 7.3 Diagnostic Mode 1 Name 1 I , Display ~ -- II I- Sequence I I I Software version Low I Software version High I L I 7.4 Ala

. 11 . TROUBLESHOOTING 11-1-11-9 I . 12 . SPECIFICATIONS 12-1-12-6 I 12.1 Servo bpljfier spe&mtions ...

7. DISPLAY AND OPERATION 7.5 Parameter Mode Change the parameter settings when: - The regenerative brake option is used; - The number of pulse pe

7. DISPLAY AND OPERATION ~ ~~ ~ ~~ ~~ - 2) 5-hgi.t parameter The following example shows the operation procedure performed to change the elec

8. COMMUNICATION FUNCTIONS 8. COMMUNICATION FUNCTIONS The MRJ2-C-S100 has the RS-485 and RS-232C serial communication functions. These functi

8. COMMUNICATION FUNCTIONS 8.1.2 RS-232C configuration (1) Outline A single axis of servo amplitier is operated. Servo amplifier MR-J2-OC Controller

8. COMMUNICATION FUNCTIONS 8.2 Communication Specifications The MELSERVO-JZ series is designed to send a reply on receipt of an instruction. The devi

8. COMMUNICATION FUNCTIONS (2) Transmission of data request from the controller to the servo 10 frames I I I S Controller side 0 13 C 2 0 Check Data

8. COMMUNICATION FUNCTIONS 8.4 Character Codes (1) Control codes Hexadedmal Code (ASCII code) Description Personal Computer Terminal Key Operatio

8. COMMUNICATION FUNCTIONS ~~~ c 8.5 Error Codes Error codes are used in the following cases and an error code of single-code length is transmitted.

8. COMMUNICATION FUNCTIONS 8.7 Time-out Operation The master station transmits EOT when the slave station does not start reply operation (STX is

8. COMMUNICATION FUNCTIONS 8.9 Initialization After the slave station is switched on, it cannot reply to communication untd the internal initdzatio

14.2.3 Powerfa&r~pm~g~a&~ ... 14 -23 14.2.4 &lays ...

8. COMMUNICATION FUNCTIONS 8.1 1 Command and Data No. List 8.1 1.1 Read commands (1) Status display (Command [O][l]) I (reeenerative load ratio) Dl 1

8. COMMUNICATION FUNCTIONS (4) Alarm history (Command [3][3]) Command Frame Length Description Data No. [31[31 4 Alarm number in alarm htory (secon

8. COMMUNICATION FUNCTIONS (12) Group setting (Command [I][Fl) Command Frame Length Description Data No. Dl Fl 4 - Reading of group settmg value [O

8. COMMUNICATION FUNCTIONS 8.1 1.2 Write commands (1) Status display (Command [8][1]) Command Frame Length Setting Range Description Data No. r81 ru

8. COMMUNICATION FUNCTIONS 8.12 Detailed Explanations of Commands 8.12.1 Data processing When the master station sends a command and data No.

8. COMMUNICATION FUNCTIONS 8.12.2 Status display (1) Status display data read When the master station transmits the data No. (refer to the fol

8. COMMUNICATION FUNCTIONS 8.12.3 Parameter (1 ) Parameter read Read the parameter setting. 1) Transmission Transmit command [O] [5] and the data N

8. COMMUNICATION FUNCTIONS (2) Parameter write Write the parameter setting. Write the value with the setting range. Refer to Section 5.1 for the s

8. COMMUNICATION FUNCTIONS 8.12.4 External I/O signal statuses (1) Reading of input device statuses Read the statuses of the input devices. 1) Tra

8. COMMUNICATION FUNCTIONS (3) Read of the statuses of input devices switched on through communication Read the OMOFF statuses of the input devic

Optional Servo Motor Instruction Manual CONTENTS The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced

8. COMMUNICATION FUNCTIONS (5) Read of the statuses of output devices Read the ONOFF statuses of the output devices. 1) Transmission Transmit comma

8. COMMUNICATION FUNCTIONS - 8.12.6 Alarm history (1 ) Alarm No. read %ad the alarm No. whch occurred in the past. The alarm numbers and Occurrenc

8. COMMUNICATION FUNCTIONS (3) Alarm history clear Erase the alarm hstory. Transmission Send command [8][Z] and data No. [2][0]. Command Data Da

8. COMMUNICATION FUNCTIONS 00 T T Data 32 bits long (represented In hexadecimal) (Data conversion into display type is required) Display type [a]: Con

8. COMMUNICATION FUNCTIONS 8.12.8 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simulta

8. COMMUNICATION FUNCTIONS 8.12.9 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end

9. ADJUSTMENT 9.1 What Is Gain Adjustment? 9.1.1 Difference between servo amplifier and other drives Besides the servo ampaer, there are other moto

9. ADJUSTMENT Position command generation section ... .. .-. ~ ...~~~ ..-...~ .. .- Servo motor ~ . ~~..._.._ Speed vperatlon PG2

9. ADJUSTMENT 9.2 Gain adjustment 9.2.1 Parameters required for gain adjustment Parameter No. Name Symbol wo.3 Autotuning ATU c I I No.7 Speed inte

9. ADJUSTMENT 9.2.3 What is auto tuning? The angular speed (0) and torque 0 are estimated in accordance with the equation of motion (9.1) used fo

1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MRJ2-C-S100 AC servo ampMer with built-in positioning hctions is

9. ADJUSTMENT 9.3 Gain Adjustment by Auto Tuning 9.3.1 Adjustment method In the factory setting of the servo amphfier, auto tuning is vahd and th

9. ADJUSTMENT - 9.4 Manual Gain Adjustment On some machmes, gain adjustment may not be made by auto tuning or excellent gain setting may not be made

9. ADJUSTMENT 9.4.2 When the machine vibrates due to machine resonance frequency (1 ) Machine condition The servo motor shaft is oscdlating at

9. ADJUSTMENT - 9.4.3 Load inertia moment is 20 or more times (1) Machine condition The machme inertia moment is 20 times or more and the serv

9. ADJUSTMENT 9.4.4 When shortening the settling time (1) Machine condition The settlLng tune wdl be increased by the gains provided by auto tuning.

9. ADJUSTMENT 9.4.5 When the same gain is used for two or more axes (1) Machine condition To perform interpolation operation with two or more axes

9. ADJUSTMENT 9.5 Slight vibration suppression control The slight vibration suppression control mode is used to reduce servo-spedic +1 pulse vib

IO. INSPECTION IO. INSPECTION Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 10 minutes aft

1 I. TROUBLESHOOTING 1 I. TROUBLESHOOTING 11.1 Trouble at Start-up ACAUTION Excessive adjustment or change of parameter setting must not be made as

1 j. TROUBLESHOOTING 11.2 When Alarm or Warning Has Occurred 1 1.2.1 Alarms and Warning list When a fault occurs during operation, the correspondmg

1. FUNCTIONS AND CONFIGURATION 1.1.1 Function block diagram The function block diagram of the MELSERVO JZ-C-S100 is shown below. MR-BAT (for absolute

11. TROUBLESHOOTING 11.2.2 Remedies for alarms ACAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the ala

1 1. TROUBLESHOOTING leadivation b Alarm Reset (RES) Display Name Cause Adon Definition :pu/parts fault I 'aulty parts in the servo amplifier I

11. TROUBLESHOOTING - Display L 31 L 32 i 33 & 35 Name herspeed Definition ;peed has esceeded he instantaneous bermissible speed. hercurrent high

11. TROUBLESHOOTING + Display Definition 'arameter setting is c-rong. ~ 'rogram sum check nor krvo motor emperature rise tctuated the hemal

11. TROUBLESHOOTING - Display L 51 L 52 Name herload 2 :mor excessive Deactrvation by (RES) Definition Alarm Reset Adion Cause Aachine collision or h

11. TROUBLESHOOTING - Display L 52 L 63 leadivation b Alarm Reset (RES) 0 Name Cause Action Definition 3rror excessive Droop pulse value of the devi

11. TROUBLESHOOTING 11.2.3 Remedies for Warnings If a warning occurs, the servo ampMer does not go into a servo off status. However, if operation is c

12. SPECIFICATIONS 12. SPECIFICATIONS 12.1 Servo Amplifier Standard Specifications 20c Three-phase 200 to 230L7.4C, Three-phase 200 to 23OVAC, 5016OHz

12. SPECIFICATIONS 20c SI00 -SI00 -SI00 SI00 SI00 SI00 -SI00 SI00 350C 200C 1oOC 70C 60C 40C Structure IAl ODen IIPOO) I 0 to +55 [“C] (non-freezing)

12. SPECIFICATIONS 12.2 Outline Dimension Drawings 12.2.1 Servo amplifiers (1) MR-J2-1OC-l00 to MR-JZ-60C-Sl00 A /PE terminal (0.24) 70 (2.76) 135 (

1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration Ths section describes operations using the MELSERVOJ2-C-Sl00. You can arrange any confi

12. SPECIFICATIONS (2) MR-J2-70C-S100 * MR-J2-1 OOC-SI 00 [Unit mm] ([vnit in]) Terminal layout lgO(7.48) - J- 1 $6 ($0.24) mounting hde 70l2.76) 70(2

12. SPECIFICATIONS (3) MR-J2-200C-S100 * MR-JZ-350C-SlOO [vnit mm] ([vnit in]) :B Servo Amplifier Model Weight MR-J2-20OGSlOO (4.41) I 70(2.76) - lSS(

12. SPECIFICATIONS 12.2.2 Connectors (1 ) Servo amplifier side Signal connector <Smitomo 3M make> Model [Unit: mm] Connector : 101 20-3000VE (t

13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 Overload Protection Characteristics An electronic thermal relay is bult in the servo amphfier to protec

13. CHARACTERISTICS (2) MR-J2-200CSlOO to MR-J2-350C-S100 HC-SF series HC-RF series HC-UF series ...,... \..I... I ... ,I I ... .! ... !

13. CHARACTERISTICS 13.2 Power Supply Equipment Capacity and Generated Loss (1) Amount of heat generated by the servo amplifier Table 13.1 indc

13. CHARACTERISTICS - (2) Heat dissipation area for enclosed servo amplifier An enclosure or control box for the servo amphfier should be designed

13. CHARACTERISTICS 13.3 Dynamic Brake Characteristics When an alarm, emergency stop or power fadure occurs, the dynamic brake is operated to bring

13. CHARACTERISTICS 0.01 8 I A 0.02 0.01 8 . 0.035. u1 I 0 500 1000 1500 2000 2500 3000 Speed [rlmin] a. HC-MF Series - '0 500 1000 1500 2000

13. CHARACTERISTICS ~~ ~ ~~~~~~~~ ~ ~~ ~~~~ Table 13.2 HA-FF Dynamic Brake Time Constant Servo Motor 1 Brake Time Constant T Is1 I HA-FF053. 1

Safety Instructions (Always read these instructions before using the equipment) Do not attempt to install, operate, maintain or inspect t

1. FUNCTIONS AND CONFIGURATION (2) Operation using external input signals and communication (a) Description Communication can be used to chang

14. OPTIONS AND AUXILIARY EQUIPMENT ~~~ ~ ~ ~~~ 14. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, mak

14. OPTIONS AND AUXILIARY EQUIPMENT 2) To make selection accordmg to regenerative energy Use the following method when regeneration occurs continuous

14. OPTIONS AND AUXILIARY EQUIPMENT Subtract the capacitor charging from the result of mulbplying the sum total of regenerative energies by the i

14. OPTIONS AND AUXILIARY EQUIPMENT (4) Outline drawing 1) MR-RB032.MR-RB12 2) MR-RB32.MR-RB30 qyr [unit rnrn (in)] Q 0 1 LC Regenerative LA I LB I LC

14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 Cables and connectors (1) Cable make-up The following cables are used for connection with the servo mot

14. OPTIONS AND AUXILIARY EQUIPMENT Product Standard encoder cable Long flesing life encoder cable Standard encoder cable Long flexing life encoder c

14. OPTIONS AND AUXILIARY EQUIPMENT No. Product Control signal connector set 9) Junction terminal block cable 10) Junction terminal Maintenance juncti

14. OPTIONS AND AUXILIARY EQUIPMENT (2) Encoder cable I If you have fabricated the encoder cable, connect it correctly. Otherwise, misoperation

14. OPTIONS AND AUXILIARY EQUIPMENT MR-JCCBUM-L MR-JCCBL1 OM-L MR-JCCBL1 OM-H MR-JCCBL5M-L MR-JCCBL20M-L MR-JCCBL20M-H MR-JCCBUM-H MR-JCCBL30M-L

14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-JHSCBLOM-L * MR-JHSCBLOM-H a MR-ENCBLOM-H 1) Model explanation Model: MR-JHSCBLnM-• TT Standard flexing lif

1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo ampfiers are connected with the personal computer by -485. Use parameter No. 16 to change t

14. OPTIONS AND AUXILIARY EQUIPMENT MR-JHSCBL2M-L MR-JHSCBLl OM-L MR-JHSCBLlOM-H MR-JHSCBL5M-L MR-JHSCBL20M-L MR-JHSCBL20M-H MR-JHSCBLZM-H MR-JHS

14. OPTIONS AND AUXILIARY EQUIPMENT (3) Junction terminal block cable (MR-J2TBL05M) Model: MR-9TBLOSM T Cable length: 0.5(m] Junction terminal block

14. OPTIONS AND AUXILIARY EQUIPMENT (4) Bus cable (MR-J2HBUSOM) Model: MR-J~HBUSOM T -1 Symbol Cable length [rn] MRJ2HBUSO5M MRJ2HBUSl M MRJ2HBUS5M

14. OPTIONS AND AUXILIARY EQUIPMENT - (5) Communication cable F 'Ilxs cable may not be used with some personal computers. After fully examining

14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 Junction terminal block (MR-TB20) (1) How to use the junction terminal block Always use the junction ter

14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 Maintenance junction card (MR-J2CN3TM) (1 ) Usage The maintenance junction card (MR-JZCN3TM) is designed f

14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.5 External digital display (MR-DPGO) (1) Specifications I Item Specifications 1 Display I Red seven-segment

14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting Front mounting [Unit: rnm (in)] Inside mounting I +- 141(5.55) 150(5.91) t8 --~ 4 I 95(3.74) * 150(5.

14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.6 Manual pulse generator (MR-HDPO1) (1) Specifications Item Speafimtions Power supply 1 Interface Output cur

14. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting (5) Outline dimension drawing 3.6(0.142) +t @l 27.0 783 [Unit: mm(in)] e,bl3X6 may only be used. (o

1. FUNCTIONS AND CONFIGURATION (3) Operation using communication .- (a) Description Analog input, emergency stop slgnal and other signals are control

14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 Auxiliary Equipment Always use the devices inbcated in ths section or equivalent. To comply with the EN S

14. OPTIONS AND AUXILIARY EQUIPMENT Note: For the crimping terminals and applicable tools, see the following table: Table 14.2 Recommended Crimping

14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.2 No-fuse breakers, fuses, magnetic contactors Magnetic Contactor (MR-J2-35OGS100 1 hF30 type 30.4 I NON-TOo

14. OPTIONS AND AUXILIARY EQUIPMENT ~ ~~~ ~~ - 14.2.5 Surge absorbers A surge absorber is required for the electromagnetic brake. Use the followi

14. OPTIONS AND AUXILIARY EQUIPMENT 4) Techmques for noises radated by the servo amphi5er that cause peripheral devices to malfunction Noises produ

14. OPTIONS AND AUXILIARY EQUIPMENT Noise Transmission Route Suppresson Techniques When measuring instruments, receivers, sensors, etc. whch handle

14. OPTIONS AND AUXILIARY EQUIPMENT (3) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagne

14. OPTIONS AND AUXILIARY EQUIPMENT * Outhe drawing Ea& piate 245(0.20) hole 17.5(0.69) lnstarlaaon nole \ [vnk mm] ([Unit in.]) Clamp section d

14. OPTIONS AND AUXILIARY EQUIPMENT (5) Line noise filter FR-BLF, FR-BSFO1) ms Wter is e d, ective in suppressing noises rahated from the power

14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.7 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width m

1. FUNCTIONS AND CONFIGURATION 2) Several (up to 32) servo ampl5ers are connected with the personal computer by RS-485. Use parameter No. 16 to chan

14. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indxated below is an example of selecting a leakage current breaker under the following conh

14. OPTIONS AND AUXILIARY EQUIPMENT 14.2.8 EMC filter For compliance with the EMC Directme of the EN Standard, it is recommended to use the followin

15. CALCULATION METHODS FOR DESIGNING 15. CALCULATION METHODS FOR DESIGNING 15.1 Specification Symbol List The following symbols are required for sele

15. CALCULATION METHODS FOR DESIGNING ~~ ~~~~ - 15.2 Stopping Characteristics (1) Droop pulses (E) When a pulse train command is used to run the se

15. CALCULATION METHODS FOR DESIGNING 15.3 Capacity Selection As a fist step, confirm the load conhtions and tempordy select the servo motor capacit

15. CALCULATION METHODS FOR DESIGNING (4) Torques required for operation Torques required for the servo motor are the hghest during acceleration. If

15. CALCULATION METHODS FOR DESIGNING (5) Continuous effective load torque If the torque required for the servo motor changes with time, the continuo

15. CALCULATION METHODS FOR DESIGNING 15.4 Load Torque Equations Typical load torque equations are indxated below: Linear Movement Rotary Movement Ve

15. CALCULATION METHODS FOR DESIGNING 15.5 Load Inertia Moment Equations Typical load inertia moment equations are indxated below: Tv~e Cylinder Sq

15. CALCULATION METHODS FOR DESIGNING 15.6 Precautions for Zeroing When a general positioning unit is used, the sequence of events is as shown in Fig

1. FUNCTIONS AND CONFIGURATION 1.1.3 I/O devices The MELSERVOJ2-C-Sl00 allows devices to be allocated to the pins of connector CNWCNlB as desired.

15. CALCULATION METHODS FOR DESIGNING (2) Set the end (OFF position) of the actuator signal at the middle of two ON positions (Lows) of the zero p

15. CALCULATION METHODS FOR DESIGNING (3) Acceleration/decelertion time constant Tpsa = Tpsd= to- - -ts = 0.05[s] *ts: setthg time.(Here, ths is assu

15. CALCULATION METHODS FOR DESIGNING (6) Load inertia moment (converted into equivalent value on servo motor shaft) Moving part Ball screw *p

15. CALCULATION METHODS FOR DESIGNING (9) Continuous effective load torque Trms = Tia Tpsa T T: tc - T& . Tpsd = 0.41m tf m] For gravitational s

1. FUNCTIONS AND CONFIGURATION 1.2 Function List The following table lists the functions of the MELSERVO-JZ-C-SlOO. For details of the functions, ref

1. FUNCTIONS AND CONFIGURATION 1.3Model Name Make-up (1) Name plate (2) Model MR-JP OC I TT I Built-in positioning functions Rat& output 1.4 Comb

1. FUNCTIONS AND CONFIGURATION 1.5 Parts Identification (1 ) MR-J2-1 OOCSl 00 or less r NamelApplication Refer To section4.5 section4.5 Batby comector

1. FUNCTIONS AND CONFIGURATION Name/- 0000 MODE UP DOWN SET Lused to set data. Usedtochangethe dsplayordatameach mode. IUsedtOchangethe mode. UO signa

1, FUNCTIONS AND CONFIGURATION Removal of the front aver 1) Front 1) Hold down the rwnoving knob. 2) Pull the front mer toward you. Reinstallation of

1. FUNCTIONS AND CONFIGURATION 1.6 Servo System with Auxiliary Equipment To prevent an electric shcck, always connect the protectwe earth (PE) t

2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombusti

2. INSTALLATION 2.2 Installation direction and clearances I The equipment must be installed in the specfed direction. OtheNvise, a butt may occ

2. INSTALLATION (2) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amphfier and the internal s

2. INSTALLATION - 2.4 Cable stress (1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stres

3. SIGNALS AND WIRING 3 SIGNALS AND WIRING ~~ Any person who is involved in wiring should be fully competent to do the work. Before start

3. SIGNALS AND WIRING 3.1 Connection Diagram 3.1.1 Standard connection example from awss P-D. When connecting the e brake option, always disconned t

3. SIGNALS AND WRING Note: 1. To prevent an electric shock, always connect the protective earth @‘E) terminal of the servo amplifier to the 2. Connect

3. SIGNALS AND WlRlNG 3.1.2 Common line The following diagram shows the power supply and its common line. Manual pulse genera MR-HDW1 G- I 3-7 ILG I-

3. SIGNALS AND WIRING 3.2 Servo Amplifier Onty the specified voltage should be applied to each terminal. Otherwise, a burst, A damage, etc. may occ

3. SIGNALS AND WIRING (2) Signals , Symbol - Signal Main circuit power input terminals P, C, D Main drcuit power supply ~~ ~ Servo motor output Cont

3. SIGNALS AND WRING 3.2.2 Connectors (I/O Signals) (1) Signal arrangement CNlA CN2 CNlB LG Pi5 OUT1 PS1 Amplifier's internal wiring The conne

3. SIGNALS AND WIRING (2) Signal explanations 1) CNlA DOG - ZP SON SD - 2 12 8 - 18 - 19 Plate - Descnptron Used to input 24VDC*10% for input interf

3. SIGNALS AND WRING 2) CNlB - Symbol VDD COM P15R - SG LG ISP - Pin No. 3 13 11 10, 20 1 16 sinal Name VF Internal power supply Desaiptton Used to

3. SIGNALS AND WIRING i S’ MI Name Program output 1 Movement completion PED Trouble x Alarm reset RES hmde vc 3xternal torque Lmit TL4 Shield SD -

3. SIGNALS AND WIRING 3) CN3 5 and Rs232C fun&ons cannot be used together. hort "15" and "10" at tbe last axis. 3- 11

3. SIGNALS AND WIRING 3.2.3 Additional fundon devices By using the Windowsm based Software or parameter, you can assign the signals given in this don

3. SIGNALS AND WIRING Device Name 'rogram No. selection 2 remporary stoplmtart nput pulse madcation election Symbol I Description PS2 Program num

3. SIGNALS AND WIRING 2) Output devices Devii Name No assigned function Electromagnetic brake in terlock Position range output warning Battery warning

1 /r\ CAUTION Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The serv

3. SIGNALS AND WIRING 3.2.4 Override POINT When using the override, make the override selection (OW) device available. The override (VC) may be

3. SIGNALS AND WRING - 3.2.5 Torque limit POINT To use the torque limit, make the external torque hmit selection (ITLO) device and internal torque l

3. SIGNALS AND WIRING (3) External toque limit selectJon (TLO), internal torque limit selection (TI-1) To use the external torque hut selection (TL

3. SIGNALS AND WIRING (4) External toque limit offset (parameter No.26) using parameter No.26, the offset voltage can be set relative to the input

3. SIGNALS AND WIRING 3.2.6 Alarm Occurrence Timing Chart When an alarm has occurred, remove its cause, make sure that the operation signa

3. SIGNALS AND WIRING 3.2.7 Interfaces This section gives the details of the UO signal interfaces (refer to UO &vision in the table) inhcated

3. SIGNALS AND WIRING 2) Lamp load For use of internal power suppty Servo amplifier (3) Analog input Input inpedance 10-12kn Servo amplifier I, ,I i

3. SIGNALS AND WRING (5) Source input interface When using the input interface of so- type, all DI-1 input signals are of source type. Source output

3. SIGNALS AND WIRING 3.3 ConnectJon of Servo Amplifier and Servo Motor 3.3.1 Connection instructions AWARNlNG Insulate the connections of the

3. SIGNALS AND WIRING 3.3.2 Connection diagram The following table lists dg methods accordmg to the servo motor types. Use the connection diagram whic

lh CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched immediately. Any person

3. SIGNALS AND WIRING 3.3.3 I/O terminals (1) HC-MF(-UE) series tad rwnd uinping terminal 1.25-4 mite :vphase Back :wphase (AMP maka) 24-31 0.3m W&am

3. SIGNALS AND WIRING (4) HA-FF-UE series I I I1 / Encoder conned0 I I I Servo Motor HA-FF053(B)-UE Connector For encoder For brake to MS3102ElOSL

3. SIGNALS AND WIRING (5) HC-SF HC-RF * HC-UF2000 r/min series Mm Servo Motor Side Connectors I I/ Servo Motor For power suppty For encoder lrmm*rfo

3. SIGNALS AND WIRING 3.4 Input Power Supply Circuit When the servo amplifier has become faulty, switch power off on the servo amplifier

3. SIGNALS AND WIRING (3) Timing chart Base circuit (4) Emergency stop Emergency stop (EMG) can be used by malang device setting on the Set-up Soft

3. SIGNALS AND WIRING 3.5 Servo Motor with Electromagnetic Brake A CAUTION Make up the electromagnetic brake operation circuit so that it i

3. SIGNALS AND WIRING (3) Timing charts 1) Servo on signal command (from controller) ONiOFF The following chart shows the way of holdmg the motor sh

3. SlGNALS AND WIRING Servo molor sped 4) Main circuit power off Servo mdor speed Base circuit ON OFF I Ai Y

3. SIGNALS AND WIRING 3.6 Grounding Ground the servo amplifier and servo motor securely. AWARNlNG To prevent an elmc shock, always connect t

3. SIGNALS AND WIRING 3.7 Servo Amplifier Terminal Block (TE2) Wring Method 1) Termination of the cables Solid wire: fir the sheath has been stripp

(6) Maintenance, inspection and parts replacement /i\ CAUTION With age, the electrolybc capacitor will deteriorate. To prevent a secondary a

3. SIGNALS AND WIRING 2) Connechon Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdnver so that the

4. OPEMTION 4. OPERATION 4.1 When Switching Power On for the First Time 4.1.1 Pre-operation checks Before starhng operation, check the followin

4. OPEFWTION 4.1.2 Startup ~~~ ~ /F\WARNlNG Do not operate the switches wrth wet hands. You may get an electnc shock. Before starting

4. OPERATION (2) Startup procedure (a) Power on 1) Switch off the servo on (SON) signal. 2) When main circuit power/control circuit power is switched

4. CIPERATION (e) Servo on Switch the sen0 on in the following procedure: 1) Switch on main circuiticontrol power. 2) Switch on the servo on signal (S

4. OPERATION (0 Zeroing Before starting positioning operabon, always make home position return. Refer to Section 4.4 for zeroin! -4 arameter setti

4. OPERATION 4.2 Automatic Operation Mode 4.2.1 What is automatic operation mode? (1) Command system After selection of preset programs using

4. OPERATION (2) Programming (a) Program language spedcations 1') The language used in the program operation-e&t window adl be described

4. OPERATION (b) Deds of programmmg languages 1) Positioning command condtions (SPN, ST4 STB! STC) SPN, STC, STA and STB commands wdl be vahdated,

4. OPERATION 2)Move command (MOV, MOVA) - MOVA command is continuous movement command of MOV / MOVA command. - The change speed point of MOVA comm

COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC Directives were issued to standardize the regulations of the EU countries an

4. OPERATION 3) Input / Output command (SYNC, OUTON, OUTOF) - SYNC, OUTON and OUTOF udl not be checked the command output complete. SPN(500) STA(20

4. OPERATION 5) Esternd Pulse Count command (COUNT) Even If the program is runnjng,COUNT command is vahd. COUNT(500) SPN(500) STA( 200) ~ STB(3OO) M

4. OPERATION (3) Parameter setting Set the following parameters to perform automatic operation: (a) Command mode selection (parameter No.0) Select th

4. OPERATION 4.2.2 Automatic program-operation timing chart The following is the tuning chart. Servo on (SON) On (Servo on) Automatidmanual selection

4. OPERATION (4) Temporary stop/restart When STP-SG are connected during automatic operation, the motor is decelerated to a temporary sto

4. OPERATION 4.3 Manual Operation Mode For mahe adjustment, home position matchmg? etc., jog operation or a manual pulse generator may be used t

4. OPERATION (4) Timing chart Servo on (SON) Ready (RD) ON I OFF Trouble (ALM) ON OFF Automatidmanual mode ON selection (MDO) OFF Movement completion

4. OPERATION ~~ 4.4 Manual Zeroing Mode 4.4.1 Outline of zeroing Zeroing is performed to match the command wrdmates with the machme coordmates. In

4. OPERATION (2) Zeroing parameter When performing zeroing. set parameter No.8 as follows: ... 1)

4. OPERATION 4.4.2 Dog type zeroing A zeroing method using a proximim dog. With deceleranon started at the front end of the proximity dog. the po

(4) Grounding (a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked 8 ) of the servo ampaer to the protectiv

4. OPERATION (3) Timing chart Movement completion (PED),,, ON I Zeroing completlon (ZP) ervo motor speed Z-phase Dog (DOG) Forward rotation start (ST1

4. OPERATION 4.4.3 Count type zeroing In count type zeroing, a mobon is made over the &stance set in parameter xo.43 (moving &stance afte

4. OPERATION 4.4.4 Data setting type zeroing In data setting Dye zeroing, a motion is made to any posihon by jog operation, manual pulse generat

4. OPERATION 4.4.5 Stopper type zeroing In stopper type zeroing, a machme part is pressed against a stopper or the &e by jog operation, manu

4. OPERATION 4.4.6 Zero ignorance (servo-on position defined as zero) The posi'non where servo is switched on is defined as a home posihon as

4. OPERATION 4.4.7 Automatic zeroing return function If the current posibon is at or beyond the proximiQ dog in dog or count type zeroing, you ne

4. OPERATION - 4.5 Absolute position detection system The MRJ2-C-S100 servo ampldier contains a single-axis controller. Also, all servo motor enco

4. OPERATION ~~ (4) Outline of absolute position detection data communication For normal operabon, as shown below. the encoder consists of a

4. OPERATION (6) Parameter setttng Set parameter No.2 as indxated below to make the absolute position detection system vahd: Parameter N0.2 -1 -

4. OPERATION 4.6.2 Multidrop communication The FS-485 communicakon funmon can be used to operate several servo ampaers on the same bus. In this case