General-Purpose AC Servo
J2M Series
General-Purpose Interface Compatible
MODEL
MR-J2M-P8A
MR-J2M- DU
MR-J2M-BU
SERVO AMPLIFIER
INSTRUCTION MANUAL
E
1. To prevent electric shock, note the following:
WARNING
Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage
is safe with voltage tester. Otherwise, you may get an electric shock.
Connect the base unit and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire for each unit and the servo motor until they are installed. Otherwise, you can obtain
the electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.
During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the servo amplifier if the
power is off. The servo amplifier is charged and you may get an electric shock.
2. To prevent fire, note the following:
CAUTION
Do not install the base unit, servo motor and regenerative brake resistor on or near combustibles.
Otherwise a fire may cause.
When each unit has become faulty, switch off the main base unit power side. Continuous flow of a large
current may cause a fire.
When a regenerative brake resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
3. To prevent injury, note the follow
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc.since they may be hot
while power is on or for some time after power-off. Their temperatures may be high and you may get burnt
or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
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4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport each unit. Each unit may drop.
Install the each unit in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier controller and servo motor must be installed in the specified direction.
Leave specified clearances between the base unit and control enclosure walls or other equipment.
Do not install or operate the unit and servo motor which has been damaged or has any parts missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering each unit and servo motor.
Do not drop or strike each unit or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Each unit
0 to 55 (non-freezing)
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
Servo motor
0 to 40 (non-freezing)
32 to 104 (non-freezing)
15 to 70 (non-freezing)
5 to 158 (non-freezing)
[
[
[
[
]
]
]
]
During
operation
Ambient
temperature
In storage
During operation 90%RH or less (non-condensing)
In storage
80%RH or less (non-condensing)
90%RH or less (non-condensing)
Ambient
humidity
Ambience
Altitude
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
HC-KFS Series
5.9 or less
[m/s2]
[ft/s2]
HC-MFS Series
HC-UFS13 to 43
HC-KFS Series
HC-MFS Series
HC-UFS13 to 43
X
X
Y : 49
(Note) Vibration
19.4 or less
Y : 161
Note. Except the servo motor with reduction gear.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, consult Mitsubishi.
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(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and drive unit.
Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.
drive unit
Servo Motor
U
V
U
V
W
W
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in
the specified direction. Otherwise, the forced stop and other protective circuits may not operate.
Interface unit
VIN
Interface unit
VIN
SG
SG
Control output
signal
Control output
signal
RA
RA
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.
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(4) Usage
CAUTION
Provide an forced stop circuit to ensure that operation can be stopped and power switched off
immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near MELSERVO-J2M.
Burning or breaking each unit may cause a toxic gas. Do not burn or break each unit.
Use the drive unit with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ballscrew and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but
also by a forced stop (EMG_
.
)
Contacts must be open when
servo-on (SON ) is off, when an
trouble (ALM_ ) is present and
when an electromagnetic brake
interlock (MBR ).
Circuit must be
opened during
forced stop
(EMG_ ).
Servo motor
RA
EMG_
24VDC
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).
A - 5
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the drive unit will deteriorate. To prevent a secondary accident due
to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
About processing of waste
When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).
FOR MAXIMUM SAFETY
These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.
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COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in
January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January,
1997) of the EC directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo (MELSERVO-J2M is contained) have been installed.
(1) EMC directive
The EMC directive applies not to the servo units alone but to servo-incorporated machines and
equipment. This requires the EMC filters to be used with the servo-incorporated machines and
equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to
the EMC Installation Guidelines (IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to MELSERVO-J2M. Hence, they are designed to comply with
the low voltage directive.
MELSERVO-J2M is certified by TUV, third-party assessment organization, to comply with the low
voltage directive.
The MELSERVO-J2M complies with EN50178.
(3) Machine directive
Not being machines, MELSERVO-J2M need not comply with this directive.
2. PRECAUTIONS FOR COMPLIANCE
(1) Unit and servo motors used
Use each units and servo motors which comply with the standard model.
Interface unit
Drive unit
Base unit
:MR-J2M-P8A
:MR-J2M- DU
:MR-J2M-BU
:HC-KFS
Servo motor
HC-MFS
HC-UFS
(2) Configuration
Control box
Reinforced
insulating type
24VDC
power
supply
Reinforced
insulating
transformer
No-fuse
breaker
Magnetic
contactor
Servo
motor
MELSERVO-
J2M
M
MC
NFB
A - 7
(3) Environment
Operate MELSERVO-J2M at or above the contamination level 2 set forth in IEC60664-1 For this
purpose, install MELSERVO-J2M in a control box which is protected against water, oil, carbon, dust,
dirt, etc. (IP54).
(4) Power supply
(a) Operate MELSERVO-J2M to meet the requirements of the overvoltage category II set forth in
IEC60664-1 For this purpose, a reinforced insulating transformer conforming to the IEC or EN
standard should be used in the power input section.
(b) When supplying interface power from external, use a 24VDC power supply which has been
insulation-reinforced in I/O.
(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
base unit to the protective earth (PE) of the control box.
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the
cables to the terminals one-to-one.
(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
of the base unit must be connected to the corresponding earth terminals.
(d) The protective earth (PE) of the servo motor is connected to the protective earth of the base unit via
the screw which fastens the drive unit to the base unit. When fixing the drive unit to the base unit,
therefore, tighten the accessory screw securely.
(6) Auxiliary equipment and options
(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in Section 12.2.2.
(b) The sizes of the cables described in Section 12.2.1 meet the following requirements. To meet the
other requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [ ( )]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray
(c) Use the EMC filter for noise reduction.
(7) Performing EMC tests
When EMC tests are run on a machine/device into which MELSERVO-J2M has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC directive guidelines on MELSERVO-J2M, refer to the EMC Installation
Guidelines(IB(NA)67310).
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CONFORMANCE WITH UL/C-UL STANDARD
The MELSERVO-J2M complies with UL508C.
(1) Unit and servo motors used
Use the each units and servo motors which comply with the standard model.
Interface unit
Drive unit
Base unit
:MR-J2M-P8A
:MR-J2M- DU
:MR-J2M-BU
:HC-KFS
Servo motor
HC-MFS
HC-UFS
(2) Installation
Install a fan of 100CFM (2.8m3/min) air flow 4 [in] (10.16 [cm]) above the servo amplifier or provide
cooling of at least equivalent capability.
(3) Short circuit rating
MELSERVO-J2M conforms to the circuit whose peak current is limited to 5000A or less. Having been
subjected to the short-circuit tests of the UL in the alternating-current circuit, MELSERVO-J2M
conforms to the above circuit.
(4) Capacitor discharge time
The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for
15 minutes after power-off.
Base unit
Discharge time [min]
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
1
1
1
(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.
(6) Attachment of a servo motor
For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE
WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual.
(7) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the
National Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.
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<<About the manuals>>
This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use
MELSERVO-J2M for the first time. Always purchase them and use the MELSERVO-J2M safely.
Also read the manual of the servo system controller.
Relevant manuals
Manual name
Manual No.
MELSERVO-J2M Series To Use the AC Servo Safely
(Packed with the MR-J2M-P8A, MR-J2M- DU and MR-J2M-BU
MELSERVO Servo Motor Instruction Manual
EMC Installation Guidelines
IB(NA)0300027
)
SH(NA)3181
IB(NA)67310
In this Instruction Manual, the drive unit, interface unit and base unit may be referred to as follows:
Drive unit : DRU
Interface unit : IFU
Base unit : BU
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CONTENTS
1. FUNCTIONS AND CONFIGURATION
1- 1 to 1-10
1.1 Overview................................................................................................................................................... 1- 1
1.2 Function block diagram .......................................................................................................................... 1- 2
1.3 Unit standard specifications................................................................................................................... 1- 3
1.4 Function list ............................................................................................................................................. 1- 4
1.5 Model code definition .............................................................................................................................. 1- 5
1.6 Combination with servo motor............................................................................................................... 1- 6
1.7 Parts identification.................................................................................................................................. 1- 7
1.8 Servo system with auxiliary equipment................................................................................................ 1- 9
2. INSTALLATION AND START UP
2- 1 to 2-10
2.1 Environmental conditions....................................................................................................................... 2- 1
2.2 Installation direction and clearances .................................................................................................... 2- 2
2.3 Keep out foreign materials ..................................................................................................................... 2- 3
2.4 Cable stress.............................................................................................................................................. 2- 3
2.5 Mounting method .................................................................................................................................... 2- 4
2.6 When switching power on for the first time.......................................................................................... 2- 6
2.7 Start up..................................................................................................................................................... 2- 7
3. SIGNALS AND WIRING
3- 1 to 3-48
3.1 Control signal line connection example................................................................................................. 3- 2
3.2 I/O signals of interface unit.................................................................................................................... 3- 5
3.2.1 Connectors and signal arrangements............................................................................................. 3- 5
3.2.2 Signal explanations .......................................................................................................................... 3- 6
3.2.3 Detailed description of the signals.................................................................................................3-11
3.2.4 Internal connection diagram ..........................................................................................................3-15
3.2.5 Interface............................................................................................................................................3-16
3.3 Signal and wiring for extension IO unit...............................................................................................3-20
3.3.1 Connection example ........................................................................................................................3-20
3.3.2 Connectors and signal configurations ...........................................................................................3-22
3.3.3 Signal explanations .........................................................................................................................3-23
3.3.4 Device explanations.........................................................................................................................3-26
3.3.5 Detailed description of the device ..................................................................................................3-30
3.3.6 Device assignment method.............................................................................................................3-31
3.4 Signals and wiring for base unit...........................................................................................................3-35
3.4.1 Connection example for power line circuit....................................................................................3-35
3.4.2 Connectors and signal configurations ...........................................................................................3-37
3.4.3 Terminals..........................................................................................................................................3-38
3.4.4 Power-on sequence...........................................................................................................................3-38
3.5 Connection of drive unit and servo motor............................................................................................3-39
3.5.1 Connection instructions ..................................................................................................................3-39
3.5.2 Connection diagram ........................................................................................................................3-40
3.5.3 I/O terminals ....................................................................................................................................3-41
3.6 Alarm occurrence timing chart .............................................................................................................3-42
1
3.7 Servo motor with electromagnetic brake .............................................................................................3-43
3.8 Grounding................................................................................................................................................3-46
3.9 Instructions for the 3M connector.........................................................................................................3-47
4. OPERATION AND DISPLAY
4- 1 to 4-18
4.1 Display flowchart..................................................................................................................................... 4- 1
4.1.1 Normal indication............................................................................................................................. 4- 2
4.1.2 If alarm/warning occurs................................................................................................................... 4- 3
4.1.3 If test operation................................................................................................................................. 4- 4
4.2 Interface unit display.............................................................................................................................. 4- 5
4.2.1 Display flowchart of interface unit ................................................................................................. 4- 5
4.2.2 Status display of interface unit....................................................................................................... 4- 6
4.2.3 Diagnostic mode of interface unit ................................................................................................... 4- 7
4.2.4 Alarm mode of interface unit........................................................................................................... 4- 8
4.2.5 Interface unit parameter mode ....................................................................................................... 4- 9
4.2.6 Interface unit output signal (DO) forced output...........................................................................4-10
4.3 Drive unit display...................................................................................................................................4-11
4.3.1 Drive unit display sequence............................................................................................................4-11
4.3.2 Status display of drive unit.............................................................................................................4-12
4.3.3 Diagnostic mode of drive unit.........................................................................................................4-14
4.3.4 Alarm mode of drive unit................................................................................................................4-15
4.3.5 Drive unit parameter mode ............................................................................................................4-16
4.3.6 Drive unit external input signal display .......................................................................................4-16
4.3.7 Drive unit external output signal display.....................................................................................4-17
4.3.8 Drive unit output signal (DO) forced output.................................................................................4-18
5. PARAMETERS
5- 1 to 5-30
5.1 DRU parameter list................................................................................................................................. 5- 1
5.1.1 DRU parameter write inhibit.......................................................................................................... 5- 1
5.1.2 Lists.................................................................................................................................................... 5- 2
5.2 Interface unit ..........................................................................................................................................5-14
5.2.1 IFU parameter write inhibit...........................................................................................................5-14
5.2.2 Lists...................................................................................................................................................5-14
5.3 Detailed description ...............................................................................................................................5-21
5.3.1 Electronic gear .................................................................................................................................5-21
5.3.2 Analog monitor.................................................................................................................................5-25
5.3.3 Using forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) to change the
stopping pattern..............................................................................................................................5-28
5.3.4 Alarm history clear..........................................................................................................................5-28
5.3.5 Position smoothing ..........................................................................................................................5-29
6. GENERAL GAIN ADJUSTMENT
6- 1 to 6-10
6.1 Different adjustment methods ............................................................................................................... 6- 1
6.1.1 Adjustment on a MELSERVO-J2M................................................................................................ 6- 1
6.1.2 Adjustment using MR Configurator (servo configuration software)........................................... 6- 2
6.2 Auto tuning .............................................................................................................................................. 6- 3
6.2.1 Auto tuning mode ............................................................................................................................. 6- 3
2
6.2.2 Auto tuning mode operation............................................................................................................ 6- 4
6.2.3 Adjustment procedure by auto tuning............................................................................................ 6- 5
6.2.4 Response level setting in auto tuning mode .................................................................................. 6- 6
6.3 Manual mode 1 (simple manual adjustment)....................................................................................... 6- 7
6.3.1 Operation of manual mode 1 ........................................................................................................... 6- 7
6.3.2 Adjustment by manual mode 1 ....................................................................................................... 6- 7
6.4 Interpolation mode .................................................................................................................................. 6- 9
7. SPECIAL ADJUSTMENT FUNCTIONS
7- 1 to 7-10
7.1 Function block diagram .......................................................................................................................... 7- 1
7.2 Machine resonance suppression filter................................................................................................... 7- 1
7.3 Adaptive vibration suppression control................................................................................................. 7- 3
7.4 Low-pass filter ......................................................................................................................................... 7- 4
7.5 Gain changing function........................................................................................................................... 7- 5
7.5.1 Applications....................................................................................................................................... 7- 5
7.5.2 Function block diagram ................................................................................................................... 7- 5
7.5.3 Parameters........................................................................................................................................ 7- 6
7.5.4 Gain changing operation.................................................................................................................. 7- 8
8. INSPECTION
8- 1 to 8- 2
9- 1 to 9-14
9. TROUBLESHOOTING
9.1 Trouble at start-up .................................................................................................................................. 9- 1
9.2 Alarms and warning list ......................................................................................................................... 9- 4
9.3 Remedies for alarms................................................................................................................................ 9- 6
9.4 Remedies for warnings...........................................................................................................................9-13
10. OUTLINE DRAWINGS
10- 1 to 10-10
10.1 MELSERVO-J2M configuration example.........................................................................................10- 1
10.2 Unit outline drawings .........................................................................................................................10- 2
10.2.1 Base unit (MR-J2M-BU ) ...........................................................................................................10- 2
10.2.2 Interface unit (MR-J2M-P8A) .....................................................................................................10- 2
10.2.3 Drive unit (MR-J2M- DU).........................................................................................................10- 3
10.2.4 Extension IO unit (MR-J2M-D01) ..............................................................................................10- 4
10.2.5 Battery unit (MR-J2M-BT)..........................................................................................................10- 4
10.3 Connectors............................................................................................................................................10- 5
11. CHARACTERISTICS
11- 1 to 11- 6
11.1 Overload protection characteristics...................................................................................................11- 1
11.2 Power supply equipment capacity and generated loss ....................................................................11- 2
11.3 Dynamic brake characteristics...........................................................................................................11- 4
11.4 Encoder cable flexing life....................................................................................................................11- 6
12. OPTIONS AND AUXILIARY EQUIPMENT
12- 1 to 12-36
12.1 Options..................................................................................................................................................12- 1
3
12.1.1 Regenerative brake options .........................................................................................................12- 1
12.1.2 Cables and connectors..................................................................................................................12- 8
12.1.3 Junction terminal block (MR-TB50)..........................................................................................12-17
12.1.4 Junction terminal block (MR-TB20)..........................................................................................12-19
12.1.5 Maintenance junction card (MR-J2CN3TM) ............................................................................12-21
12.1.6 MR Configurator (servo configurations software)....................................................................12-23
12.2 Auxiliary equipment ..........................................................................................................................12-24
12.2.1 Recommended wires....................................................................................................................12-24
12.2.2 No-fuse breakers, fuses, magnetic contactors...........................................................................12-26
12.2.3 Power factor improving reactors................................................................................................12-27
12.2.4 Relays............................................................................................................................................12-28
12.2.5 Surge absorbers ...........................................................................................................................12-28
12.2.6 Noise reduction techniques.........................................................................................................12-28
12.2.7 Leakage current breaker ............................................................................................................12-34
12.2.8 EMC filter.....................................................................................................................................12-35
13. COMMUNICATION FUNCTIONS
13- 1 to 13-32
13.1 Configuration.......................................................................................................................................13- 1
13.1.1 RS-422 configuration....................................................................................................................13- 1
13.1.2 RS-232C configuration.................................................................................................................13- 3
13.2 Communication specifications............................................................................................................13- 4
13.2.1 Communication overview ............................................................................................................13- 4
13.2.2 Parameter setting.........................................................................................................................13- 5
13.3 Protocol.................................................................................................................................................13- 6
13.4 Character codes ...................................................................................................................................13- 7
13.5 Error codes ...........................................................................................................................................13- 8
13.6 Checksum.............................................................................................................................................13- 8
13.7 Time-out operation..............................................................................................................................13- 9
13.8 Retry operation....................................................................................................................................13- 9
13.9 Initialization........................................................................................................................................13-10
13.10 Communication procedure example...............................................................................................13-10
13.11 Command and data No. list.............................................................................................................13-11
13.11.1 Read commands.........................................................................................................................13-11
13.11.2 Write commands........................................................................................................................13-13
13.12 Detailed explanations of commands...............................................................................................13-15
13.12.1 Data processing..........................................................................................................................13-15
13.12.2 Status display ............................................................................................................................13-17
13.12.3 Parameter...................................................................................................................................13-18
13.12.4 External I/O pin statuses (DIO diagnosis)..............................................................................13-20
13.12.5 Disable/enable of external I/O signals (DIO) ..........................................................................13-23
13.12.6 External input signal ON/OFF (test operation) .....................................................................13-24
13.12.7 Test operation mode..................................................................................................................13-25
13.12.8 Output signal pin ON/OFF (output signal (DO) forced output) ...........................................13-28
13.12.9 Alarm history.............................................................................................................................13-29
13.12.10 Current alarm..........................................................................................................................13-30
13.12.11 Other commands......................................................................................................................13-31
4
14. ABSOLUTE POSITION DETECTION SYSTEM
14- 1 to 14-12
14.1 Outline..................................................................................................................................................14- 1
14.1.1 Features.........................................................................................................................................14- 1
14.1.2 Restrictions....................................................................................................................................14- 1
14.2 Specifications .......................................................................................................................................14- 2
14.3 Signal explanation...............................................................................................................................14- 3
14.4 Serial communication command........................................................................................................14- 3
14.5 Startup procedure................................................................................................................................14- 4
14.6 Absolute position data transfer protocol...........................................................................................14- 5
14.6.1 Data transfer procedure...............................................................................................................14- 5
14.6.2 Transfer method ...........................................................................................................................14- 6
14.6.3 Home position setting ..................................................................................................................14- 9
14.6.4 How to process the absolute position data at detection of stroke end....................................14-10
14.7 Confirmation of absolute position detection data............................................................................14-11
APPENDIX
App- 1 to App- 2
App 1. Status indication block diagram ................................................................................................. App- 1
5
Optional Servo Motor Instruction Manual CONTENTS
The rough table of contents of the optional MELSERVO Servo Motor Instruction Manual is introduced
here for your reference. Note that the contents of the Servo Motor Instruction Manual are not included in
this Instruction Manual.
1. INTRODUCTION
2. INSTALLATION
3. CONNECTORS USED FOR SERVO MOTOR WIRING
4. INSPECTION
5. SPECIFICATIONS
6. CHARACTERISTICS
7. OUTLINE DIMENSION DRAWINGS
8. CALCULATION METHODS FOR DESIGNING
6
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Overview
The Mitsubishi general-purpose AC servo MELSERVO-J2M series is an AC servo which has realized
wiring-saving, energy-saving and space-saving in addition to the high performance and high functions of
the MELSERVO-J2-Super series.
The MELSERVO-J2M series consists of an interface unit (abbreviated to the IFU) to be connected with a
positioning unit, drive units (abbreviated to the DRU) for driving and controlling servo motors, and a base
unit (abbreviated to the BU) where these units are installed.
A torque limit is applied to the drive unit by the clamp circuit to protect the main circuit power
transistors from overcurrent caused by abrupt acceleration/deceleration or overload. In addition, the
torque limit value can be changed as desired using the parameter.
The interface unit has an RS-232C or RS-422 serial communication function to allow the parameter
setting, test operation, status indication monitoring, gain adjustment and others of all units to be
performed using a personal computer or like where the MR Configurator (servo configuration software) is
installed. By choosing the station number of the drive unit using the MR Configurator (servo
configuration software), you can select the unit to communicate with, without changing the cabling.
The real-time auto tuning function automatically adjusts the servo gains according to a machine.
A maximum 500kpps high-speed pulse train is used to control the speed and direction of a motor and
execute accurate positioning of 131072 pulses/rev resolution.
The position smoothing function has two different systems to allow you to select the appropriate system
for a machine, achieving a smoother start/stop in response to an abrupt position command.
The MELSERVO-J2M series supports as standard the absolute position encoders which have 131072
pulses/rev resolution, ensuring control as accurate as that of the MELSERVO-J2-Super series. Simply
adding the optional battery unit configures an absolute position detection system. Hence, merely setting a
home position once makes it unnecessary to perform a home position return at power-on, alarm
occurrence or like.
The MELSERVO-J2M series has a control circuit power supply in the interface unit and main circuit
converter and regenerative functions in the base unit to batch-wire the main circuit power input,
regenerative brake connection and control circuit power supply input, achieving wiring-saving.
In the MELSERVO-J2M series, main circuit converter sharing has improved the capacitor regeneration
capability dramatically. Except for the operation pattern where all axes slow down simultaneously, the
capacitor can be used for regeneration. You can save the energy which used to be consumed by the
regenerative brake resistor.
Input signal (Axes 5 to 8)
Extension IO unit
MR-J2M-D01
Input signal (Axes 1 to 4)
Regenerative
brake option
Encoder pulse output
extension DIO (Axes 1 to 4)
Control circuit power
supply input
Encoder pulse output
extension DIO (Axes 5 to 8)
Encoder cable
Servo motor power cable
Main circuit power input
Personal computer connection
Monitor output
Forced stop input
Forward rotation stroke end
Reverse rotation stroke end
Forced stop input
Electromagnetic brake interlock output
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
Base unit
CNP1B
Interface unit
Input signal
Stroke end
Forced stop
Control circuit
power suppy
L11
Power
supply
L21
I/O signals
for slots 1 to 4,
e.g. servo-on
FR-BAL CNP3
MC
3-phase
200 to
NFB
Pulse train position command
Pulse train position command
I/O signals
for slots 5 to 8,
e.g. servo-on
230VAC
(Note)
L1
L2
L3
1-phase
200 to
230VAC
Personal computer
or
other servo amplifier
RS-232C
RS-422
D/A
CNP1A
Regenerative brake option
P
N
C
Analog monitor
(3 channels)
Drive unit
Servo motor
Dynamic
brake
(Earth)
U
Current
detector
V
M
W
Overcurrent
protection
Current
detection
Base amplifier
Encoder
Current
control
Actual position
control
Actual speed
control
Model
position
Model
speed
Model
torque
Pulse
counter
Model position
control
Model speed
control
Virtual
Virtual
servo
motor
encoder
Pulse train position command
Drive unit
Servo motor
Dynamic
brake
(Earth)
U
Current
detection
V
M
W
Encoder
Drive unit
Servo motor
Dynamic
brake
(Earth)
U
V
M
W
Current
detection
Encoder
Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
1 - 2
1. FUNCTIONS AND CONFIGURATION
1.3 Unit standard specifications
(1) Base unit
Model
MR-J2M-BU4
4 slots
MR-J2M-BU6
MR-J2M-BU8
Number of slots
6 slots
8 slots
(Note)
Control
circuit
power
supply
Voltage/frequency
3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage fluctuation
Permissible frequency fluctuation
1-phase 170 to 253VAC
Within 5%
Inrush current
20A (5ms)
Voltage/frequency
3-phase 200 to 230VAC or 1-phase 200 to 230VAC, 50/60Hz
3-phase 170 to 253VAC or 1-phase 170 to 253VAC, 50/60 Hz
Within 5%
Permissible voltage fluctuation
Permissible frequency fluctuation
Maximum servo motor connection
capacity [W]
Main
circuit
power
supply
1600
1280
2400
3200
2560
Continuous capacity [W]
Inrush current
1920
62.5A (15ms)
Function
Converter function, regenerative control, rushing into current control function
Regenerative overvoltage shut-off, regenerative fault protection,
undervoltage /instantaneous power failure protection
Protective functions
Mass
[kg]
[lb]
1.1
2.4
1.3
2.9
1.5
3.3
Note. The control circuit power supply is recorded to the interface unit.
(2) Drive unit
Model
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
Voltage/frequency
270 to 311VDC
230 to 342VDC
Power
supply
Permissible voltage fluctuation
Control system
Dynamic brake
Sine-wave PWM control, current control system
Built-in
Overcurrent shut-off, functions overload shut-off (electronic thermal relay), servo
motor overheat protection, encoder fault protection, overspeed protection,
excessive error protection
Protective functions
Structure
Open (IP00)
Cooling method
Self-cooled
0.4
Force-cooling (With built-in fan unit)
[kg]
[lb]
0.4
0.4
0.7
Mass
0.89
0.89
0.89
1.54
(3) Interface unit
Model
MR-J2M-P8A
Control circuit power supply
Power supply circuit for each unit(8 slots or less)
Pulse train interface 8 channels
RS-232C interface 1 channel
Interface
RS-422 interface 1 channel
Forced stop input (2 points), alarm output (2 points), input signal (40 points),
DIO
output signal (16 points)
AIO
Analog monitor 3channels
Structure
Open (IP00)
0.5
[kg]
Mass
[lb]
1.10
1 - 3
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the Reference
field.
(1) Drive unit (Abbreviation DRU)
Function
Description
Reference
High-resolution encoder
High-resolution encoder of 131072 pulses/rev is used as a servo motor encoder.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
Auto tuning
Chapter 7
Section 7.5.4
Section 7.3
Section 7.4
You can switch between gains during rotation and gains during stop or use an
external signal to change gains during operation.
Gain changing function
Adaptive vibration
suppression control
MELSERVO-J2M detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Low-pass filter
DRU parameter
No. 7
Position smoothing
Speed can be increased smoothly in response to input pulse.
Suppresses vibration of 1 pulse produced at a servo motor stop.
Slight vibration
suppression control
DRU parameter
No.20
DRU parameters
No. 3, 4, 69 to 71
Section 5.3.1
DRU parameters
No.28
Electronic gear
Torque limit
Input pulses can be multiplied by 1/50 to 50.
Servo motor torque can be limited to any value.
DRU parameter
No. 21
Command pulse selection Command pulse train form can be selected from among four different types.
(2) Interface unit (Abbreviation IFU)
Function
Description
Reference
Section 2.7
Position control mode
This servo is used as position control servo.
Section 3.1.2
Section 3.1.5
The servo-on (SON , ready (RD
any other pins.
and other input signals can be reassigned to
)
)
I/O signal selection
Section 3.2.6
Section 4.2.2
Section 4.3.2
Section 5.3.2
Status display
Analog monitor
Servo status is shown on the 5-digit, 7-segment LED display
Servo status is output in terms of voltage in real time.
(3) Base unit (Abbreviation BU)
Function
Description
Reference
Used when the built-in regenerative brake resistor of the unit does not have
sufficient regenerative capability for the regenerative power generated.
Regenerative brake option
Section 12.1.1
(4) MR Configurator (servo configuration software)
Function
Description
Reference
Machine analyzer function Analyzes the frequency characteristic of the mechanical system.
Can simulate machine motions on a personal computer screen on the basis of the
machine analyzer results.
Machine simulation
Gain search function
External I/O signal
display
Can simulate machine motions on the basis of the machine analyzer results.
Section 4.3.7
ON/OFF statuses of external I/O signals are shown on the display.
Section 4.2.6
Section 4.3.8
Output signal (DO)
forced output
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
JOG operation and positioning operation are possible.
Test operation mode
1 - 4
1. FUNCTIONS AND CONFIGURATION
(5) Option unit
Function
Description
Reference
Merely setting a home position once makes home position return unnecessary at
every power-on.
Battery unit MR-J2M-BT (shortly correspondence schedule) is necessary.
The encoder feedback is output from extension IO unit MR-J2M-D01 (shortly
Absolute position
detection system
Encoder pulse output
correspondence schedule) by the A
B
Z phase pulse. The number of pulses
output by the parameter can be changed.
1.5 Model code definition
(1) Drive unit
(a) Rating plate
SON
ALM
Rating plate
MODEL
Model
MR-J2M-40DU
Capacity
POWER 400W
INPUT DC270V-311V
OUTPUT 170V 0-360Hz 2.3A
SERIAL N9Z95046
Applicable power supply
Rated output current
Serial number
TC300A***G51
MITSUBISHI ELECTRIC
Rating plate
(b) Model code
MR-J2M- DU
Rated output
Symbol Capacity of applied servo motor
10
20
40
70
100
200
400
750
(2) Interface unit
(a) Rating plate
AC SERVO
MITSUBISHI
Model
MODEL
Rating
plate
MR-J2M-P8A
Input capacity
POWER :75W
AC INPUT:2PH AC200-230V 50Hz
Applicable
power supply
2PH AC200-230V 60Hz
OUTPUT : DC5/12/20 4.6A/1.2/0.7A
Output voltage / current
Serial number
A5
SERIAL
:
TC3 AAAAG52
PASSED
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
(b) Model code
MR-J2M-P8A
Pulse train interface compatible
1 - 5
1. FUNCTIONS AND CONFIGURATION
(3) Base unit
(a) Rating plate
Rating plate
MITSUBISHI
MODEL
Model
MR-J2M-BU4
Applicable power
supply
Serial number
INPUT : 3PH 200-230
14A 50/60Hz
SERIAL:
N87B95046
BC336U246
PASSED
MITSUBISHI ELECTRIC
MADE IN JAPAN
(b) Model code
MR-J2M-BU
Number of Maximum servo motor
Symbol
Continuous capacity [W]
slots
connection capacity [W]
4
6
8
4
6
8
1600
2400
3200
1280
1920
2560
1.6 Combination with servo motor
The following table lists combinations of drive units and servo motors. The same combinations apply to
the models with electromagnetic brakes and the models with reduction gears.
Servo motor
Drive unit
HC-KFS
053 13
23
HC-MFS
053 13
23
HC-UFS
13
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
23
43
43
43
73
73
73
1 - 6
1. FUNCTIONS AND CONFIGURATION
1.7 Parts identification
(1) Drive unit
Mounting screw
Status indicator LED
Indicates the status of the drive unit.
Blinking green: Servo off status
Steady green: Servo on status
Blinking red: Warning status
Steady red: Alarm status
Rating plate
CN2
Encoder connector
Connect the
servo motor encoder
CNP2
Servo motor connector
For connection of servo
motor power line cable
(2) Interface unit
Display
Indicates operating status or alarm.
Pushbutton switches
Used to change status indication or set IFU parameters
and DRU parameters.
Mounting screw
Display/setting cover
CN1A
I/O signal (For 1 to 4 slots)
CN1B
I/O signal (For 5 to 8 slots)
CN5
Forward rotation stroke end
Reverse rotation stroke end
Forced stop input
CN3
For connection of personal computer (RS-232C).
Outputs analog monitor.
Charge lamp
Lit when main circuit capacitor carries electrical charge.
When this lamp is on, do not remove/reinstall any unit
from/to base unit and do not unplug/plug cable and
connector from/into any unit.
1 - 7
1. FUNCTIONS AND CONFIGURATION
(3) Base unit
The following shows the MR-J2M-BU4.
CON3A
First slot connector
CNP1B
CON3C
Control circuit power input connector
Third slot connector
CNP1A
Regenerative brake
option connector
CON4
CNP3
Option slot connector
Main circuit power
input connector
CON5
Battery unit connector
CON1,CON2
Interface unit connectors
CON3B
Second slot connector
CON3D
Fourth slot connector
1 - 8
1. FUNCTIONS AND CONFIGURATION
1.8 Servo system with auxiliary equipment
To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the base unit to the protective earth (PE) of the control box.
WARNING
3-phase 200V to 230VAC
power supply
(Note) 1-phase 200V to 230VAC
Options and auxiliary equipment
Reference
Options and auxiliary equipment
Reference
No-fuse breaker
Section 12.2.2
Regenerative brake option
Section 12.1.1
Section 12.2.1
No-fuse
breaker
(NFB) or
fuse
Magnetic contactor
Section 12.2.2 Cables
MR Configurator
(servo configuration software)
Power factor improving reactor Section 12.2.3
Section 12.1.4
Control circuit
power supply
L11
L21
Command device
(For 1 to 4 slots)
Command device
(For 5 to 8 slots)
Magnetic
contactor
(MC)
Regenerative brake
option
To CN1A
To CN1B
L1
L2 L3
P
C
To CNP1B
Power
factor
improving
reactor
(FR-BAL)
To CNP1A
Encoder cable
To CNP3
Main circuit power supply
To CN3
To CN5
Machine contact
Power supply lead
MR Configurator
(servo configuration software
MRZJW3-SETUP151E or later)
Personal computer
Note. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
1 - 9
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 10
2. INSTALLATION AND START UP
2. INSTALLATION AND START UP
Stacking in excess of the limited number of products is not allowed.
Install the equipment to incombustibles. Installing them directly or close to
combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range.
Provide an adequate protection to prevent screws, metallic detritus and other
conductive matter or oil and other combustible matter from entering each unit.
Do not block the intake/exhaust ports of each unit. Otherwise, a fault may occur.
Do not subject each unit to drop impact or shock loads as they are precision
equipment.
CAUTION
Do not install or operate a faulty unit.
When the product has been stored for an extended period of time, consult
Mitsubishi.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
2.1 Environmental conditions
The following environmental conditions are common to the drive unit, interface unit and base unit.
Environment
Conditions
[
[
[
[
]
]
]
]
0 to 55 (non-freezing)
32 to 131 (non-freezing)
20 to 65 (non-freezing)
4 to 149 (non-freezing)
During
operation
Ambient
temperature
In storage
During operation
In storage
Ambient
humidity
90%RH or less (non-condensing)
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Max. 1000m (3280 ft) above sea level
Ambience
Altitude
2
2
[m/s ]
5.9 [m/s ] or less
Vibration
2
2
[ft/s ]
19.4 [ft/s ] or less
2 - 1
2. INSTALLATION AND START UP
2.2 Installation direction and clearances
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION
Leave specified clearances between each unit and control box inside walls or other
equipment.
(1) Installation of one MELSERVO-J2M
40mm(1.57inch) or more
40mm(1.57inch) or more
(2) Installation of two or more MELSERVO-J2M
When installing two units vertically, heat generated by the lower unit influences the ambient
temperature of the upper unit. Suppress temperature rises in the control box so that the temperature
between the upper and lower units satisfies the environmental conditions. Also provide adequate
clearances between the units or install a fan.
40mm(1.57inch) or more
Leave 100mm(3.94inch) or more
clearance or install fan for forced air cooling.
40mm(1.57inch) or more
2 - 2
2. INSTALLATION AND START UP
(3) Others
When using heat generating equipment such as the regenerative brake option, install them with full
consideration of heat generation so that MELSERVO-J2M is not affected.
Install MELSERVO-J2M on a perpendicular wall in the correct vertical direction.
2.3 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering each
unit.
(2) Prevent oil, water, metallic dust, etc. from entering each unit through openings in the control box or a
fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an
air purge (force clean air into the control box from outside to make the internal pressure higher than
the external pressure) to prevent such materials from entering the control box.
2.4 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own mass
stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake)
supplied with the servo motor, and flex the optional encoder cable or the power supply and brake
wiring cables. Use the optional encoder cable within the flexing life range. Use the power supply and
brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner
or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as
large as possible. Refer to section 11.4 for the flexing life.
2 - 3
2. INSTALLATION AND START UP
2.5 Mounting method
(1) Base unit
As shown below, mount the base unit on the wall of a control box or like with M5 screws.
Wall
(2) Interface unit/drive unit (MR-J2M-40DU or less)
The following example gives installation of the drive unit to the base unit. The same also applies to the
interface unit.
Sectional view
Base unit
Drive unit
Wall
1)
Positioning hole
Catch
1) Hook the catch of the drive unit in the positioning hole of the base unit.
Sectional view
2)
Base unit
Drive unit
Wall
2) Using the catch hooked in the positioning hole as a support, push the drive unit in.
2 - 4
2. INSTALLATION AND START UP
Sectional view
3)
3)
Wall
3) Tighten the M4 screw supplied for the base unit to fasten the drive unit to the base unit.
POINT
Securely tighten the drive unit fixing screw.
Sectional view
Wall
(3) Drive unit (MR-J2M-70DU)
When using the MR-J2M-70DU, install it on two slots of the base unit. The slot number of this drive
unit is that of the left hand side slot of the two occupied slots, when they are viewed from the front of
the base unit.
2 - 5
2. INSTALLATION AND START UP
2.6 When switching power on for the first time
Before starting operation, check the following:
(1) Wiring
(a) Check that the control circuit power cable, main circuit power cable and servo motor power cable
are fabricated properly.
(b) Check that the control circuit power cable is connected to the CNP1B connector and the main
circuit power cable is connected to the CNP3 connector.
(c) Check that the servo motor power cable is connected to the drive unit CNP2 connector.
(d) Check that the base unit is earthed securely. Also check that the drive unit is screwed to the base
unit securely.
(e) When using the regenerative brake option, check that the cable using twisted wires is fabricated
properly and it is connected to the CNP1A connector properly.
(f) When the MR-J2M-70DU is used, it is wired to have the left-hand side slot number of the two slots.
(g) 24VDC or higher voltages are not applied to the pins of connector CN3.
(h) SD and SG of connector CN1A CN1B CN3 CN4A CN4B and CN5 are not shorted.
(i) The wiring cables are free from excessive force.
(j) Check that the encoder cable and servo motor power cable connected to the drive unit are connected
to the same servo motor properly.
(k) When stroke end limit switches are used, the signals across LSP -SG and LSN -SG are on
during operation.
(2) Parameters
(a) Check that the drive unit parameters are set to correct values using the servo system controller
screen or MR Configurator (servo configuration software).
(b) Check that the interface unit parameters are set to correct values using the interface unit display
or MR Configurator (servo configuration software).
(3) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
(4) Machine
(a) The screws in the servo motor installation part and shaft-to-machine connection are tight.
(b) The servo motor and the machine connected with the servo motor can be operated.
2 - 6
2. INSTALLATION AND START UP
2.7 Start up
Do not operate the switches with wet hands. You may get an electric shock.
Do not operate the controller with the front cover removed. High-voltage terminals
and charging area exposed and you may get an electric shock.
WARNING
CAUTION
During power-on or for some time after power-off, do not touch or close a parts
(cable etc.) to the regenerative brake resistor, servo motor, etc. Their temperatures
may be high and you may get burnt or a parts may damaged.
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake
resistor, servo motor, etc.since they may be hot while power is on or for some time
after power-off. Their temperatures may be high and you may get burnt or a parts
may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
2 - 7
2. INSTALLATION AND START UP
(1) Power on
Switching on the main circuit power/control circuit power places the interface unit display in the scroll
status as shown below.
In the absolute position detection system, first power-on results in the absolute position lost (A.25)
alarm and the servo system cannot be switched on. This is not a failure and takes place due to the
uncharged capacitor in the encoder.
The alarm can be deactivated by keeping power on for a few minutes in the alarm status and then
switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
500r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.
(2) Test operation
Using JOG operation in the test operation mode, make sure that the servo motor operates. (Refer to
Section 6.8.2.)
(3) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to Chapter 5 for
the parameter definitions.
After setting the parameters, switch power off once.
2 - 8
2. INSTALLATION AND START UP
(4) Slot number confirmation
Confirm the slot number in the interface unit display section of the installed drive unit.
For MR-J2M-BU4
Display
First slot
Third slot
Slot number
Drive unit status
Slot number
Second slot
Fourth slot
(5) Servo-on
Switch the servo-on in the following procedure:
1) Switch on main circuit/control power supply.
2) Turn on the servo-on (SON ).
When the servo-on status is established, operation is enabled and the servo motor is locked. At
this time, the interface unit displays "@ d@". (@ represents the slot number.)
(6) Command pulse input
Entry of a pulse train from the positioning device rotates the servo motor. At first, run it at low speed
and check the rotation direction, etc. If it does not run in the intended direction, check the input
signal.
On the status display, check the speed, command pulse frequency, load factor, etc. of the servo motor.
When machine operation check is over, check automatic operation with the program of the positioning
device.
This servo amplifier has a real-time auto tuning function under model adaptive control. Performing
operation automatically adjusts gains. The optimum tuning results are provided by setting the
response level appropriate for the machine in DRU parameter No. 2. (Refer to chapter 7.)
(7) Home position return
Make home position return as required.
2 - 9
2. INSTALLATION AND START UP
(8) Stop
In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo
motor:
Refer to Section 3.8, (2) for the servo motor equipped with electromagnetic brake. Note that the stop
pattern of forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) OFF is as described
below.
(a) Servo-on (SON ) OFF
The base circuit is shut off and the servo motor coasts.
(b) Alarm occurrence
When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the
servo motor to a sudden stop.
(c) Forced stop (EMG_ ) OFF
The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden
stop. Servo forced stop warning (A.E6) occurs.
(d) Forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in
the opposite direction.
POINT
A sudden stop indicates deceleration to a stop at the deceleration time
constant of zero.
2 - 10
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
Any person who is involved in wiring should be fully competent to do the work.
Before starting wiring, make sure that the voltage is safe in the tester more than 10
minutes after power-off. Otherwise, you may get an electric shock.
Ground the base unit and the servo motor securely.
WARNING
Do not attempt to wire each unit and servo motor until they have been installed.
Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the servo motor may
misoperate, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop and other protective circuits.
Interface unit
Interface unit
VIN
VIN
SG
SG
CAUTION
Control output
signal
Control output
signal
RA
RA
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near each unit.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF
option) with the power line of the servo motor.
When using the regenerative brake resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative brake
resistor, causing a fire.
Do not modify the equipment.
3 - 1
3. SIGNALS AND WIRING
3.1 Control signal line connection example
POINT
Refer to Section 3.4 for connection of the power supply line and to Section
3.5 for connection with servo motors.
MR-J2M-P8A
CN1A(Note 4)
(Note 13)
(Note 2)
Symbol
RD
Slot 1 Slot 2 Slot 3 Slot 4
RA
RA
RA
11
35
33
8
6
28
3
INP
30
(Note 7)
27
ALM_A
24VDC
power
supply
37
36
10
9
32
31
5
4
SON
RES
Positioning module
QD70
LG
P5
OP_VIN
21, 46, 50
CON1
(Note 13)
49
47
1
(Note 8)
Symbol
Slot 1 Slot 2 Slot 3 Slot 4
24G
24V
A1
B1
SG
VIN
OPC
26
2
CLEAR COM
B14
B13
B3
B16
B15
B6
A14
A13
A3
A16
A15
A6
CR
PG
CLEAR
PULSE COM
PULSE F
12
44
19
45
20
25
34
42
17
43
18
24
7
29
38
13
39
14
22
40
15
41
16
23
B4
B7
A4
A7
PP
NG
B2
B5
A2
A5
PULSE R
PG COM
PG
NP
B18
B17
OP
B20
B19
A18
A17
A20
A19
OP_COM
48
Plate
SD
(Note 13) CN1B(Note 4)
(Note 2)
Symbol
RD
Slot 5 Slot 6 Slot 7 Slot 8
RA
RA
RA
11
35
33
8
6
28
3
INP
30
ALM_B
27
(Note 7)
37
36
10
9
32
31
5
4
SON
RES
LG
21, 46, 50
P5
49
47
1
(Note 8)
OP_VIN
SG
CON2
Slot 5 Slot 6 Slot 7 Slot 8
(Note 13)
VIN
OPC
CR
26
2
Symbol
CLEAR COM
B14
B13
B3
B16
B15
B6
A14
A13
A3
A16
A15
A6
CLEAR
PULSE COM
PULSE F
12
44
19
45
20
25
34
42
17
43
18
24
7
29
38
13
39
14
22
PG
40
15
41
16
23
B4
B7
A4
A7
PP
NG
PULSE R
B2
B5
A2
A5
NP
PG COM
B18
B17
OP
B20
B19
A18
A17
A20
A19
48
Plate
PG
OP_COM
SD
3 - 2
3. SIGNALS AND WIRING
(Note 9)
MR Configurator
(servo
configuration
Personal computer
(Note 5)CN3
4
software)
CN3
CN5
A
A
A
MO1
10k
10k
10k
(Note 12)
Monitor
output
Max. +1mA
meter
Zero-center
14 MO2
Communication
cable
7
MO3
LG
(Note 13)
Symbol Slot 1 Slot 2 Slot 3 Slot 4
11
1
2
3
4
5
6
7
LSP
LSN
(Note 6)
Plate
SD
10
SG
8
Base unit
Drive unit
(Note 13)
CN5
CON3A
(Slot 1)
(Note 5) CN2
Symbol Slot 5 Slot 6 Slot 7 Slot 8
LSP
LSN
11
12
13
14
15
16
17
18
(Note 6)
CN5
Symbol Slot 1 to 8
Drive unit
EMG_A
EMG_B
20
19
CON3B
(Slot 2)
(Note 3, 6)
(Note 5) CN2
MR-J2M-P8A
Drive unit
CON3H
(Slot 8)
(Note 5) CN2
(Note 11)
Battery unit
MR-J2M-BT
MR-J2MBTCBL
M
(Note 10)MR-J2M-D01
CN4A
CON4
(Note 1)
CN4B
3 - 3
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the base unit to the
protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals,
disabling the forced stop and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. CN1A CN1B, CN4A CN4B have the same shape. Wrong connection of the connectors will lead to a fault.
5. CN2 and CN3 have the same shape. Wrong connection of the connectors can cause a fault.
6. When starting operation, always connect the forced stop (EMG_A) and forward/reverse rotation stroke end (LSN /LSP ) with
SG. (Normally closed contacts)
7. Trouble (ALM_ ) is connected with COM in normal alarm-free condition. When this signal is switched off (at occurrence of an
alarm), the output of the programmable controller should be stopped by the sequence program.
8. Always connect P5-OP_VIN when using the 5V output (P5). Keep them open when supplying external power.
9. Use MRZJW3-SETUP151E.
10. Refer to Section 3.3 for the MR-J2M-D01 extension IO unit.
11. The MR-J2M-BT battery unit is required to configure an absolute position detection system. Refer to Chapter 14 for details.
12. When connecting the personal computer together with monitor outputs 1, 2, use the maintenance junction card (MR-J2CN3TM).
(Refer to Section 12.1.2)
13.
in Symbol indicates a slot number.
3 - 4
3. SIGNALS AND WIRING
3.2 I/O signals of interface unit
3.2.1 Connectors and signal arrangements
POINT
The connector pin-outs shown above are viewed from the cable connector
wiring section side.
(1) Signal arrangement
CN1A
CN1B
2
OPC
4
2
OPC
4
27
27
1
SG
3
1
SG
3
26
26
VIN
28
ALM_B
29
ALM_A
29
VIN
28
RES4
6
CR8
31
CR4
31
RES8
6
INP4
5
INP8
5
RD4
30
RD8
30
RD3
8
RES7
33
RES3
33
RD7
8
SON4
7
SON8
7
INP3
32
INP7
32
INP2
10
RD6
35
RD2
35
INP6
10
CR3
9
CR7
9
SON3
34
SON7
34
SON2
12
INP5
37
INP1
37
SON6
12
RES2
11
RES6
11
CR2
36
CR6
36
CR1
14
SON5
39
SON1
39
CR5
14
RD1
13
RD5
13
RES1
38
RES5
38
NP4
16
NG8
41
NG4
41
NP8
16
PP4
15
PP8
15
PG4
40
PG8
40
NP3
18
NG7
43
NG3
43
NP7
18
PP3
17
PP7
17
PG3
42
PG7
42
NP2
20
NG6
45
NG2
45
NP6
20
PP2
19
PP6
19
PG2
44
PG6
44
MR-J2M-P8A
NP1
22
NG5
47
NG1
47
NP5
22
PP1
21
PP5
21
PG1
46
PG5
46
OP4
24
OP_VIN
49
OP8
24
OP_VIN
49
LG
LG
LG
LG
23
23
48
48
OP2
OP6
P5
P5
OP3
25
OP7
25
OP_COM
OP_COM
50
50
OP1
OP5
LG
LG
CN5
CN3
1
LSP1
3
11
LSP5
13
1
LG
3
11
LG
13
2
LSN1
4
12
LSN5
14
2
RXD
4
12
TXD
14
LSP2
5
LSP6
15
LG
5
The connector frames are
connected with the PE (earth)
terminal inside the servo amplifier.
LSN2
6
LSN6
16
MO1
6
MO2
16
15
RDN
17
LSP3
7
LSP7
17
RDP
7
LSN3
8
LSN7
18
8
18
LSP4
9
LSP8
19
MO3
9
SG
10
LSN8
19
20
EMG_A
10
20
P5
EMG_B
SDP
SDN
LSN4
TRE
3 - 5
3. SIGNALS AND WIRING
3.2.2 Signal explanations
For the I/O interfaces (symbols in I/O column in the table), refer to Section 3.2.5.
The pin No.s in the connector pin No. column are those in the initial status.
(1) Input signals
Connector
Signal
Symbol
Functions/Applications
I/O division
pin No.
Servo-on 1
SON 1 CN1A-37 SON 1: Servo-on signal for slot 1
DI-1
SON 2: Servo-on signal for slot 2
Servo-on 2
Servo-on 3
Servo-on 4
Servo-on 5
Servo-on 6
Servo-on 7
Servo-on 8
SON 2 CN1A-10
SON 3 CN1A-32
SON 3: Servo-on signal for slot 3
SON 4: Servo-on signal for slot 4
SON 4
CN1A-5
SON 5: Servo-on signal for slot 5
SON 5 CN1B-37
SON 6 CN1B-10
SON 7 CN1B-32
SON 6: Servo-on signal for slot 6
SON 7: Servo-on signal for slot 7
SON 8: Servo-on signal for slot 8
SON 8
CN1B-5
Connect SON -SG to switch on the base circuit and make the servo
amplifier ready to operate (servo-on).
Disconnect SON -SG to shut off the base circuit and coast the servo
motor (servo off).
Reset 1
Reset 2
Reset 3
Reset 4
Reset 5
Reset 6
Reset 7
Reset 8
RES 1 CN1A-36 RES 1: Reset signal for slot 1
DI-1
RES 2: Reset signal for slot 2
RES 2
RES 3 CN1A-31
RES 4 CN1A-4
RES 5 CN1B-36
RES 6 CN1B-9
RES 7 CN1B-31
RES 8 CN1B-4
CN1A-9
RES 3: Reset signal for slot 3
RES 4: Reset signal for slot 4
RES 5: Reset signal for slot 5
RES 6: Reset signal for slot 6
RES 7: Reset signal for slot 7
RES 8: Reset signal for slot 8
Disconnect RES -SG for more than 50ms to reset the alarm.
Some alarms cannot be deactivated by the reset (RES . Refer to
)
Section 9.2.
Shorting RES -SG in an alarm-free status shuts off the base circuit.
The base circuit is not shut off when "
1
"is set in DRU
parameter No. 51 (Function selection 6).
3 - 6
3. SIGNALS AND WIRING
Connector
pin No.
Signal
Symbol
Functions/Applications
I/O division
Forward rotation
stroke end 1
LSP 1
LSP 2
LSP 3
LSP 4
LSP 5
LSP 6
LSP 7
LSP 8
CN5-1
CN5-3
LSP 1: Forward rotation stroke end signal for slot 1
LSP 2: Forward rotation stroke end signal for slot 2
LSP 3: Forward rotation stroke end signal for slot 3
LSP 4: Forward rotation stroke end signal for slot 4
LSP 5: Forward rotation stroke end signal for slot 5
LSP 6: Forward rotation stroke end signal for slot 6
LSP 7: Forward rotation stroke end signal for slot 7
LSP 8: Forward rotation stroke end signal for slot 8
LSN 1: Reverse rotation stroke end signal for slot 1
LSN 2: Reverse rotation stroke end signal for slot 2
LSN 3: Reverse rotation stroke end signal for slot 3
LSN 4: Reverse rotation stroke end signal for slot 4
LSN 5: Reverse rotation stroke end signal for slot 5
LSN 6: Reverse rotation stroke end signal for slot 6
LSN 7: Reverse rotation stroke end signal for slot 7
LSN 8: Reverse rotation stroke end signal for slot 8
To start operation, short LSP -SG and/or LSN -SG. Open them to
bring the motor to a sudden stop and make it servo-locked.
DI-1
Forward rotation
stroke end 2
Forward rotation
stroke end 3
CN5-5
Forward rotation
stroke end 4
CN5-7
Forward rotation
stroke end 5
CN5-11
CN5-13
CN5-15
CN5-17
Forward rotation
stroke end 6
Forward rotation
stroke end 7
Forward rotation
stroke end 8
Reverse rotation
stroke end 1
LSN 1
LSN 2
CN5-2
CN5-4
Set "
1" in parameter No. 22 (Function selection 4) to make a
Reverse rotation
stroke end 2
slow stop.
(Refer to Section 5.1.2.)
Reverse rotation
stroke end 3
LSN 3
LSN 4
LSN 5
LSN 6
LSN 7
LSN 8
CN5-6
CN5-10
CN5-12
CN5-14
CN5-16
CN5-18
(Note) Input signals
Operation
CCW CW
direction direction
LSP
LSN
Reverse rotation
stroke end 4
1
0
1
0
1
1
0
0
Reverse rotation
stroke end 5
Reverse rotation
stroke end 6
Note. 0: LSP /LSN -SG off (open)
1: LSP /LSN -SG on (short)
Reverse rotation
stroke end 7
Reverse rotation
stroke end 8
Forced stop A
Forced stop B
EMG_A CN5-20 EMG_A: Forced stop signal for slots 1 to 8
EMG_B CN5-19 EMG_B: Forced stop signal for slots 1 to 8
DI-1
Disconnect EMG_ -SG to bring the servo motor to forced stop state, in
which the servo is switched off and the dynamic brake is operated.
Connect EMG_ -SG in the forced stop state to reset that state.
When either of EMG-A and EMG-B is to be used, short the unused
signal with SG.
3 - 7
3. SIGNALS AND WIRING
Connector
pin No.
Signal
Symbol
Functions/Applications
I/O division
Clear 1
CR 1
CR 2
CR 3
CR 4
CR 5
CR 6
CR 7
CR 8
CN1A-12 CR 1: Clear signal for slot 1
DI-1
CR 2: Clear signal for slot 2
CR 3: Clear signal for slot 3
CR 4: Clear signal for slot 4
CR 5: Clear signal for slot 5
CR 6: Clear signal for slot 6
CR 7: Clear signal for slot 7
CR 8: Clear signal for slot 8
Clear 2
Clear 3
Clear 4
Clear 5
Clear 6
Clear 7
Clear 8
CN1A-34
CN1A-7
CN1A-29
CN1B-12
CN1B-34
CN1B-7
CN1B-29
Connect CR -SG to clear the position control counter droop pulses on its
leading edge. The pulse width should be 10ms or more.
When the DRU parameter No.42 (Input signal selection 1) setting is"
", the pulses are always cleared while CR -SG are connected.
1
PP 1
NP 1
PG 1
NG 1
PP 2
NP 2
PG 2
NG 2
PP 3
NP 3
PG 3
NG 3
PP 4
NP 4
PG 4
NG 4
PP 5
NP 5
PG 5
NG 5
PP 6
NP 6
PG 6
NG 6
PP 7
NP 7
PG 7
NG 7
PP 8
NP 8
PG 8
NG 8
CN1A-19 PP 1 NP 1 PG 1 NG 1: Forward/reverse rotation pulse train for slot 1
CN1A-20 PP 2 NP 2 PG 2 NG 2: Forward/reverse rotation pulse train for slot 2
CN1A-44 PP 3 NP 3 PG 3 NG 3: Forward/reverse rotation pulse train for slot 3
CN1A-45 PP 4 NP 4 PG 4 NG 4: Forward/reverse rotation pulse train for slot 4
DI-2
Forward rotation
pulse train 1
Reverse rotation
pulse train 1
PP 5 NP 5 PG 5 NG 5: Forward/reverse rotation pulse train for slot 5
PP 6 NP 6 PG 6 NG 6: Forward/reverse rotation pulse train for slot 6
PP 7 NP 7 PG 7 NG 7: Forward/reverse rotation pulse train for slot 7
PP 8 NP 8 PG 8 NG 8: Forward/reverse rotation pulse train for slot 8
Used to enter a command pulse train.
CN1A-17
CN1A-18
CN1A-42
CN1A-43
CN1A-15
CN1A-16
CN1A-40
CN1A-41
CN1A-13
CN1A-14
CN1A-38
CN1A-39
CN1B-19
CN1B-20
CN1B-44
CN1B-45
CN1B-17
CN1B-18
CN1B-42
CN1B-43
CN1B-15
CN1B-16
CN1B-40
CN1B-41
CN1B-13
CN1B-14
CN1B-38
CN1B-39
Forward rotation
pulse train 2
Reverse rotation
pulse train 2
Forward rotation
pulse train 3
In the open collector system (max. input frequency 200kpps):
Forward rotation pulse train across PP -SG
Reverse rotation
pulse train 3
Reverse rotation pulse train across NP -SG
In the differential receiver system (max. input frequency 500kpps):
Forward rotation pulse train across PG -PP
Forward rotation
pulse train 4
Reverse rotation pulse train across NG -NP
Reverse rotation
pulse train 4
The command pulse train form can be changed using DRU parameter No.
21 (Function selection 3).
Forward rotation
pulse train 5
Reverse rotation
pulse train 5
Forward rotation
pulse train 6
Reverse rotation
pulse train 6
Forward rotation
pulse train 7
Reverse rotation
pulse train 7
Forward rotation
pulse train 8
Reverse rotation
pulse train 8
3 - 8
3. SIGNALS AND WIRING
(2) Output signals
Connector
pin No.
Signal
Symbol
Functions/Applications
I/O division
Trouble A
ALM_A CN1A-27 ALM_A: Alarm signal for slot 1 to 4
DO-1
ALM_B: Alarm signal for slot 5 to 8
Trouble B
ALM_B CN1B-27
ALM -SG are disconnected when power is switched off or the
protective circuit is activated to shut off the base circuit. Without
alarm, ALM -SG are connected within about 3s after power on.
Ready 1
Ready 2
Ready 3
Ready 4
Ready 5
Ready 6
Ready 7
Ready 8
RD 1
RD 2
RD 3
RD 4
RD 5
RD 6
RD 7
RD 8
CN1A-11 RD 1: Ready signal for slot 1
DO-1
RD 2: Ready signal for slot 2
CN1A-33
CN1A-6
RD 3: Ready signal for slot 3
RD 4: Ready signal for slot 4
CN1A-28
CN1B-11
CN1B-33
CN1B-6
RD 5: Ready signal for slot 5
RD 6: Ready signal for slot 6
RD 7: Ready signal for slot 7
RD 8: Ready signal for slot 8
CN1B-28
RD -SG are connected when the servo is switched on and the servo
amplifier is ready to operate.
In position 1
In position 2
In position 3
In position 4
In position 5
In position 6
In position 7
In position 8
INP 1
INP 2
INP 3
INP 4
INP 5
INP 6
INP 7
INP 8
CN1A-35 INP 1: In position signal for slot 1
DO-1
INP 2: In position signal for slot 2
CN1A-8
CN1A-30
CN1A-3
CN1B-35
CN1B-8
CN1B-30
CN1B-3
INP 3: In position signal for slot 3
INP 4: In position signal for slot 4
INP 5: In position signal for slot 5
INP 6: In position signal for slot 6
INP 7: In position signal for slot 7
INP 8: In position signal for slot 8
INP -SG are connected when the number of droop pulses is in the
preset in-position range. The in-position range can be changed using
DRU parameter No. 5.
When the in-position range is increased, INP -SG may be kept
connected during low-speed rotation.
Encoder Z-phase
pulse 1
OP 1
OP 2
OP 3
OP 4
OP 5
OP 6
OP 7
OP 8
MO1
MO2
MO3
CN1A-25 OP 1: Encoder Z-phase pulse signal for slot 1
OP 2: Encoder Z-phase pulse signal for slot 2
DO-2
OP 3: Encoder Z-phase pulse signal for slot 3
Encoder Z-phase
pulse 2
CN1A-24
CN1A-23
CN1A-22
CN1B-25
CN1B-24
CN1B-23
CN1B-22
CN3-4
OP 4: Encoder Z-phase pulse signal for slot 4
OP 5: Encoder Z-phase pulse signal for slot 5
Encoder Z-phase
pulse 3
OP 6: Encoder Z-phase pulse signal for slot 6
OP 7: Encoder Z-phase pulse signal for slot 7
Encoder Z-phase
pulse 4
OP 8: Encoder Z-phase pulse signal for slot 8
Outputs the zero-point signal of the encoder. One pulse is output per
servo motor revolution. OP and LG are connected when the zero-point
position is reached. (Negative logic)
Encoder Z-phase
pulse 5
Encoder Z-phase
pulse 6
The minimum pulse width is about 400 s. For home position return
using this pulse, set the creep speed to 100r/min. or less.
Encoder Z-phase
pulse 7
Encoder Z-phase
pulse 8
Analog monitor 1
Used to output the data set in IFU parameter No.3 (Analog monitor 1
output) to across MO1-LG in terms of voltage. Resolution 10 bits
Analog
output
Analog
output
Analog
output
Analog monitor 2
Analog monitor 3
CN3-14 Used to output the data set in IFU parameter No.4 (Analog monitor 2
output) to across MO2-LG in terms of voltage. Resolution 10 bits
CN3-7
Used to output the data set in IFU parameter No.5 (Analog monitor 3
output) to across MO3-LG in terms of voltage. Resolution 10 bits
3 - 9
3. SIGNALS AND WIRING
(3) Communication
POINT
Refer to Chapter 13 for the communication function.
Connector
pin No.
Signal
Symbol
Functions/Applications
RS-422 I/F
SDP
SDN
RDP
RDN
TRE
CN3-9
RS-422 and RS-232C functions cannot be used together.
CN3-19 Choose either one in IFU parameter No. 16.
CN3-5
CN3-15
RS-422
CN3-10 Termination resistor connection terminal of RS-422 interface.
When the servo amplifier is the termination axis, connect this terminal to RDN
(CN3-15).
termination
RS-232C I/F
RXD
TXD
CN3-2
RS-422 and RS-232C functions cannot be used together.
CN3-12 Choose either one in IFU parameter No. 0.
(4) Power supply
Connector
Signal
Symbol
Functions/Applications
pin No.
Digital I/F power
supply input
VIN
CN1A-26 Driver power input terminal for digital interface.
CN1B-26 Input 24VDC (300mA or more) for input interface.
24VDC 10%
Digital I/F
common
SG
P5
CN1A-1 Common terminal of VIN. Pins are connected internally.
CN1B-1 Separated from LG.
CN5-8
5V output
CN1A-49 Internal power supply for encoder Z-phase pulses. Connect P5-OP_VIN when using
CN1B-49 this power supply as an encoder Z-phase pulse common.
CN3-20 5VDC 5%
Encoder Z-phase
pulse power
supply
OP_VIN CN1A-47 Power input for encoder Z-phase pulse common. Connect P5-OP_VIN when using
CN1B-47 the 5V output (P5) as an encoder Z-phase pulse common. Supply power to OP_VIN
when using an external power supply as an encoder Z-phase pulse common. At this
time, do not connect P5-OP_VIN.
Encoder Z-phase
pulse common
CN1A-48 Common for encoder Z-phase pulses. Power input to OP_VIN is output from
OP_COM
CN1B-48 OP_COM.
Control common
LG
CN1A-50 Common terminal for MO1, MO2 and MO3.
CN1A-46
CN1A-21
CN1B-50
CN1B-46
CN1B-21
CN3-1
CN3-3
CN3-11
CN3-13
Shield
SD
Plate
Connect the external conductor of the shield cable.
3 - 10
3. SIGNALS AND WIRING
3.2.3 Detailed description of the signals
(1) Pulse train input
(a) Input pulse waveform selection
Encoder pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in DRU parameter No. 21.
Arrow
or
in the table indicates the timing of importing a pulse train.
A- and B-phase pulse trains are imported after they have been multiplied by 4.
Forward rotation
command
Reverse rotation
command
DRU parameter No. 21
(Command pulse train)
Pulse train form
Forward rotation
pulse train
PP
0010
0011
Reverse rotation
pulse train
NP
PP
Pulse train sign
L
H
NP
PP
A-phase pulse train
B-phase pulse train
0012
NP
PP
Forward rotation
pulse train
0000
0001
0002
Reverse rotation
pulse train
NP
PP
NP
Pulse train sign
L
H
PP
NP
A-phase pulse train
B-phase pulse train
3 - 11
3. SIGNALS AND WIRING
(b) Connections and waveforms
1) Open collector system
Connect as shown below:
Servo amplifier
OPC
24VDC
PP
Approx. 1.2k
Approx. 1.2k
NP
SD
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (DRU parameter No.21 has been set to 0010). The waveforms
in the table in (a), (1) of this section are voltage waveforms of PP and NP based on SG. Their
relationships with transistor ON/OFF are as follows:
Forward rotation
pulse train
(transistor)
(ON) (OFF) (ON) (OFF) (ON)
(OFF)
Reverse rotation
pulse train
(transistor)
(OFF)
(ON) (OFF) (ON) (OFF) (ON)
Reverse rotation command
Forward rotation command
3 - 12
3. SIGNALS AND WIRING
2) Differential line driver system
Connect as shown below:
Servo amplifier
PP
PG
NP
NG
SD
The explanation assumes that the input waveform has been set to the negative logic and forward
and reverse rotation pulse trains (DRU parameter No.21 has been set to 0010).
For the differential line driver, the waveforms in the table in (a), (1) of this section are as follows.
The waveforms of PP , PG , NP and NG are based on that of the ground of the differential
line driver.
Forward rotation
pulse train
PP
PG
Reverse rotation
pulse train
NP
NG
Forward rotation command
Reverse rotation command
3 - 13
3. SIGNALS AND WIRING
(2) In-position (INP )
PF-SG are connected when the number of droop pulses in the deviation counter falls within the preset
in-position range (DRU parameter No. 5). INP -SG may remain connected when low-speed operation
is performed with a large value set as the in-position range.
ON
Servo-on(SON
Alarm
)
OFF
Yes
No
In-position range
Droop pulses
ON
In position(INP
)
OFF
(3) Ready (RD )
ON
Servo-on(SON
Alarm
)
OFF
Yes
No
100ms less
10ms less
10ms less
ON
Ready(RD
)
OFF
3 - 14
3. SIGNALS AND WIRING
3.2.4 Internal connection diagram
MR-J2M-P8A
(Note)
symbol
CN1A
slot 1
CN1A (Note)
slot 2 slot 3 slot 4
symbol
ALM_A
slot 2 slot 3 slot 4
27
slot 1
VIN
SG
26
1
SON
CR
37
12
36
10
34
9
32
7
5
29
4
11
35
25
33
8
6
28
3
RD
INP
OP
LG
Approx.6.8k
Approx.6.8k
30
23
RES
OPC
31
24
22
2
21, 46, 50
49
PG
PP
NG
44
19
45
20
42
17
43
18
40
15
41
16
38
13
39
14
Approx.1.2k
Approx.100
Approx.100
5VDC
5V
P5
OP_VIN
OP_COM
47
Approx.1.2k
48
NP
SD
SD
Plate
Plate
CN1B
CN1B (Note)
symbol
(Note)
symbol
slot 5 slot 6 slot 7 slot 8
2
slot 6 slot 7 slot 8
slot 5
25
OPC
PG
OP_VIN
OP_COM
P5
47
48
49
44
19
45
20
42
17
43
18
40
15
41
16
38
13
39
14
Approx.100
Approx.100
Approx.1.2k
Approx.1.2k
PP
NG
NP
24
23
22
OP
LG
21, 46, 50
27
ALM_B
RD
VIN
SG
26
1
11
35
33
8
6
28
3
INP
SD
30
SON
CR
37
12
36
10
34
9
32
7
5
29
4
Approx.6.8k
Plate
RES
SD
31
Approx.6.8k
Plate
CN5
CN3
4
symbol
slot 1 to 8
MO1
MO2
MO3
EMG_A
EMG_B
20
19
Approx.6.8k
Approx.6.8k
14
7
CN5
(Note)
symbol
slot 1 slot 2 slot 3 slot 4
LSP
LSN
1
2
3
4
5
6
7
LG
SD
11
Approx.6.8k
Approx.6.8k
10
Plate
TXD
RXD
SDP
SDN
RDP
RDN
12
2
(Note) CN5
9
symbol
LSP
slot 5 slot 6 slot 7 slot 8
19
5
11
12
13
14
15
16
17
18
Approx.6.8k
Approx.6.8k
LSN
SG
15
8
Note. in Symbol indicates the slot number.
3 - 15
3. SIGNALS AND WIRING
3.2.5 Interface
(1) Common line
The following diagram shows the power supply and its common line.
Interface unit
INP , etc.
SD
24VDC
RA
VIN
SON , etc.
SG
MO1
MO2
MO3
Analog monitor output
DI-1
OPC
LG
(Note)
PG NG
SDP
SDN
RDP
RDN
LG
PG NP
SG
RS-422
SD
Base unit
TXD
RXD
RS-232C
Drive unit
Servo motor encoder
MR
MRR
LG
SD
Servo motor
M
E
Extension IO unit
LA, etc.
LAR, etc.
LG
Differential line driver output
35mA max.
SD
Ground
SG
MBR
VIN
RA
DI-1
EM1
24VDC
Note. Assumes a differential line driver pulse train input.
3 - 16
3. SIGNALS AND WIRING
(2) Detailed description of the interfaces
This section gives the details of the I/O signal interfaces (refer to I/O Division in the table) indicated in
Sections 3.2.2.
Refer to this section and connect the interfaces with the external equipment.
(a) Digital input interface DI-1
Give a signal with a relay or open collector transistor.
Interface unit
24VDC
300mA or more
R: Approx. 4.7k
VIN
For transistor
Approx. 5mA
SON
etc.
Switch
SG
TR
VCES 1.0V
I CE0 100
A
(b) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Provide a diode (D) for an inductive load, or an inrush
current suppressing resister (R) for a lamp load. (Permissible current: 40mA or less, inrush
current: 100mA or less)
1) Inductive load
Interface unit
VIN
24VDC
Load
10%
ALM_
etc.
SG
Opposite polarity of diode
will fail interface unit.
2) Lamp load
Interface unit
VIN
R
24VDC
10%
ALM_
etc.
SG
3 - 17
3. SIGNALS AND WIRING
(c) Pulse train input interface DI-2
Give a pulse train signal in an open collector or differential line driver system.
1) Open collector system
Interface unit
24VDC
OPC
Max. input pulse
frequency 200kpps
2m(78.74in)
Approx.
or less
1.2k
PP , NP
SD
tc
tHL
tLH tHL 0.2
s
0.9
0.1
tc
tF
2
3
s
s
PP
NP
tc
tLH
tF
2) Differential line driver system
Interface unit
Max. input pulse
frequency 500kpps
10m (393.70in) or less
PP (NP
)
About 100
)
PG (NG
SD
Am26LS31 or equivalent
tc
tHL
tLH tHL 0.1
tc 0.7 s
s
0.9
PG
PP
NP
tF
3
s
0.1
tc
tLH
tF
NG
3 - 18
3. SIGNALS AND WIRING
(d) Encoder pulse output DO-2
1) Open collector system
Max. intake current 35mA
Interface unit
Interface unit
5 to 24VDC
OP
LG
OP
LG
Photocoupler
SD
SD
2) Differential line driver system
Max. output current 35mA
extension IO unit
LA
extension IO unit
High-speed
photocoupler
LA
Am26LS32 or equivalent
150
100
(LB , LZ
)
(LB , LZ
)
LAR
LAR
(LBR , LZR
)
(LBR , LZR
)
LG
SD
SD
Sarvo motor CCW rotation
LA
LAR
LB
T
LBR
/2
LZ
LZR
400 s or more
OP
(e) Analog output
Output voltage: 4V
Max. output current: 0.5mA
Resolution: 10bit
Interface unit
10k
MO
Reading in one or both
directions 1mA meter.
A
LG
SD
3 - 19
3. SIGNALS AND WIRING
3.3 Signal and wiring for extension IO unit
3.3.1 Connection example
POINT
The pins without symbols can be assigned any devices using the MR
Configurator (servo configuration software).
MR-J2M-D01
(Note 2)
(Note 2)
CN4A
(Note 3)
24VDC
(Note 1)
CN4A
VIN
SG
CN4B-11
11, 36
12, 37
1
9
RA1
RA2
RA3
RA4
Approx. 6.8k
10
34
35
2
3
4
5
6
(Note 2)
CN4A
7
8
13, 38 LG
26
27
28
29
30
31
32
33
50 LA1
25 LAR1
49 LB1
24 LBR1
48 LZ1
23 LZR1
47 LA2
22 LAR2
46 LB2
21 LBR2
45 LZ2
20 LZR2
44 LA3
19 LAR3
43 LB3
18 LBR3
42 LZ3
17 LZR3
41 LA4
16 LAR4
40 LB4
15 LBR4
39 LZ4
14 LZR4
plate SD
Encoder A-phase pulse 1
(Differential line driver system)
Encoder B-phase pulse 1
(Differential line driver system)
Encoder Z-phase pulse 1
(Differential line driver system)
Approx. 6.8k
Encoder A-phase pulse 2
(Differential line driver system)
Encoder B-phase pulse 2
(Differential line driver system)
Encoder Z-phase pulse 2
(Differential line driver system)
Encoder A-phase pulse 3
(Differential line driver system)
Encoder B-phase pulse 3
(Differential line driver system)
Encoder Z-phase pulse 3
(Differential line driver system)
Encoder A-phase pulse 4
(Differential line driver system)
Encoder B-phase pulse 4
(Differential line driver system)
Encoder Z-phase pulse 4
(Differential line driver system)
3 - 20
3. SIGNALS AND WIRING
(Note 2)
CN4B
(Note 2)
CN4B
CN4A-11
LG
13, 38
1
Approx. 6.8k
2
3
50 LA5
25 LAR5
49 LB5
24 LBR5
48 LZ5
23 LZR5
47 LA6
22 LAR6
46 LB6
21 LBR6
45 LZ6
20 LZR6
44 LA7
19 LAR7
43 LB7
18 LBR7
42 LZ7
17 LZR7
41 LA8
16 LAR8
40 LB8
15 LBR8
39 LZ8
14 LZR8
Encoder A-phase pulse 5
(Differential line driver system)
4
Encoder B-phase pulse 5
(Differential line driver system)
5
6
7
Encoder Z-phase pulse 5
(Differential line driver system)
8
26
27
28
29
30
31
32
33
Encoder A-phase pulse 6
(Differential line driver system)
Encoder B-phase pulse 6
(Differential line driver system)
Encoder Z-phase pulse 6
(Differential line driver system)
Approx. 6.8k
SG
12, 37
Encoder A-phase pulse 7
(Differential line driver system)
VIN 11, 36
Encoder B-phase pulse 7
(Differential line driver system)
Encoder Z-phase pulse 7
(Differential line driver system)
Encoder A-phase pulse 8
(Differential line driver system)
Encoder B-phase pulse 8
(Differential line driver system)
Encoder Z-phase pulse 8
(Differential line driver system)
plate
SD
(Note 2)
CN4B
(Note 1)
RA7
9
RA8
RA9
10
34
35
RA10
MR-J2M-D01
Note 1. Connect the diodes in the correct orientation. Opposite connection may cause the servo amplifier to be faulty and
disable the signals from being output, making the forced stop and other protective circuits inoperative.
2. The signals having the same name are connected to the inside of the servo amplifier.
3. Always connect 24VDC (200mA).
3 - 21
3. SIGNALS AND WIRING
3.3.2 Connectors and signal configurations
(1) Signal configurations
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
The pins without symbols can be assigned any devices using the MR
Configurator (servo configuration software).
CN4A
50
CN4B
25
LAR1
23
50
LA5
48
25
LAR5
23
49
LB1
47
24
LBR1
22
49
LB5
47
24
LBR5
22
LA1
48
LZ1
46
LZR1
21
LZ5
46
LZR5
21
LA2
45
LAR2
20
LA6
45
LAR6
20
LB2
44
LBR2
19
LB6
44
LBR6
19
LZ2
43
LZR2
18
LZ6
43
LZR6
18
LA3
42
LAR3
17
LA7
42
LAR7
17
LB3
41
LBR3
16
LB7
41
LBR7
16
LZ3
40
LZR3
15
LZ7
40
LZR7
15
LA4
39
LAR4
14
LA8
39
LAR8
14
LB4
38
LBR4
13
LB8
38
LBR8
13
LZ4
37
LZR4
12
LZ8
37
LZR8
12
LG
36
LG
LG
36
LG
SG
35
SG
SG
35
SG
11
11
10
10
VIN
34
VIN
9
VIN
34
VIN
9
33
31
29
27
8
6
4
2
33
31
29
27
8
6
4
2
32
30
28
26
7
5
3
1
32
30
28
26
7
5
3
1
3 - 22
3. SIGNALS AND WIRING
3.3.3 Signal explanations
For the IO interfaces (system in I/O column in the table), refer to section 3.2.5.
(1) Input signal
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
CN4A-1
CN4A-2
CN4A-3
CN4A-4
DI-1
No signals are factory-assigned to these pins. Using the MR Configurator
(servo configuration software), you can assign the input devices for
corresponding slots as signals. Refer to Section 3.3.4 for assignable devices.
Device Name
Symbol
SON
RES
PC
Device Name
Forward rotation stroke end
Reverse rotation stroke end
Clear
Symbol
LSP
LSN
CR
CN4A-5
CN4A-6
CN4A-7
CN4A-8
CN4A-26
CN4A-27
CN4A-28
CN4A-29
Servo-on
Reset
Proportion control
Internal torque limit selection
Electronic gear selection 1
Electronic gear selection 2
Gain switching selection
TL1
(Note) External torque limit
(Note) Speed selection 1
(Note) Speed selection 2
(Note) Speed selection 3
TL
CM1
CM2
CDP
SP1
SP2
SP3
CN4A-30
CN4A-31
CN4A-32
CN4A-33
CN4B-1
CN4B-2
CN4B-3
CN4B-4
CN4B-5
CN4B-6
CN4B-7
CN4B-8
CN4B-26
CN4B-27
CN4B-28
CN4B-29
CN4B-30
CN4B-31
CN4B-32
CN4B-33
Note. You cannot select these devices when using the MR-J2M-P8A interface
unit.
(2) Output signal
Connector
pin No.
I/O
Signal
Symbol
Functions/Applications
division
No signals are factory-assigned to these pins. Using the MR Configurator
(servo configuration software), you can assign the input devices for
corresponding slots as signals. Refer to Section 3.3.4 for assignable devices.
DO-1
CN4A-9
CN4A-10
CN4A-34
CN4A-35
CN4B-9
Device Name
Symbol
Device Name
Symbol
RD
Limiting torque
TLC
VLC
Ready
Electromagnetic brake interlock MBR
(Note) Limiting speed
Trouble
CN4B-10
CN4B-34
CN4B-35
In position
INP
SA
ALM_
WNG
BWNG
(Note) Up to speed
Zero speed detection
Warning
ZSP
Battery warning
Note. You cannot select these devices when using the MR-J2M-P8A interface
unit.
3 - 23
3. SIGNALS AND WIRING
Connector
I/O
Signal
Symbol
Functions/Applications
pin No.
division
Encoder A-phase
pulse 1
Encoder B-phase
pulse 1
LA1 CN4A-50 As LA , LAR , LB and LBR , the pulses per servo motor revolution set DO-2
LAR1 CN4A-25 in the DRU parameter No. 27 (Encoder output pulses) of the corresponding
LB1 CN4A-49 slots are output in the differential line driver system.
LBR1 CN4A-24 In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of /2.
LZ1
CN4A-48
Encoder Z-phase
pulse 1
The relationships between rotation direction and phase difference of the A-
and B-phase pulses can be changed using DRU parameter No. 54 (Function
selection 9).
LZR1 CN4A-23
LA2 CN4A-47
LAR2 CN4A-22
LB2 CN4A-46
LBR2 CN4A-21
Encoder A-phase
pulse 2
As LZ
and LZR
the zero-point signals of the encoders of the
Encoder B-phase
pulse 2
corresponding slots are output. One pulse is output per servo motor
revolution. The same signals as OP are output in the differential line
driver system.
LZ2
CN4A-45
Encoder Z-phase
pulse 2
LZR2 CN4A-20
LA3 CN4A-44
LAR3 CN4A-19
LB3 CN4A-43
LBR3 CN4A-18
Encoder pulse outputs for slot 1
Signal
Symbol
Encoder A-phase
pulse 3
Encoder A-phase pulse 1
Encoder B-phase pulse 1
Encoder Z-phase pulse 1
Encoder pulse outputs for slot 2
Signal
LA1 LAR1
LB1 LBR1
LZ1 LZR1
Encoder B-phase
pulse 3
LZ3
CN4A-42
Encoder Z-phase
pulse 3
LZR3 CN4A-17
LA4 CN4A-41
LAR4 CN4A-16
LB4 CN4A-40
LBR4 CN4A-15
Symbol
Encoder A-phase pulse 2
Encoder B-phase pulse 2
Encoder Z-phase pulse 2
LA2 LAR2
LB2 LBR2
LZ2 LZR2
Encoder A-phase
pulse 4
Encoder B-phase
pulse 4
Encoder pulse outputs for slot 3
LZ4
CN4A-39
Signal
Symbol
Encoder Z-phase
pulse 4
LZR4 CN4A-14
LA5 CN4B-50
LAR5 CN4B-25
LB5 CN4B-49
LBR5 CN4B-24
Encoder A-phase pulse 3
Encoder B-phase pulse 3
Encoder Z-phase pulse 3
LA3 LAR3
LB3 LBR3
LZ3 LZR3
Encoder A-phase
pulse 5
Encoder pulse outputs for slot 4
Encoder B-phase
pulse 5
Signal
Symbol
LZ5
CN4B-48
Encoder A-phase pulse 4
Encoder B-phase pulse 4
Encoder Z-phase pulse 4
LA4 LAR4
LB4 LBR4
LZ4 LZR4
Encoder Z-phase
pulse 5
LZR5 CN4B-23
LA6 CN4B-47
LAR6 CN4B-22
LB6 CN4B-46
LBR6 CN4B-21
Encoder A-phase
pulse 6
Encoder pulse outputs for slot 5
Signal
Symbol
Encoder B-phase
pulse 6
Encoder A-phase pulse 5
Encoder B-phase pulse 5
Encoder Z-phase pulse 5
LA5 LAR5
LB5 LBR5
LZ5 LZR5
LZ6
CN4B-45
Encoder Z-phase
pulse 6
LZR6 CN4B-20
LA7 CN4B-44
LAR7 CN4B-19
LB7 CN4B-43
LBR7 CN4B-18
Encoder pulse outputs for slot 6
Encoder A-phase
pulse 7
Signal
Symbol
Encoder A-phase pulse 6
Encoder B-phase pulse 6
Encoder Z-phase pulse 6
LA6 LAR6
LB6 LBR6
LZ6 LZR6
Encoder B-phase
pulse 7
LZ7
CN4B-42
Encoder Z-phase
pulse 7
LZR7 CN4B-17
LA8 CN4B-41
LAR8 CN4B-16
LB8 CN4B-40
LBR8 CN4B-15
Encoder pulse outputs for slot 7
Signal
Symbol
Encoder A-phase
pulse 8
Encoder A-phase pulse 7
Encoder B-phase pulse 7
Encoder Z-phase pulse 7
LA7 LAR7
LB7 LBR7
LZ7 LZR7
Encoder B-phase
pulse 8
LZ8
CN4B-39
Encoder pulse outputs for slot 8
Encoder Z-phase
pulse 8
LZR8 CN4B-14
Signal
Symbol
Encoder A-phase pulse 8
Encoder B-phase pulse 8
Encoder Z-phase pulse 8
LA8 LAR8
LB8 LBR8
LZ8 LZR8
3 - 24
3. SIGNALS AND WIRING
(3) Power supply
Connector
Signal
Symbol
Functions/Applications
pin No.
Power input for
digital interface
VIN
CN4A-11 Driver power input terminal for digital interface.
CN4A-36 Used to input 24VDC (200mA or more) for input interface.
CN4B-11 24VDC 10%
CN4B-36 Not connected to VIN of the interface unit.
CN4A-12 Common terminal to VIN. Pins are connected internally.
CN4A-37 Separated from LG.
Common for
SG
LG
SD
digital interface
CN4B-12 Not connected to SG of the interface unit.
CN4B-37
Control common
Shield
CN4A-13 Common terminal to MO1, MO2 and MO3.
CN4A-38
CN4B-13
CN4B-38
Plate
Connect the external conductor of the shield cable.
3 - 25
3. SIGNALS AND WIRING
3.3.4 Device explanations
(1) Input device
Using the MR Configurator (servo configuration software), you can assign the devices given in this
section to the pins of connectors CN4A and CN4B of the MR-J2M-D01 extension IO unit.
Device name
Symbol
Functions/Applications
Internal torque limit selection 1
Internal torque limit selection 2
Internal torque limit selection 3
Internal torque limit selection 4
Internal torque limit selection 5
Internal torque limit selection 6
Internal torque limit selection 7
Internal torque limit selection 8
TL11
TL12
TL13
TL14
TL15
TL16
TL17
TL11: Internal torque limit selection device for slot 1
TL12: Internal torque limit selection device for slot 2
TL13: Internal torque limit selection device for slot 3
TL14: Internal torque limit selection device for slot 4
TL15: Internal torque limit selection device for slot 5
TL16: Internal torque limit selection device for slot 6
TL17: Internal torque limit selection device for slot 7
TL18: Internal torque limit selection device for slot 8
Refer to Section 3.3.5 (2) for details.
TL18
Proportion control 1
Proportion control 2
Proportion control 3
Proportion control 4
Proportion control 5
Proportion control 6
Proportion control 7
Proportion control 8
PC1
PC2
PC3
PC4
PC5
PC6
PC7
PC8
PC1: Proportion control device for slot 1
PC2: Proportion control device for slot 2
PC3: Proportion control device for slot 3
PC4: Proportion control device for slot 4
PC5: Proportion control device for slot 5
PC6: Proportion control device for slot 6
PC7: Proportion control device for slot 7
PC8: Proportion control device for slot 8
Short PC -SG to switch the speed amplifier from the proportional integral
type to the proportional type.
If the servo motor at a stop is rotated even one pulse due to any external
factor, it generates torque to compensate for a position shift. When the servo
motor shaft is to be locked mechanically after positioning completion (stop),
switching on the proportion control (PC ) upon positioning completion will
suppress the unnecessary torque generated to compensate for a position shift.
3 - 26
3. SIGNALS AND WIRING
Device name
Symbol
Functions/Applications
Electronic gear selection 11
Electronic gear selection 12
Electronic gear selection 13
Electronic gear selection 14
Electronic gear selection 15
Electronic gear selection 16
Electronic gear selection 17
Electronic gear selection 18
Electronic gear selection 21
Electronic gear selection 22
Electronic gear selection 23
Electronic gear selection 24
Electronic gear selection 25
Electronic gear selection 26
Electronic gear selection 27
Electronic gear selection 28
CM11
CM12
CM13
CM14
CM15
CM16
CM17
CM18
CM21
CM22
CM23
CM24
CM25
CM26
CM27
CM28
CM11: Electronic gear selection 1 device for slot 1
CM12: Electronic gear selection 1 device for slot 2
CM13: Electronic gear selection 1 device for slot 3
CM14: Electronic gear selection 1 device for slot 4
CM15: Electronic gear selection 1 device for slot 5
CM16: Electronic gear selection 1 device for slot 6
CM17: Electronic gear selection 1 device for slot 7
CM18: Electronic gear selection 1 device for slot 8
CM21: Electronic gear selection 2 device for slot 1
CM22: Electronic gear selection 2 device for slot 2
CM23: Electronic gear selection 2 device for slot 3
CM24: Electronic gear selection 2 device for slot 4
CM25: Electronic gear selection 2 device for slot 5
CM26: Electronic gear selection 2 device for slot 6
CM27: Electronic gear selection 2 device for slot 7
CM28: Electronic gear selection 2 device for slot 8
The combination of CM1 -SG and CM2 -SG gives you a choice of four
different electronic gear numerators set in the DRU parameters.
CM1 and CM2 cannot be used in the absolute position detection system.
(Note) Input signal
Electronic gear numerator
CM2
CM1
0
0
1
1
0
1
0
1
DRU parameter No.3
DRU parameter No.69
DRU parameter No.70
DRU parameter No.71
Note. 0: Off across terminal-SG (open)
1: On across terminal-SG (shorted)
Gain switching 1
Gain switching 2
Gain switching 3
Gain switching 4
Gain switching 5
Gain switching 6
Gain switching 7
Gain switching 8
CDP1
CDP2
CDP3
CDP4
CDP5
CDP6
CDP7
CDP8
CDP1: Gain switching device for slot 1
CDP2: Gain switching device for slot 2
CDP3: Gain switching device for slot 3
CDP4: Gain switching device for slot 4
CDP5: Gain switching device for slot 5
CDP6: Gain switching device for slot 6
CDP7: Gain switching device for slot 7
CDP8: Gain switching device for slot 8
Connect CDP -SG to change the load inertia moment ratio into the DRU
parameter No. 61 setting and the gain values into the values multiplied by the
DRU parameter No. 62 to 64 settings.
3 - 27
3. SIGNALS AND WIRING
(2) Output device
Device name
Symbol
Functions/Applications
Ready 1
Ready 2
Ready 3
Ready 4
Ready 5
Ready 6
Ready 7
Ready 8
RD1
RD2
RD3
RD4
RD5
RD6
RD7
RD8
RD1: Ready device for slot 1
RD2: Ready device for slot 2
RD3: Ready device for slot 3
RD4: Ready device for slot 4
RD5: Ready device for slot 5
RD6: Ready device for slot 6
RD7: Ready device for slot 7
RD8: Ready device for slot 8
RD -SG are connected when the servo is switched on and the servo amplifier
is ready to operate.
In position 1
In position 2
In position 3
In position 4
In position 5
In position 6
In position 7
In position 8
INP1
INP2
INP3
INP4
INP5
INP6
INP7
INP8
INP1: In position device for slot 1
INP2: In position device for slot 2
INP3: In position device for slot 3
INP4: In position device for slot 4
INP5: In position device for slot 5
INP6: In position device for slot 6
INP7: In position device for slot 7
INP8: In position device for slot 8
INP -SG are connected when the number of droop pulses is in the preset in-
position range. The in-position range can be changed using DRU parameter
No. 5.
When the in-position range is increased, INP -SG may be kept connected
during low-speed rotation.
Limiting torque 1
Limiting torque 2
Limiting torque 3
Limiting torque 4
Limiting torque 5
Limiting torque 6
Limiting torque 7
Limiting torque 8
TLC1
TLC2
TLC3
TLC4
TLC5
TLC6
TLC7
TLC8
TLC1: Limiting torque device for slot 1
TLC2: Limiting torque device for slot 2
TLC3: Limiting torque device for slot 3
TLC4: Limiting torque device for slot 4
TLC5: Limiting torque device for slot 5
TLC6: Limiting torque device for slot 6
TLC7: Limiting torque device for slot 7
TLC8: Limiting torque device for slot 8
TLC -SG are connected when the torque generated reaches the value set to
the internal torque limit 1 (DRU parameter No. 28) or internal torque limit
2(DRU parameter No. 76).
Zero speed detection 1
Zero speed detection 2
Zero speed detection 3
Zero speed detection 4
Zero speed detection 5
Zero speed detection 6
Zero speed detection 7
Zero speed detection 8
ZSP1
ZSP2
ZSP3
ZSP4
ZSP5
ZSP6
ZSP7
ZSP8
ZSP1: Zero speed detection device for slot 1
ZSP2: Zero speed detection device for slot 2
ZSP3: Zero speed detection device for slot 3
ZSP4: Zero speed detection device for slot 4
ZSP5: Zero speed detection device for slot 5
ZSP6: Zero speed detection device for slot 6
ZSP7: Zero speed detection device for slot 7
ZSP8: Zero speed detection device for slot 8
ZSP -SG are connected when the servo motor speed is zero speed (50r/min)
or less. Zero speed can be changed using DRU parameter No. 24.
MBR1: Electromagnetic brake interlock device for slot 1
MBR2: Electromagnetic brake interlock device for slot 2
MBR3: Electromagnetic brake interlock device for slot 3
MBR4: Electromagnetic brake interlock device for slot 4
MBR5: Electromagnetic brake interlock device for slot 5
MBR6: Electromagnetic brake interlock device for slot 6
MBR7: Electromagnetic brake interlock device for slot 7
MBR8: Electromagnetic brake interlock device for slot 8
In the servo-off or alarm status, MBR -SG are disconnected.
Electromagnetic brake interlock 1
Electromagnetic brake interlock 2
Electromagnetic brake interlock 3
Electromagnetic brake interlock 4
Electromagnetic brake interlock 5
Electromagnetic brake interlock 6
Electromagnetic brake interlock 7
Electromagnetic brake interlock 8
MBR1
MBR2
MBR3
MBR4
MBR5
MBR6
MBR7
MBR8
3 - 28
3. SIGNALS AND WIRING
Device name
Symbol
Functions/Applications
Warning 1
Warning 2
Warning 3
Warning 4
Warning 5
Warning 6
Warning 7
Warning 8
WNG1 WNG1: Warning device for slot 1
WNG2: Warning device for slot 2
WNG2
WNG3
WNG4
WNG5
WNG6
WNG7
WNG8
WNG3: Warning device for slot 3
WNG4: Warning device for slot 4
WNG5: Warning device for slot 5
WNG6: Warning device for slot 6
WNG7: Warning device for slot 7
WNG8: Warning device for slot 8
When warning has occurred, WNG -SG are connected.
When there is no warning, WNG -SG are disconnected within about 3 second
after power-on.
Battery warning 1
Battery warning 2
Battery warning 3
Battery warning 4
Battery warning 5
Battery warning 6
Battery warning 7
Battery warning 8
BWNG1 BWNG1: Battery warning device for slot 1
BWNG2: Battery warning device for slot 2
BWNG2
BWNG3
BWNG4
BWNG5
BWNG6
BWNG7
BWNG8
BWNG3: Battery warning device for slot 3
BWNG4: Battery warning device for slot 4
BWNG5: Battery warning device for slot 5
BWNG6: Battery warning device for slot 6
BWNG7: Battery warning device for slot 7
BWNG8: Battery warning device for slot 8
BWNG -SG are connected when battery cable breakage warning (A.92) or
battery warning (A.9F) has occurred.
When there is no battery warning, BWNG -SG are disconnected within
about 3 second after power-on
3 - 29
3. SIGNALS AND WIRING
3.3.5 Detailed description of the device
(1) Electronic gear switching
The combination of CM1 -SG and CM2 -SG gives you a choice of four different electronic gear
numerators set in the DRU parameters.
As soon as Electronic gear selection (CM1
/ Electronic gear selection 2 (CM2
is turned ON or
)
)
OFF, the denominator of the electronic gear changes. Therefore, if any shock occurs at this change, use
position smoothing (DRU parameter No. 7) to relieve shock.
(Note) External input signal
Electronic gear numerator
CM2
CM1
0
0
1
1
0
1
0
1
DRU parameter No. 3
DRU parameter No. 69
DRU parameter No. 70
DRU parameter No. 71
Note. 0: CM1 /CM2 -SG off(open)
1: CM1 /CM2 -SG on(short)
(2) Torque limit
Releasing the torque limit during servo lock may cause the servo motor to
suddenly rotate according to the position deviation from the instructed position.
CAUTION
(a) Torque limit and torque
By setting DRU parameter No. 28 (internal torque limit 1), and DRU parameter No. 76 (internal
torque limit 2), torque is always limited to the maximum value during operation. A relationship
between the limit value and servo motor torque is shown below.
Max. torque
0
0
100
Torque limit value [%]
(b) Torque limit value selection
By making internal torque limit selection (TL1 ) usable, you can select the torque limit value as
indicated below.
(Note 1) External input signals
(Note 2) Torque limit value made valid
TL1
0
Internal torque limit 1 (DRU parameter No. 28)
DRU parameter No. 76 DRU parameter No. 28: DRU parameter No. 28
DRU parameter No. 76 DRU parameter No. 28: DRU parameter No. 76
1
Note 1. 0: TL1 -SG off (open)
1: TL1 -SG on (short)
2. Releasing the torque limit during servo lock may cause the servo motor to suddenly rotate according to the position
deviation from the instructed position.
(c) Limiting torque (TLC )
TLC-SG are connected when the torque by the servo motor reaches the torque set to internal
torque limit 1 or internal torque limit 2.
3 - 30
3. SIGNALS AND WIRING
3.3.6 Device assignment method
POINT
When using the device setting, preset "000E" in IFU parameter No. 19.
(1) How to open the setting screen
Click "Parameters" on the menu bar and click "Device setting" in the menu.
Making selection displays the following window.
Click "Yes" button reads and displays the function assigned to each pin from the interface unit and
extension IO unit.
Click "No" button displays the initial status of the interface unit and extension IO unit.
Click "Cancel" button terminates the processing.
Click "Yes" button or "No" button displays the following two windows.
3 - 31
3. SIGNALS AND WIRING
(2) Screen explanation
(a) DIDO device setting window screen
This is the device assignment screen of the interface unit/option unit. In Dev. selection, choose the
IFU (interface unit) or D01 (extension IO unit). Making selection displays the pin assignment
status per unit.
a)
b)
d)
c)
1) Read of function assignment ( a))
Click the "Read" button reads and displays all functions assigned to the pins from the interface
unit and extension IO unit.
2) Write of function assignment ( b))
Click the "Write" button writes all pins that are assigned the functions to the interface unit and
extension IO unit.
3) Verify of function assignment ( c))
Click the "Verify" button verifies the function assignment in the interface unit and extension IO
unit with the device information on the screen.
4) Initial setting of function assignment ( d))
Click the "Set to Default" button initializes the function assignment.
3 - 32
3. SIGNALS AND WIRING
(b) DIDO function display window screen
This screen is used to select the slot numbers and functions assigned to the pins.
Choose the slot numbers in Input device slot selection and Output device slot selection.
The functions displayed below Input device function and Output device function are assignable.
a)
b)
In the DIDO function display window, choose the slot numbers where you want to assign the
functions.
Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you
want to assign in the DIDO device setting window.
1) Assignment check/auto ON setting ( a))
Press this button to display the screen that shows the slot-by-slot assignment list and enables
auto ON setting.
Refer to this section (4) for more information.
2) Quitting
Click "Close" button to exit from the window. ( b))
3 - 33
3. SIGNALS AND WIRING
(C) Function device assignment check/auto ON setting display
Click the "Function device assignment check/auto ON setting" button in the DIDO function display
window displays the following window.
a)
b)
c)
d)
e)
The assigned functions are indicated by
.
The functions assigned by auto ON are grayed. When you want to set auto ON to the function that
is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.
1) Auto ON read of function assignment ( a))
Click "Auto ON read" button reads the functions set for auto ON from the interface unit and
extension IO unit.
2) Auto ON write of function assignment ( b))
Click "Auto ON write" button writes the functions currently set for auto ON to the interface unit
and extension IO unit.
3) Auto ON verify of function assignment ( c))
Click "Auto ON verify" button verifies the current auto ON setting in the interface unit and
extension IO unit with the auto ON setting on the screen.
4) Auto ON initial setting of function assignment ( d))
Click "Auto ON initial setting" button initializes the auto ON setting.
5) Quitting the function device assignment checking/auto ON setting window ( e))
Click "Close" button exits from the window.
3 - 34
3. SIGNALS AND WIRING
3.4 Signals and wiring for base unit
When each unit has become faulty, switch power off on the servo amplifier power
side. Continuous flow of a large current may cause a fire.
Use the trouble (ALM_ to switch power off. Otherwise, a regenerative brake
)
transistor fault or the like may overheat the regenerative brake resistor, causing a
CAUTION
fire.
Fabricate the cables noting the shapes of the CNP1A housing (X type) and CNP1B
housing (Y type).
3.4.1 Connection example for power line circuit
Wire the power supply and main circuit as shown below so that the servo-on (SON
turns off as soon as
)
alarm occurrence, or a servo forced stop is made valid is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.
(1) For 3-phase 200 to 230VAC power supply
Forced
stop A
Forced
stop B
Trouble A
RA1
Trouble B
RA2
ON
MC
OFF
MC
SK
MELSERVO-J2M
CNP3
NFB
MC
L1
L2
L3
1
2
3
Power supply
3-phase
200 to 230VAC
CNP1B
CN1A
27
L11
1
2
RA1
ALM_A
VIN
Trouble A
L21
26
CN5
20
EMG_A
CN1B
Forced stop A
Forced stop B
EMG_B 19
SG
27 ALM_B
26
VIN
RA2
Trouble B
8
24VDC
3 - 35
3. SIGNALS AND WIRING
(2) For 1-phase 200 to 230 VAC power supply
Forced
stop A
Forced
stop B
Trouble A
RA1
Trouble B
RA2
ON
MC
OFF
MC
SK
NFB
MELSERVO-J2M
CNP3
MC
(Note)
L1
L2
L3
Power supply
1-phase
200 to 230VAC
1
2
3
CNP1B
CN1A
27
RA1
1
2
L11
L21
ALM_A
Trouble A
Trouble B
26
VIN
CN5
20
EMG_A
EMG_B
SG
CN1B
27
Forced stop A
Forced stop B
RA2
19
8
ALM_B
VIN
26
24VDC
Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.
3 - 36
3. SIGNALS AND WIRING
3.4.2 Connectors and signal configurations
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
CNP1B
(Y type)
CNP1A
(X type)
1
1
L11
2
Base unit
N
2
P
3
L21
3
C
CNP3
3
L3
2
L2
1
The connector frames are connected to
the PE (earth) terminal of the base unit.
L1
Cable side connector
Model
Connector
Maker
Housing: 1-178128-3 (X type)
CNP1A
Contact: 917511-2 (max. sheath OD: 2.8[mm] ( 0.11[in]))
353717-2 (max. sheath OD: 3.4[mm] ( 0.13[in])) (Note)
Housing: 2-178128-3 (Y type)
Tyco
CNP1B
CNP3
Contact: 917511-2 (max. sheath OD: 2.8[mm] ( 0.11[in]))
353717-2 (max. sheath OD: 3.4[mm] ( 0.13[in])) (Note)
Housing: 1-179958-3
Electronics
Contact: 316041-2
Note. This contact is not included in the option (MR-J2MCNM).
3 - 37
3. SIGNALS AND WIRING
3.4.3 Terminals
Refer to Section 10.2 for the layouts and signal configurations of the terminal blocks.
Connection target
Connector
Pin No.
Code
Description
(Application)
CNP3
(1) When using a three -phase power supply
1
2
3
L
L
L
1
2
3
Supply L , L and L with three-phase, 200 to 230VAC, 50/60Hz
1
2
3
power.
(2) When using a signal -phase power supply
Supply L and L with signal-phase, 200 to 230VAC, 50/60Hz
Main circuit power
1
2
power.
CNP1B
CNP1A
1
2
3
1
2
3
L
L
11
21
Supply L and L with single-phase, 200 to 230VAC, 50/60Hz
11 21
Control circuit power
power.
N
Connect the regenerative brake option across P-C.
Accidental connection of the regenerative brake option to P-N may
cause burning (Refer to Section 12.1.1)
Regenerative brake
option
P
C
Connect this terminal to the protective earth (PE) terminals of the
servo motor and control box for grounding.
Protective earth (PE)
(Earth)
3.4.4 Power-on sequence
(1) Power-on procedure
1) Always wire the power supply as shown in above Section 3.7.1 using the magnetic contactor with
the main circuit power supply (three-phase 200V: L1, L2, L3). Configure up an external sequence to
switch off the magnetic contactor as soon as an alarm occurs.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power
supply or before switching on the main circuit power supply. If the main circuit power supply is not
on, the display shows the corresponding warning. However, by switching on the main circuit power
supply, the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on (SON ) about 3s after the main circuit power supply is
switched on. Therefore, when SON is switched on simultaneously with the main circuit power
supply, the base circuit will switch on in about 1 to 2s, and the ready (RD ) will switch on in
further about 20ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this
section.)
4) When the reset (RES ) is switched on, the base circuit is shut off and the servo motor shaft coasts.
(2) Timing chart
SON accepted
(3s)
ON
Main circuit
control circuit
power
OFF
ON
Base circuit
OFF
10ms
10ms
10ms
10ms
100ms
20ms
Servo-on
ON
(SON
)
OFF
100ms
20ms
Reset
(RES
ON
)
OFF
20ms
10ms
ON
Ready
(RD
)
OFF
3 - 38
3. SIGNALS AND WIRING
(3) Forced stop
Install an forced stop circuit externally to ensure that operation can be stopped and
power shut off immediately.
CAUTION
Make up a circuit which shuts off main circuit power as soon as EMG_ -SG are opened at a forced
stop. To ensure safety, always install a forced stop switch across EMG_ -SG. By disconnecting
EMG_ -SG, the dynamic brake is operated to bring the servo motor to a stop. At this time, the
display shows the servo forced stop warning (A.E6).
During ordinary operation, do not use forced stop (EMG_ ) to alternate stop and run. The service life
of each drive unit may be shortened.
Interface unit
24VDC
VIN
EMG_A
EMG_B
SG
3.5 Connection of drive unit and servo motor
3.5.1 Connection instructions
Connect the wires to the correct phase terminals (U, V, W) of the drive unit and
servo motor. Otherwise, the servo motor will operate improperly.
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.
POINT
Do not apply the test lead bars or like of a tester directly to the pins of the
connectors supplied with the servo motor. Doing so will deform the pins,
causing poor contact.
The connection method differs according to the series and capacity of the servo motor and whether or not
the servo motor has the electromagnetic brake. Perform wiring in accordance with this section.
(1) The protective earth of the servo motor joins to the base unit via the drive unit mounting screw.
Connect the protective earth terminal of the base unit to the protective earth of the control box to
discharge electricity to the earth.
(2) The power supply for the electromagnetic brake should not be used as the 24VDC power supply for
interface. Always use the power supply for electromagnetic brake only.
3 - 39
3. SIGNALS AND WIRING
3.5.2 Connection diagram
The following table lists wiring methods according to the servo motor types. Use the connection diagram
which conforms to the servo motor used. For cables required for wiring, refer to Section 12.2.1. For
encoder cable connection, refer to Section 12.1.2. For the signal layouts of the connectors, refer to Section
3.5.3.
For the servo motor connector, refer to Chapter 3 of the Servo Motor Instruction Manual.
Servo motor
Connection diagram
Base unit Drive unit
Servo motor
Motor
CNP2
U (Red)
U
V
V (White)
W (Black)
W
(Note 1) (Note 3)
(Green)
(Earth)
24VDC
B1
B2
(Note 2)
Electro-
magnetic
brake
HC-KFS053 (B) to 73 (B)
HC-MFS053 (B) to 73 (B)
HC-UFS13 (B) to 73 (B)
EM1
To be shut off when servo-
on (SON ) switches off or
by trouble (ALM_
)
CN2
Encoder
Encoder cable
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the base
unit to the protective earth (PE) of the control box.
2. This circuit applies to the servo motor with electromagnetic brake.
3. The protective earth of the servo motor is connected to the base unit via the drive unit
mounting screw.
3 - 40
3. SIGNALS AND WIRING
3.5.3 I/O terminals
(1) Drive unit
POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.
CN2
20
P5
10
8
19
P5
9
Drive unit
BAT
7
18
17
P5
CNP2
MRR
15
MR
5
2
V
1
4
16
6
MD
4
MDR
14
3
U
W
13
3
12
2
11
1
LG
LG
Cable side connector
Model
Connector
LG
LG
Maker
1. Soldering type
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
2. Insulation displacement type
Connector: 10120-6000EL
Shell kit: 10320-3210-000
3M
CN2
Housing: 5557-04R-210
Terminal: 5556PBT3L
CNP2
molex
(2) Servo motor (HC-KFS HC-MFS HC-UFS3000r/min series)
Encoder connector signal arrangement
Power supply lead
4-AWG19 0.3m(0.98ft)
1
MR
4
2
MRR
5
3
BAT
6
Power supply connector (molex)
Without electromagnetic brake
Encoder cable 0.3m(0.98ft)
5557-04R-210 (receptacle)
With connector 1-172169-9
MD
7
MDR
8
5556PBTL (Female terminal)
(Tyco Electronics)
9
With electromagnetic brake
5557-06R-210 (receptacle)
P5
LG
SHD
5556PBTL (Female terminal)
Power supply
connector
5557-04R-210
Power supply
Signal
U
Pin
1
connector
5557-06R-210
Pin
1
Signal
U
V
W
2
3
1
2
3
4
1
2
3
4
5
6
2
3
V
W
4
(Earth)
B1
4
(Earth)
(Note) 5
(Note) 6
B2
Note. Supply electromagnetic brake power (24VDC).
There is no polarity.
3 - 41
3. SIGNALS AND WIRING
3.6 Alarm occurrence timing chart
When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
operation.
CAUTION
As soon as an alarm occurs, turn off Servo-on (SON ) and power off the main
circuit.
When an alarm occurs in the MELSERVO-J2M, the base circuit is shut off and the servo motor is
coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm,
switch the control circuit power supply from off to on, or turn the reset (RES ) from off to on. However,
the alarm cannot be reset unless its cause is removed.
(Note)
Main circuit
control circuit
power supply
ON
OFF
Power off
Power on
ON
OFF
Base circuit
Valid
Invalid
Dynamic brake
Servo-on
Brake operation
Brake operation
ON
(SON
)
OFF
Ready
ON
(RD
)
OFF
Trouble
(ALM_
ON
OFF
)
3s
ON
OFF
Reset
(RES
)
30ms or more
50ms or more
Alarm occurs.
Remove cause of trouble.
Note. Switch off the main circuit power as soon as an alarm occurs.
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A.32),
overload 1 (A.50) or overload 2 (A.51) alarm after its occurrence, without removing its cause, the servo
amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of
the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (A.30)
alarm after its occurrence, the external regenerative brake resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (A.10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 30ms or longer and the control
circuit is not completely off.
The bus voltage dropped to 200VDC or less.
(4) Incremental
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.
3 - 42
3. SIGNALS AND WIRING
3.7 Servo motor with electromagnetic brake
Configure the electromagnetic brake operation circuit so that it is activated not only
by the interface unit signals but also by an external forced stop (EMG_ ).
Contacts must be open when
Circuit must be
servo-on (SON ) is off, when an
opened during
trouble (ALM_ ) is present and
forced stop
when an electromagnetic brake
(EMG_ ).
interlock (MBR ).
Servo motor
RA EMG_
CAUTION
24VDC
Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.
POINT
Refer to the Servo Motor Instruction Manual for specifications such as the
power supply capacity and operation delay time of the electromagnetic
brake.
Note the following when the servo motor equipped with electromagnetic brake is used:
1) Using the MR Configurator (servo configuration software), make the electromagnetic brake
interlock (MBR ) valid.
2) Do not share the 24VDC interface power supply between the interface and electromagnetic
brake. Always use the power supply designed exclusively for the electromagnetic brake.
3) The brake will operate when the power (24VDC) switches off.
4) While the reset (RES
is on, the base circuit is shut off. When using the servo motor with a
)
vertical shaft, use the electromagnetic brake interlock (MBR ).
5) Switch off the servo-on (SON
command after the servo motor has stopped.
)
(1) Connection diagram
Interface unit
or
Forced stop A
extension IO unit
Servo motor
or
Forced stop B
RA
B1
B2
24VDC
SG
24VDC
RA
MBR
(2) Setting
1) Using the MR Configurator (servo configuration software), make the electromagnetic brake
interlock (MBR ) valid.
2) In DRU parameter No.33 (electromagnetic brake sequence output), set the delay time (Tb) from
electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart
in (3) in this section.
3 - 43
3. SIGNALS AND WIRING
(3) Timing charts
(a) Servo-on (SON
command (from controller) ON/OFF
)
Tb [ms] after the servo-on (SON ) is switched off, the servo lock is released and the servo motor
coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be
shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like,
set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent
a drop.
Coasting
0 r/min
Servo motor speed
(100ms)
(120ms)
Tb
ON
Base circuit
OFF
Electromagnetic brake
operation delay time
Invalid(ON)
Valid(OFF)
Electromagnetic
brake(MBR
)
ON
Servo-on(SON
)
OFF
(b) Forced stop (EMG_ ) ON/OFF
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Servo motor speed
Electromagnetic brake release
(180ms)
(10ms)
ON
Base circuit
OFF
(180ms)
Electromagnetic brake
operation delay time
Invalid (ON)
Electromagnetic
brake interlock (MBR
)
Valid (OFF)
Invalid (ON)
Valid (OFF)
Forced stop (EMG_
)
(c) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Base circuit
Electromagnetic brake
(10ms)
ON
OFF
Invalid(ON)
Electromagnetic brake
operation delay time
Electromagnetic
brake interlock (MBR
)
Valid(OFF)
No(ON)
Trouble (ALM_
)
Yes(OFF)
3 - 44
3. SIGNALS AND WIRING
(d) Both main and control circuit power supplies off
Dynamic brake
Dynamic brake
Electromagnetic brake
(10ms)
Servo motor speed
Electromagnetic brake
(Note)15 to 100ms
ON
Base circuit
OFF
Invalid(ON)
Electromagnetic
brake interlock(MBR
)
Valid(OFF)
No(ON)
Electromagnetic brake
operation delay time
Trouble (ALM_
)
Yes(OFF)
ON
Main circuit
Control circuit
power
OFF
Note. Changes with the operating status.
(e) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake
Electromagnetic brake
(10ms)
Servo motor speed
Electromagnetic brake
(Note 1)15ms or more
ON
Base circuit
OFF
Invalid(ON)
Electromagnetic
brake interlock
Valid(OFF)
Electromagnetic brake
operation delay time
(Note 2)
(MBR
)
No(ON)
Trouble (ALM_
)
Yes(OFF)
ON
Main circuit power
supply
OFF
Note 1. Changes with the operating status.
2. When the main circuit power supply is off in a motor stop status,
the main circuit off warning (A.E9) occurs and the trouble (ALM_ ) does not turn off.
3 - 45
3. SIGNALS AND WIRING
3.8 Grounding
Ground the base unit and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal of
the base unit with the protective earth (PE) of the control box.
WARNING
The base unit switches the power transistor on-off to supply power to the servo motor. Depending on the
wiring and ground cablerouting, MELSERVO-J2M may be affected by the switching noise (due to di/dt
and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Base unit
Power
supply
NFB
Servo motor
FR-BAL
Drive unit
MC
CN2
3-phase
200 to
230VAC
(Note4)
1-phase
200 to
L1
L2
Encoder
L3
U
V
U
L11
L21
M
V
230VAC
CNP2
W
(Earth)
W
(Note 2)
(Note 3)
Drive unit
Servo motor
CN2
Encoder
U
V
U
M
V
CNP2
W
W
(Earth)
(Note2)
(Note 3)
Interface unit
CN1A
(Note 1)
Protective earth(PE)
Note 1. To reduce the influence of external noise, we recommend you to ground the bus cable near
the controller using a cable clamping fixture or to connect three or four data line filters in series.
2. The mounting screw of the drive unit is also used for PE connection of the servo motor.
3. Ensure to connect it to PE terminal of the drive unit. Do not connect it directly to the protective earth of the control panel.
4. For 1-phase 230VAC, connect the power supply to L1 L2 and leave L3 open.
3 - 46
3. SIGNALS AND WIRING
3.9 Instructions for the 3M connector
When fabricating an encoder cable or the like, securely connect the shielded external conductor of the
cable to the ground plate as shown in this section and fix it to the connector shell.
External conductor
Sheath
Core
External conductor
Pull back the external conductor to cover the sheath
Sheath
Strip the sheath.
Screw
Cable
Screw
Ground plate
3 - 47
3. SIGNALS AND WIRING
MEMO
3 - 48
4. OPERATION AND DISPLAY
4. OPERATION AND DISPLAY
On the interface unit display (5-digit, seven-segment display), check the status of communication with the
servo system controller at power-on, check the slot number, and diagnose a fault at occurrence of an
alarm.
4.1 Display flowchart
When powered on, the MELSERVO-J2M is placed in the automatic scroll mode in which the statuses of
the interface unit/drive units installed on the base unit appear at intervals of 2 seconds in due order. At
this time, open slot numbers do not appear.
In the initial status, the indication is in the automatic scroll mode. Pressing the "SET" button switches the
automatic scroll mode to the fixed mode. In the fixed mode, pressing the "UP" or "DOWN" button displays
the status of the subsequent-slot drive unit.
If an alarm/warning occurs in the interface unit/drive units, the alarm/warning number of the interface
unit/drive unit appears. (Refer to Section 4.1.2)
Automatic scroll
or
button
DOWN
UP
IFU status indication DRU status indication DRU status indication
(Slot 2)
DRU status indication DRU status indication
(Slot 7)
(Slot 1)
(Slot 8)
In the automatic scroll mode, pressing the "MODE" button for 2s or more switches between the normal
indication and the corresponding unit-related display screen. (Refer to Section 4.2/ Section 4.3.)
4 - 1
4. OPERATION AND DISPLAY
4.1.1 Normal indication
The normal indication shows the interface unit status or the slot number and current status (during servo
ON or during servo OFF) of the corresponding drive unit to allow you to diagnose faults at alarm
occurrence.
The following are the drive unit status display data in the normal indication.
(Note 1)Indication
Status
Description
@
@
C@
d@
Servo off
Servo-on
Servo off status.
Servo on status.
(Note 2) @A**@
Alarm Warning
The encountered alarm/warning number is displayed.
(Refer to Section 9.1.)
/
@T d@.
@T C@.
Test operation mode
Test operation mode status using the MR Configurator
(servo configuration software).
Displayed for JOG operation, positioning operation,
motor-less operation or D0 forced output.
The indication varies with the current condition.
Note 1. @ denotes the slot number of the base unit.
2. ** indicates the warning/alarm No.
(1) When the drive unit is during servo off
1.
C 1
Slot number
Indicates servo OFF.
Slot number
(2) When the drive unit is during servo on
1.
d
1
Slot number
Indicates servo ON.
Slot number
(3) When the interface unit is normal
F.
Indicates the interface unit.
4 - 2
4. OPERATION AND DISPLAY
4.1.2 If alarm/warning occurs
(1) If alarm/warning occurs in drive unit
An alarm/warning which occurred in the drive unit is represented by the following indication.
The following indication example assumes that an encoder error (A.16) occurred in the drive unit of
installed on slot 1. During alarm occurrence digits flicker.
1. A 1 6. 1
Slot number
Alarm/warning number
Denotes alarm/warning indication.
Slot number
(2) If alarm/warning occurs in interface unit
An alarm/warning which occurred in the interface unit is represented by the following indication. The
following indication example assumes that interface unit undervoltage (A.10) occurred. During alarm
occurrence digits flicker.
F. A 1 0.
Alarm/warning number
Denotes alarm/warning indication.
Denotes interface unit.
4 - 3
4. OPERATION AND DISPLAY
4.1.3 If test operation
POINT
Test operation can be performed using the MR Configurator (servo
configuration software).
(1) When test operation is being performed
Test operation being performed is indicated as follows.
@.
@.
T
C
Slot number. Test operation being performed is indicated as follows.
Indicates the current status. Refer to the following table for below.
Denotes test operation indication.
Slot number
Indication
@T C@.
@T d@.
Current Status
Servo off status
Servo on status
(2) When alarm occurs during test operation
Any alarm that occurred during test operation is indicated as follows.
@.
@.
A 1 6.
Slot number. The decimal point is lit during test operation.
Alarm display
Slot number
4 - 4
4. OPERATION AND DISPLAY
4.2 Interface unit display
4.2.1 Display flowchart of interface unit
Use the display (5-digit, 7-segment LED) on the front panel of the interface unit for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status.
The automatic scroll mode is selected at power-on. Before starting use, therefore, press the "UP" or
"DOWN" button to change the fifth digit to "F" and press the "MODE" button for 2s or more to change the
indication.
Press the "MODE" "UP" or "DOWN" button once to move to the next screen.
button
MODE
Expansion IFU
parameters
Basic IFU parameters
Status display
Diagnosis
Alarm
Regenerative load
ratio [%]
Interface unit
Current alarm
Last alarm
IFU parameter No. 0
IFU parameter No. 1
IFU parameter No. 20
IFU parameter No. 21
external input signal
Interface unit
external output signal
Bus voltage [V]
UP
Peak bus voltage
[V]
Second alarm in past
Third alarm in past
Fourth alarm in past
Fifth alarm in past
Interface unit output
signal (DO) forced output
DOWN
Software version
Low
Software version
High
IFU parameter No. 18
IFU parameter No. 19
IFU parameter No. 28
IFU parameter No. 29
Sixth alarm in past
Parameter error No.
Note. The parameter display range varies with the parameter write inhibit.
4 - 5
4. OPERATION AND DISPLAY
4.2.2 Status display of interface unit
MELSERVO-J2M status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP"
or "DOWN" button to change display data as desired. When the required data is selected, the
corresponding symbol appears. Press the "SET" button to display its data.
(1) Display examples
The following table lists display examples:
Displayed data
Item
Status
Interface unit display
Regenerative load ratio
60%
Bus voltage
270V
350V
Peak bus voltage
(2) Interface unit status display list
The following table indicates the MELSERVO-J2M statuses that can be shown. After it has been
selected, each status display changes to a symbol display. Press the "SET" button to show the
definition of the status display. Refer to Appendix 1 for the measurement point.
Pressing the "MODE" button during a status definition display returns to a symbol display.
Display
range
Name
Symbol
Unit
Description
Regenerative load
ratio
The ratio of regenerative power to permissible regenerative power is
displayed in %.
F.L
F.Pn
%
V
V
0 to 100
0 to 450
Bus voltage
The voltage (across P-N) of the main circuit converter is displayed.
Shows the maximum voltage of the main circuit converter (across P-N).
The maximum value during past 15s is displayed.
Peak bus voltage
F.PnP
0 to 450
4 - 6
4. OPERATION AND DISPLAY
4.2.3 Diagnostic mode of interface unit
Name
Display
Description
Shows the ON/OFF states of the external input signals.
1) Forced stop A (EMG_A)
ON: On OFF: Off
2)
1)
Interface unit external
input signal
2) Forced stop B (EMG_B)
ON: On OFF: Off
Shows the ON/OFF states of the external output signals.
1) Trouble A (ALM_A)
ON: On OFF: Off
2) Trouble B (ALM_B)
ON: On OFF: Off
Interface unit external
output signal
2)
1)
The digital output signal can be forced on/off. For more
information, refer to section 4.2.6.
During output signal (DO) forced output, the decimal point in the
first digit is lit.
Interface unit output
signal (DO) forced
output
Software version Low
Software version High
Indicates the version of the software.
Indicates the system number of the software.
4 - 7
4. OPERATION AND DISPLAY
4.2.4 Alarm mode of interface unit
The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the
display indicate the alarm number that has occurred or the parameter number in error. Display examples
are shown below.
Name
Display
Description
Indicates no occurrence of an alarm in the interface unit.
Current alarm
Indicates the occurrence of overvoltage (A.10) in the interface unit.
Flickers at occurrence of the alarm.
Indicates that the last alarm is base unit error (A.1C) in the interface
unit.
Indicates that the second alarm in the past is overvoltage (A.33) in the
interface unit.
Indicates that the third alarm in the past is undervoltage (A.10) in the
interface unit.
Alarm history
Indicates that the fourth alarm in the past is over regenerative (A.30) in
the interface unit.
Indicates that there is no fifth alarm in the past of the interface unit.
Indicates that there is no sixth alarm in the past of the interface unit.
Indicates no occurrence of parameter error (A.37) of the interface unit.
Indicates that the data of parameter No. 1 is faulty of the interface unit.
Parameter error No.
Functions at occurrence of an alarm
(1) Any mode screen displays the current alarm.
(2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth
digit flickers.
(3) For any alarm, remove its cause and clear it in any of the following: (for clearable alarms, refer to
Section 9.2)
(a) Switch power OFF, then ON.
(b) Press the "SET" button on the current alarm screen.
(4) Use IFU parameter No. 0 to clear the alarm history.
(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed
information display screen. Note that this is provided for maintenance by the manufacturer.
(6) Press "UP" or "DOWN" button to move to the next history.
(7) Pressing the "MODE" button on the alarm detail display screen returns to the alarm history display.
4 - 8
4. OPERATION AND DISPLAY
4.2.5 Interface unit parameter mode
The parameters whose abbreviations are marked* are made valid by changing the setting and then
switching power off once and switching it on again. Refer to Section 5.2.2.
The following example shows the operation procedure performed after power-on to change the
regenerative brake resistor (IFU parameter No. 1) to 0005 (MR-RB15).
Using the "MODE" button, show the basic parameter screen.
The parameter number is displayed.
Press
or
UP DOWN
button to change the number.
Press SET twice.
The set value of the specified parameter number flickers.
Press UP fifth.
During flickering, the set value can be changed.
Use
(
or
button .
UP
DOWN
5: regenerative brake option MR-RB14)
Press SET to enter.
Pressing the "MODE" button during a parameter setting display or setting change display cancels the
processing and returns to a parameter number display.
To shift to the next parameter, press the "UP" or "DOWN" button.
4 - 9
4. OPERATION AND DISPLAY
4.2.6 Interface unit output signal (DO) forced output
POINT
This function is available during test operation.
The output signal can be forced on/off independently of the servo status. This function is used for output
signal wiring check, etc. This operation must be performed in the servo off state (SON off).
Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.
Press UP button twice.
Press SET button for more than 2s.
Turns on/off the signal under the lit LED.
Always lit.
Indicates whether the output signal is ON or OFF.
The signals are the same as the external output
signals. (On: ON, Off: OFF)
ALM_A ALM_B
Pressing MODE button once moves the lit LED to the left.
Press UP button once.
The ALM_A turns on.
(There will be continuity across ALM_A-SG.)
Press DOWN button once.
The ALM_A turns off.
Press SET button for more than 2s.
4 - 10
4. OPERATION AND DISPLAY
4.3 Drive unit display
4.3.1 Drive unit display sequence
Use the display (5-digit, 7-segment LED) on the front panel of the servo amplifier for status display,
parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external
sequences, and/or confirm the operation status.
The automatic scroll mode is selected at power-on. Before starting use, therefore, press the "UP" or
"DOWN" button to change the fifth digit to the necessary slot number "1" to "8" and press the "MODE"
button for 2s or more to change the indication.
Press the "MODE" "UP" or "DOWN" button once to move to the next screen.
To refer to or set the expansion parameters, make them valid with DRU parameter No. 19 (parameter
write disable).
button
MODE
Expansion DRU
parameters 1
Expansion DRU
parameters 2
Basic DRU
parameters
Status display
Diagnosis
Alarm
@
@
@
@
@
@
(Note)
Cumulative feedback
pulses [pulse]
Drive unit external
input signal
Current alarm
DRU parameter No. 0
DRU parameter No. 20
DRU parameter No. 50
@
@
@
@
Last alarm
@
@
Motor speed
[r/min]
Drive unit external
output signal
DRU parameter No. 1
DRU parameter No. 21
DRU parameter No. 51
@
@
@
Droop pulses
[pulse]
Drive unit output signal Second alarm in past
(DO) forced output
UP
@
@
@
Cumulative command
pulses [pulse]
Software version
Low
Third alarm in past
DOWN
@
@
@
@
@
@
Command pulse
frequency [kpps]
Software version
High
Fourth alarm in past
DRU parameter No. 18 DRU parameter No. 48
DRU parameter No. 83
@
@
@
@
@
@
Effective load ratio
[%]
Motor series ID
Fifth alarm in past
DRU parameter No. 19 DRU parameter No. 49
DRU parameter No. 84
@
@
@
Peak load ratio
[%]
Motor type ID
Sixth alarm in past
@
@
@
Instantaneous torque
[%]
Encoder ID
Parameter error No.
@
Within one-revolution
position low [pulse]
@
Within one-revolution
position, high [100 pulses]
@
ABS counter
[rev]
@
Load inertia moment
ratio [times]
Note 1. @ indicates the slot number.
2. The parameter display range varies with the parameter write inhibit.
4 - 11
4. OPERATION AND DISPLAY
4.3.2 Status display of drive unit
The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or
"DOWN" button to change display data as desired. When the required data is selected, the corresponding
symbol appears. Press the "SET" button to display its data.
(1) Display examples
The following table lists display examples:
Displayed data
Item
Status
Servo amplifier display
Forward rotation at 3000r/min
Motor speed
Reverse rotation at 3000r/min
Reverse rotation is indicated by " ".
11252pulse
Multi-
revolution
counter
12566pulse
Lit
Negative value is indicated by the lit decimal points in the upper four
digits.
Load inertia
moment
15.5 times
4 - 12
4. OPERATION AND DISPLAY
(2) Drive unit status display list
The following table lists the servo statuses that may be shown:
Refer to Appendix 2 for the measurement point.
Display
range
Name
Symbol
Unit
Description
Cumulative feedback
pulses
@.C
pulse
Feedback pulses from the servo motor encoder are counted and
displayed. The value in excess of 99999 is counted, bus since the
interface display is five digits, it shows the lower five digits of the
actual value. Press the "SET" button to reset the display value to
zero.
99999
to
99999
Reverse rotation is indicated by the lit decimal points in the upper
four digits.
Servo motor speed
Droop pulses
@.r
r/min
pulse
The servo motor speed is displayed.
The value rounded off is displayed in 0.1r/min.
5400
to
5400
99999
to
@.E
The number of droop pulses in the deviation counter is displayed.
When the servo motor is rotating in the reverse direction, the
decimal points in the upper four digits are lit.
99999
Since the servo amplifier display is five digits, it shows the lower five
digits of the actual value.
The number of pulses displayed is not yet multiplied by the electronic
gear.
Cumulative command
pulses
@.P
pulse
The position command input pulses are counted and displayed.
As the value displayed is not yet multiplied by the electronic gear
(CMX/CDV), it may not match the indication of the cumulative
feedback pulses.
99999
to
99999
The value in excess of 99999 is counted, but since the interface
display is five digits, it shows the lower five digits of the actual value.
Press the "SET" button to reset the display value to zero. When the
servo motor is rotating in the reverse direction, the decimal points in
the upper four digits are lit.
Command pulse
frequency
@.n
@.J
kpps
%
The frequency of the position command input pulses is displayed.
The value displayed is not multiplied by the electronic gear
(CMX/CDV).
The continuous effective load torque is displayed.
The effective value in the past 15 seconds is displayed relative to the
rated torque of 100%.
The maximum torque generated during acceleration/deceleration, etc.
The highest value in the past 15 seconds is displayed relative to the
rated torque of 100%.
Torque that occurred instantaneously is displayed.
The value of the torque that occurred is displayed in real time
relative to the rate torque of 100%.
800
to
800
0
to
300
0
to
400
0
to
400
0
Effective load ratio
Peak load ratio
@.b
%
Instantaneous torque
@.T
%
Within one-revolution
position Low
@.CY1
pulse
Position within one revolution is displayed in encoder pulses.
The value returns to "0" when it exceeds the maximum number of
pulses.
to
99999
The value is incremented in the "CCW" direction of rotation.
Within one-revolution @.CY2
position High
100
The within one-revolution position is displayed in 100 pulse
increments of the encoder.
0
to
pulse
The value returns to "0" when it exceeds the maximum number of
pulses.
13107
The value is incremented in the "CCW" direction of rotation.
Travel value from the home position in the absolute position
detection systems is displayed in terms of the absolute position
detectors counter value.
ABS counter
@.LS
@.dC
rev
0.1
32768
to
32768
0.0
Load inertia moment
ratio
The estimated ratio of the load inertia moment to the servo motor
Times shaft inertia moment is displayed.
to
300.0
4 - 13
4. OPERATION AND DISPLAY
4.3.3 Diagnostic mode of drive unit
Name
(Note) Display
Description
Shows the ON/OFF statuses of the external input signals.
Each signal corresponds to the function assignment. (The
corresponding segment is lit when the function-assigned signal
turns on.)
Drive unit external
input signal
Refer to section 4.3.6.
Refer to section 4.3.6.
Shows the ON/OFF statuses of the external output signals.
When the corresponding segment is lit, the output is provided to
the assigned signal.
Drive unit external
output signal
Drive unit output
signal (DO) forced
output
The digital output signal can be forced on/off. For more
information, refer to section 4.3.8.
@
Software version Low
Software version High
Indicates the version of the drive unit software.
@
@
@
Indicates the system number of the drive unit software.
Press the "SET" button to show the motor series ID of the servo
motor currently connected.
Motor series ID
Motor type ID
Encoder ID
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the motor type ID of the servo
motor currently connected.
@
@
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Press the "SET" button to show the encoder ID of the servo motor
currently connected.
For indication details, refer to the optional MELSERVO Servo
Motor Instruction Manual.
Note. @ indicates the slot number.
4 - 14
4. OPERATION AND DISPLAY
4.3.4 Alarm mode of drive unit
Name
(Note) Display
Description
Indicates no occurrence of an alarm in the drive unit.
@
@
@
@
@
@
@
@
@
@
Current alarm
Indicates the occurrence of overvoltage (A.33) in the drive unit.
Flickers at occurrence of the alarm.
Indicates that the last alarm is overload 1 (A.50) in the drive unit.
Indicates that the second alarm in the past is overvoltage (A.33) in the
drive unit.
Indicates that the third alarm in the past is undervoltage (A.52) in the
drive unit.
Alarm history
Indicates that the fourth alarm in the past is encoder error (A.20) in the
drive unit.
Indicates that there is no fifth alarm in the past in the drive unit.
Indicates that there is no sixth alarm in the past in the drive unit.
Indicates no occurrence of parameter error (A.37) in the drive unit.
Indicates that the data of parameter No. 1 is faulty in the drive unit.
Parameter error No.
Note. @ indicates the slot number.
Functions at occurrence of an alarm
(1) Any mode screen displays the current alarm.
(2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the fourth
digit flickers.
(3) For any alarm, remove its cause and clear it in any of the following methods: (for clearable alarms,
refer to Section 9.2)
(a) Switch power OFF, then ON.
(b) Turn on the reset (RES ).
(4) Use DRU parameter No. 16 to clear the alarm history.
(5) Pressing "SET" button on the alarm history display screen for 2s or longer shows the following detailed
information display screen. Note that this is provided for maintenance by the manufacturer.
@
(6) Press "UP" or "DOWN" button to move to the next history.
4 - 15
4. OPERATION AND DISPLAY
4.3.5 Drive unit parameter mode
The parameter setting of the drive unit is the same as that of the interface unit. Refer to Section 4.2.5.
To use the expansion parameters, change the setting of DRU parameter No. 19 (parameter write disable).
Refer to section 5.1.1.
4.3.6 Drive unit external input signal display
The ON/OFF states of the digital input signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
External input signal display screen
@
(2) Display definition
Corresponds to the signals of the seven-segment LED.
Slot number
RES
TL1
PC
SON
LSN
LSP
CR
Always lit
CM2
CM1 CDP
Lit: ON
Extinguished: OFF
The 7-segment LED shown above indicates ON/OFF.
Each segment at top indicates the input signal and each segment at bottom indicates the output signal.
The following table indicates the signal names.
Signal Name List
Signal
LSP
LSN
SON
RES
CR
Signal Name
Forward rotation stroke end
Reverse rotation stroke end
Servo-on
Signal
PC
Signal Name
Proportion control
TL1
Internal torque limit selection
Electronic gear 1 selection
Electronic gear 2 selection
Gain switch selection
CM1
CM2
CDP
Reset
Clear
4 - 16
4. OPERATION AND DISPLAY
4.3.7 Drive unit external output signal display
The ON/OFF states of the digital output signals connected to the servo amplifier can be confirmed.
(1) Operation
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
@
Press UP button once.
External output signal display screen
@
(2) Display definition
Slot number
Always lit
ALM_ TLC
ZSP
INP
OP
MBR
RD
WNG
BWNG
Lit: ON
Extinguished: OFF
The 7-segment LED shown above indicates ON/OFF.
Each segment at top indicates the input signal and each segment at bottom indicates the output signal.
The following table indicates the signal names.
Signal Name List
Signal
RD
Signal Name
Signal
TLC
Signal Name
Ready
Limiting torque
Trouble
MBR
OP
Electromagnetic brake sequence output
Encoder Z-phase pulse
In position
ALM_
WNG
Warning
INP
ZSP
BWNG
Battery warning
Zero speed
4 - 17
4. OPERATION AND DISPLAY
4.3.8 Drive unit output signal (DO) forced output
POINT
This function is usable during test operation only.
The output signal can be forced on/off independently of the servo status. This function is used for output
signal wiring check, etc. This operation must be performed in the servo off state (SON off).
Call the display screen shown after power-on.
Using the "MODE" button, show the diagnostic screen.
@
Press UP button twice.
@
Press SET button for more than 2 seconds.
Switch on/off the signal below the lit segment.
Always lit
@
Indicates the ON/OFF of the output signal. The correspondences
between segments and signals are as in the external output
signal display.
(Lit: ON, extinguished: OFF)
ZSP
BWNG TLC
ALM_
WNG
OP
MBR
RD
INP
Press the MODE button once to shift the lit LED to the left.
@
@
Press UP button once.
RD is switched on.
(RD -SG conduct.)
Press DOWN button once.
RD is switched off.
Press SET button for more than 2 seconds.
4 - 18
5. PARAMETERS
5. PARAMETERS
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
5.1 DRU parameter list
5.1.1 DRU parameter write inhibit
POINT
After setting the DRU parameter No. 19 value, switch power off, then on
to make that setting valid.
In the MELSERVO-J2M servo amplifier, its parameters are classified into the DRU basic parameters
(No. 0 to 19), DRU expansion parameters 1 (No. 20 to 49) and DRU expansion parameters 2 (No.50 to
84) according to their safety aspects and frequencies of use. In the factory setting condition, the
customer can change the basic parameter values but cannot change the DRU expansion parameter
values. When fine adjustment, e.g. gain adjustment, is required, change the DRU parameter No. 19
setting to make the expansion parameters write-enabled.
The following table indicates the parameters which are enabled for reference and write by the setting of
DRU parameter No. 19. Operation can be performed for the DRU parameters marked
.
DRU parameter
No. 19 setting
DRU basic parameters DRU expansion parameters 1 DRU expansion parameters 2
Operation
No. 0 to 19
No. 20 to 49
No. 50 to 84
Reference
Write
0000
(initial value)
Reference
Write
No. 19 only
No. 19 only
000A
000B
000C
000E
100B
100C
100E
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No. 19 only
No. 19 only
No. 19 only
Reference
Write
Reference
Write
5 - 1
5. PARAMETERS
5.1.2 Lists
POINT
For any DRU parameter whose symbol is preceded by *, set the DRU
parameter value and switch power off once, then switch it on again to
make that DRU parameter setting valid.
(1) Item list
Customer
setting
No. Symbol
Name
Initial value
Unit
0
1
2
For manufacturer setting
0000
0000
0105
*OP1 Function selection 1
ATU Auto tuning
Electronic gear numerator
CMX
3
4
1
1
(Command pulse multiplying factor numerator)
Electronic gear denominator
CDV
(Command pulse multiplying factor denominator)
In-position range
5
6
INP
PG1
100
35
pulse
rad/s
Position loop gain 1
Position command acceleration/deceleration time constant
(Position smoothing)
7
PST
3
ms
For manufacturer setting
100
500
1000
0
8
9
10
11
12
13
14
15
16
17
18
19
0
0
0
0
*BPS Alarm history clear
For manufacturer setting
0000
0100
0000
0000
*BLK DRU parameter write inhibit
5 - 2
5. PARAMETERS
Customer
setting
No. Symbol
Name
Initial value
Unit
20
21
22
23
24
25
26
*OP2 Function selection 2
0000
0000
0000
0
*OP3 Function selection 3 (Command pulse selection)
*OP4 Function selection 4
FFC Feed forward gain
%
ZSP
Zero speed
50
r/min
For manufacturer setting
0
100
pulse
/rev
%
27
*ENR Encoder output pulses
4000
28
29
30
31
32
33
TL1
Internal torque limit 1
100
0
For manufacturer setting
0
0
0
MBR Electromagnetic brake sequence output
100
ms
0.1
34
GD2 Ratio of load inertia moment to servo motor inertia moment
70
times
rad/s
rad/s
rad/s
ms
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
PG2
Position loop gain 2
35
VG1 Speed loop gain 1
VG2 Speed loop gain 2
177
817
VIC
Speed integral compensation
48
VDC Speed differential compensation
For manufacturer setting
*DIA
980
0
0000
0003
0000
0000
0000
0000
0000
0000
0000
*DI1 Input signal selection 1
For manufacturer setting
5 - 3
5. PARAMETERS
Customer
setting
No. Symbol
Name
Initial value
Unit
50
51
52
53
54
55
56
57
58
59
60
For manufacturer setting
0000
0000
0000
0000
0000
0000
0
*OP6 Function selection 6
For manufacturer setting
*OP9 Function selection 9
*OPA Function selection A
For manufacturer setting
10
NH1 Machine resonance suppression filter 1
NH2 Machine resonance suppression filter 2
0000
0000
0000
LPF
Low-pass filter, adaptive vibration suppression control
0.1
times
%
61 GD2B Ratio of load inertia moment to Servo motor inertia moment 2
70
62
63
64
65
66
67
68
PG2B Position control gain 2 changing ratio
VG2B Speed control gain 2 changing ratio
VICB Speed integral compensation changing ratio
*CDP Gain changing selection
100
100
100
0000
10
%
%
CDS Gain changing condition
(Note)
CDT Gain changing time constant
For manufacturer setting
1
ms
0
69 CMX2 Command pulse multiplying factor numerator 2
70 CMX3 Command pulse multiplying factor numerator 3
71 CMX4 Command pulse multiplying factor numerator 4
1
1
1
For manufacturer setting
72
73
74
75
76
77
78
79
80
81
82
83
84
200
300
500
800
100
100
10000
10
TL2
Internal torque limit 2
%
For manufacturer setting
10
100
100
100
0
Note. Depends on the parameter No. 65 setting.
5 - 4
5. PARAMETERS
(2) Details list
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
0
1
For manufacturer setting
Do not change this value any means.
0000
*OP1 Function selection 1
0000
Refer to
Name
Used to select the absolute position detection system.
and
0 0 0
function
column.
Selection of absolute position detection system
(Refer to Chapter 15)
0: Used in incremental system
1: Used in absolute position detection system
(Serial communication)
2
ATU Auto tuning
0105
Refer to
Name
Used to selection the response level, etc. for execution of auto tuning.
Refer to Chapter 6.
and
function
column.
0
0
Auto tuning response level setting
Set Response Machine resonance
value
1
level
Low
frequency guideline
15Hz
response
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
8
9
55Hz
70Hz
85Hz
Middle
response
A
B
C
D
E
F
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
High
response
If the machine hunts or generates
large gear sound, decrease the
set value.
To improve performance, e.g.
shorten the settling time, increase
the set value.
Gain adjustment mode selection
(For more information, refer to Section 6.1.1.)
Set
value
Gain adjustment mode
Description
Interpolation mode
Fixes position control gain 1
(DRU parameter No. 6).
Ordinary auto tuning.
0
Auto tuning mode 1
Auto tuning mode 2
1
2
Fixes the load inertia moment
ratio set in DRU parameter
No. 34. Response level setting
can be changed.
3
4
Manual mode 1
Manual mode 2
Simple manual adjustment.
Manual adjustment of all gains.
5 - 5
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
3
CMX Electronic gear numerator (Command pulse multiplying factor numerator)
Used to set the electronic gear numerator value.
1
0
to
1
65535
For the setting, refer to Section 5.2.1.
Setting "0" automatically sets the resolution of the servo motor connected.
For the HC-MFS series, 131072 pulses are set for example.
4
5
CDV Electronic gear denominator (Command pulse multiplying factor
denominator)
1
1
to
65535
Used to set the electronic gear denominator value.
For the setting, refer to Section 5.2.1.
INP In-position range
100
pulse
0
to
10000
Set the in-position (INP ) output range in the command pulse unit that
was used before electronic gear calculation.
For example, when you want to set 100 m when the ballscrew is directly
coupled, the lead is 10mm, the feedback pulse count is 131072 pulses/rev,
and the electronic gear numerator (CMX)/electronic gear denominator
(CDV) is 16384/125 (setting in units of 10 m per pulse), set "10" as indicated
by the following expression.
6
100[ m] 10
10[mm] 10
125
16384
10
131072[pulse/rev]
3
6
7
PG1 Position loop gain 1
Used to set the gain of position loop.
35
red/s
4
to
2000
Increase the gain to improve trackability in response to the position
command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
PST Position command acceleration/deceleration time constant
(position smoothing)
3
ms
0
to
20000
Used to set the time constant of a low pass filter in response to the position
command.
You can use DRU parameter No. 55 to choose the primary delay or linear
acceleration/deceleration control system. When you choose linear
acceleration/deceleration, the setting range is 0 to 10ms. Setting of longer
than 10ms is recognized as 10ms.
Example: When a command is given from a synchronizing detector,
synchronous operation can be started smoothly if started during
line operation.
Synchronizing
detector
Start
Servo motor
Servo amplifier
Without time
constant setting
With time
Servo motor
speed
constant setting
ON
OFF
t
Start
5 - 6
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
8
For manufacturer setting
Do not change this value any means.
100
500
1000
0
9
10
11
12
13
14
15
16
0
0
0
0
*BPS Alarm history clear
Clear the alarm history.
0000
Refer to
Name
and
0
0
0
function
column.
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid,
the alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid (reset to 0).
17
For manufacturer setting
0100
Do not change this value any means.
DRU parameter write inhibit
18
19
0000
0000
*BLK
Refer to
Name
Used to select the reference and write ranges of the parameters.
and
Operation can be performed for the parameters marked
.
function
column.
Expansion
DRU
parameters 2
Basic DRU
parameters
No. 0 to No. 19 No. 20 to No. 49
Expansion DRU
parameters 1
Set
value
Operation
No. 50 to No. 84
0000
(Initial
value)
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No. 19 only
No. 19 only
000A
000B
000C
000E
100B
100C
100E
No. 19 only
No. 19 only
No. 19 only
Refer to
Name
and
0000
20
*OP2 Function selection 2
Used to select slight vibration suppression control.
0 0
function
column.
Slight vibration suppression control
Made valid when auto tuning selection is
set to "0400" in DRU parameter No. 2.
Used to suppress vibration at a stop.
0: Invalid
1: Valid
Encoder cable selection
0: 2-wire type (when MR-JCCBL M-L/H is used)
1: 4-wire type (when MR-JC4CBL M-H is used)
5 - 7
5. PARAMETERS
Initial
value
0000
Setting
range
Refer to
Name
and
function
column.
Class No. Symbol
Name and function
Unit
21
*OP3 Function selection 3 (Command pulse selection)
Used to select the input form of the pulse train input signal.
(Refer to Section 3.2.3.)
0 0
Command pulse train input form
0: Forward/reverse rotation pulse train
1: Signed pulse train
2: A/B phase pulse train
Pulse train logic selection
0: Positive logic
1: Negative logic
Refer to
Name
and
function
column.
22
*OP4 Function selection 4
0000
Used to select stop processing at the forward rotation stroke end
(LSP
reveres rotation stroke end (LSN
off.
)
)
0
0 0
How to make a stop when the forward rotation
stroke end (LSP
(LSN ) is valid.
0: Sudden stop
1: Slow stop
)
reveres rotation stroke end
23
24
FFC Feed forward gain
0
%
0
to
100
Set the feed forward gain. When the setting is 100%, the droop pulses
during operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when
the feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.
ZSP Zero speed
50
r/min
0
to
Used to set the output range of the zero speed (ZSP ).
10000
For manufacturer setting
Do not change this value any means.
25
26
0
100
4000
27 *ENR Encoder output pulses
pulse/
rev
1
to
POINT
65535
The MR-J2M-D01 extension IO unit is required to output the
encoder pulses (A phase, B phase, Z phase).
Used to set the encoder pulses (A-phase, B-phase) output by the servo
amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use DRU parameter No. 54 to choose the output pulse setting or
output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than
the preset number of pulses.
The maximum output frequency is 1.3Mpps (after multiplication by 4). Use
this parameter within this range.
For output pulse designation
Set " 0
" (initial value) in DRU parameter No. 54.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
At the setting of 5600, for example, the actually output A/B-phase pulses
are as indicated below:
5600
4
A B-phase output pulses
1400[pulse/rev]
For output division ratio setting
Set " 1 " in DRU parameter No. 54.
The number of pulses per servo motor revolution is divided by the set
value.
Resolution per servo motor revolution
Output pulse
[pulses/rev]
Set value
At the setting of 8, for example, the actually output A/B-phase pulses are
as indicated below:
131072
1
4
A B-phase output pulses
4096[pulse/rev]
8
5 - 8
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
Internal torque limit 1
28
TL1
100
%
0
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[%].
When 0 is set, torque is not produced.
to
100
When torque is output in analog monitor, this set value is the maximum
output voltage ( 4V). (Refer to Section 3.3.5 (2))
For manufacturer setting
29
30
31
32
33
0
0
0
Do not change this value any means.
0
MBR Electromagnetic brake sequence output
100
ms
0
to
Used to set the delay time (Tb) between electronic brake interlock (MBR
and the base drive circuit is shut-off.
)
1000
0
to
34
GD2 Ratio of load inertia moment to servo motor inertia moment
70
35
0.1
times
Used to set the ratio of the load inertia moment to the servo motor shaft
inertia moment. When auto tuning mode 1 and interpolation mode is
selected, the result of auto tuning is automatically used.
(Refer to section 6.2.1)
3000
In this case, it varies between 0 and 1000.
35
PG2 Position loop gain 2
rad/s
1
to
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load
disturbance. Higher setting increases the response level but is liable to
generate vibration and/or noise.
1000
When auto tuning mode 1 2 and interpolation mode is selected, the result
of auto tuning is automatically used.
36
37
38
39
VG1 Speed loop gain 1
177
817
48
rad/s
rad/s
ms
20
to
8000
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to generate
vibration and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode is
selected, the result of auto tuning is automatically used.
VG2 Speed loop gain 2
20
to
20000
Set this parameter when vibration occurs on machines of low rigidity or
large backlash. Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result
of auto tuning is automatically used.
VIC Speed integral compensation
1
to
1000
Used to set the integral time constant of the speed loop.
Lower setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result
of auto tuning is automatically used.
VDC Speed differential compensation
980
0
to
Used to set the differential compensation.
Made valid when the proportion control (PC ) is switched on.
For manufacturer setting
Do not change this value any means.
1000
40
41
42
0
0000
0003
*DI1 Input signal selection 1
Used to set the clear (CR ).
Refer to
Name
and
0 0
3
function
column.
Clear (CR ) selection
0: Droop pulses are cleared on the leading edge.
1: While on, droop pulses are always cleared.
5 - 9
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
43
44
45
46
47
48
49
50
51
For manufacturer setting
Do not change this value any means.
0000
0000
0000
0000
0000
0000
0000
0000
0000
*OP6 Function selection 6
Refer to
Name
Used to select the operation to be performed when the reset (RES
switches on.
)
and
function
column.
0
0 0
Operation to be performed when the
reset (RES ) switches on
0: Base drive circuit is shut-off
1: Base drive circuit is not shut-off
52
53
54
For manufacturer setting
Do not change this value any means.
*OP9 Function selection 9
0000
0000
0000
Refer to
Name
Use to select the command pulse rotation direction, encoder output pulse
direction and encoder pulse output setting.
and
function
column.
0
Servo motor rotation direction changing
Changes the servo motor rotation
direction for the input pulse train.
Servo motor rotation direction
Set value
At forward rotation
pulse input (Note)
At reverse rotation
pulse input (Note)
0
1
CW
CCW
CW
CCW
Note. Refer to Section 3.1.5 .
Encoder pulse output phase changing
Changes the phases of A B-phase encoder pulses output .
Servo motor rotation direction
Set value
CCW
CW
A phase
B phase
A phase
B phase
0
A phase
B phase
A phase
B phase
1
Encoder output pulse setting selection (refer to DRU parameter No. 27)
0: Output pulse designation
1: Division ratio setting
5 - 10
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
55
*OPA Function selection A
0000
Refer to
Name
Used to select the position command acceleration/deceleration time
constant (DRU parameter No. 7) control system.
and
function
column.
0 0
0
Position command acceleration/deceleration
time constant control
0: Primary delay
1: Linear acceleration/deceleration
56
57
58
0
For manufacturer setting
Do not change this value any means.
NH1 Machine resonance suppression filter 1
Used to selection the machine resonance suppression filter.
(Refer to Section 7.2.)
10
0000
Refer to
Name
and
function
column.
0
Notch frequency selection
Set "00" when you have set adaptive vibration
suppression control to be "valid" or "held"
(DRU parameter No. 60:
1
or
2
).
Setting Frequency Setting Frequency Setting Frequency Setting Frequency
value
value
value
value
00
Invalid
4500
2250
1500
1125
900
08
562.5
500
10
281.3
264.7
250
18
187.5
180
01
09
11
19
02
0A
0B
0C
0D
0E
0F
450
12
1A
1B
1C
1D
1E
1F
173.1
166.7
160.1
155.2
150
03
409.1
375
13
236.8
225
04
14
05
346.2
321.4
300
15
214.3
204.5
195.7
06
750
16
07
642.9
17
145.2
Notch depth selection
Setting
value
Depth
Gain
0
1
40dB
14dB
Deep
to
2
3
8dB
4dB
Shallow
59
NH2 Machine resonance suppression filter 2
0000
Refer to
Name
Used to set the machine resonance suppression filter.
and
0
function
column.
Notch frequency
Same setting as in DRU parameter No. 58
However, you need not set "00" if you have
set adaptive vibration suppression control to
be "valid" or "held".
Notch depth
Same setting as in DRU parameter No. 58
5 - 11
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
60
LPF Low-pass filter/adaptive vibration suppression control
Used to selection the low-pass filter and adaptive vibration suppression
control. (Refer to Chapter 7.)
0000
Refer to
Name
and
function
column.
0
Low-pass filter selection
0: Valid (Automatic adjustment)
1: Invalid
VG2 setting 10
2 (1 GD2 setting 0.1)
When you choose "valid",
[Hz]
bandwidth filter is set automatically.
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration
suppression control selection makes the machine
resonance control filter 1 (DRU parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected
and the filter is generated in response to resonance to
suppress machine vibration.
2: Held
The characteristics of the filter generated so far are held,
and detection of machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Used to set the sensitivity of machine resonance detection.
0: Normal
1: Large sensitivity
61 GD2B Ratio of load inertia moment to servo motor inertia moment 2
Used to set the ratio of load inertia moment to servo motor inertia moment
when gain changing is valid.
70
0.1
times
0
to
3000
Made valid when auto tuning is invalid.
62 PG2B Position control gain 2 changing ratio
Used to set the ratio of changing the position control gain 2 when gain
changing is valid.
100
100
%
%
%
10
to
200
Made valid when auto tuning is invalid.
63 VG2B Speed control gain 2 changing ratio
Used to set the ratio of changing the speed control gain 2 when gain
changing is valid.
10
to
200
Made valid when auto tuning is invalid.
64
65
VICB Speed integral compensation changing ratio
100
50
to
1000
Used to set the ratio of changing the speed integral compensation when
gain changing is valid. Made valid when auto tuning is invalid.
*CDP Gain changing selection
0000
Refer to
Name
and
Used to select the gain changing condition. (Refer to Section 7.5.)
0 0 0
function
column.
Gain changing selection
Gains are changed in accordance with the settings
of DRU parameters No. 61 to 64 under any of the
following conditions:
0: Invalid
1: Gain changing (CDP ) is ON
2: Command frequency is equal to higher than
DRU parameter No. 66 setting
3: Droop pulse value is equal to higher than
DRU parameter No. 66 setting
4: Servo motor speed is equal to higher than
DRU parameter No. 66 setting
5 - 12
5. PARAMETERS
Initial
value
Setting
range
Class No. Symbol
Name and function
Unit
66
CDS Gain changing condition
10
kpps
pulse
r/min
10
to
Used to set the value of gain changing condition (command frequency, droop
pulses, servo motor speed) selected in parameter No. 65 (Gain changing
selection). The set value unit changes with the changing condition item.
(Refer to Section 7.5.)
9999
67
68
CDT Gain changing time constant
1
ms
0
Used to set the time constant at which the gains will change in response to
the conditions set in parameters No. 65 and 66.
(Refer to Section 7.5.)
to
100
For manufacturer setting
0
1
Do not change this value any means.
69 CMX2 Command pulse multiplying factor numerator 2
Used to set the multiplier for the command pulse.
0 1
to
Setting "0" automatically sets the connected motor resolution.
70 CMX3 Command pulse multiplying factor numerator 3
Used to set the multiplier for the command pulse.
65535
0 1
1
1
to
Setting "0" automatically sets the connected motor resolution.
71 CMX4 Command pulse multiplying factor numerator 4
Used to set the multiplier for the command pulse.
65535
0 1
to
Setting "0" automatically sets the connected motor resolution.
65535
72
73
74
75
76
For manufacturer setting
200
300
500
800
100
Do not change this value any means.
TL2 Internal torque limit 2
%
0
Set this parameter to limit servo motor torque on the assumption that the
maximum torque is 100[%].
to
100
When 0 is set, torque is not produced.
When torque is output in analog monitor, this set value is the maximum
output voltage ( 4V). (Refer to Section 3.3.5 (2))
For manufacturer setting
77
78
79
80
81
82
83
84
100
10000
10
Do not change this value any means.
10
100
100
100
0
5 - 13
5. PARAMETERS
5.2 Interface unit
5.2.1 IFU parameter write inhibit
POINT
Use the unit operation section pushbutton switches or MR Configurator
(servo configuration software) to set the IFU parameters of the interface
unit.
Use the unit pushbutton switches or MR Configurator (servo configuration software) to set the interface
unit parameters.
When assigning the devices, change the setting to "000E".
The following table indicates the IFU parameters which are made valid for reference and write by setting
the IFU parameter No. 19.
Expansion
Setting
I/O
Setting
IFU basic parameter
IFU
operation
assignment
parameter
0000
(initial
value)
Reference
Write
Reference
Write
IFU parameter No. 19
IFU parameter No. 19
000A
000B
000C
000E
100B
100C
Reference
Write
Reference
Write
Reference
Write
Reference
Write
IFU parameter No. 19
IFU parameter No. 19
Reference
Write
5.2.2 Lists
POINT
For any parameter whose symbol is preceded by *, set the IFU parameter
value and switch power off once, then switch it on again to make that
parameter setting valid.
5 - 14
5. PARAMETERS
(1) Item list
Classifi-
Initial
Customer
setting
No. Symbol
cation
Name
Unit
Value
0
*BPS Serial communication function selection, alarm history clear
SIC Regenerative brake option selection
0000
1
0
2
*OP1 Function selection 1
0000
3
MD1 Analog monitor 1 output
0000
4
MD2 Analog monitor 2 output
0000
5
MD3 Analog monitor 3 output
0000
6
MO1 Analog monitor 1 offset
0
mV
mV
mV
7
MO2 Analog monitor 2 offset
0
8
MO3 Analog monitor 3 offset
0
9
*OP2 Function selection 2
0020
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
*ISN Interface unit serial communication station number selection
*SL1 1 slot serial communication station number selection
*SL2 2 slot serial communication station number selection
*SL3 3 slot serial communication station number selection
*SL4 4 slot serial communication station number selection
*SL5 5 slot serial communication station number selection
*SL6 6 slot serial communication station number selection
*SL7 7 slot serial communication station number selection
*SL8 8 slot serial communication station number selection
*BLK IFU parameter write inhibit
0
0
1
2
3
4
5
6
7
0000
0
SIC
Serial communication time-out selection
For manufacturer setting
s
0
0
0
0
0
0
0
0
0
5 - 15
5. PARAMETERS
(2) Details list
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
0
*BPS Serial communication function selection, alarm history clear
Used to select the serial communication baudrate function selection,
select various communication conditions, and clear the alarm
history.
0000
Refer to
name
and
function
column.
Serial communication baudrate selection
0: 9600 [bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
Alarm history clear
0: Invalid
1: valid
When alarm history clear is made valid,
the alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid (reset to 0).
Serial communication I/F selection
0: RS-232C
1: RS-422
Communication response delay time selection
0: Invalid
1: valid, reply sent after time of 888 s or more
1
*REG Regenerative brake option selection
Used to select the regenerative brake option.
0000
Refer to
Name and
function
column.
0 0
Selection of regenerative brake option
00: Not used
01: Spare (do not set)
02: MR-RB032
05: MR-RB14
06: MR-RB34
07: MR-RB54
2
*OP1 Function selection 1
0000
Refer to
name
Used to select the protocol of serial communication.
and
0 0
0
function
column.
Protocol checksum selection
0: Yes (checksum added)
1: No (checksum not added)
5 - 16
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
3
MD1 Analog monitor 1 output
0000
Refer to
name
Choose the signal to be output to analog monitor 1.
and
0 0
function
column.
Analog monitor 1 selection
0: Servo motor speed ( 4V/max. Servo motor speed)
1: Torque ( 4V/max. Torque)
2: Servo motor speed ( 4V/max. Servo motor speed)
3: Torque ( 4V/max. Torque)
4: Current command ( 4V/max. Current command)
5: Command pulse frequency( 4V/500kpps)
6: Droop pulses ( 4V/128pulse)
7: Droop pulses ( 4V/2048pulse)
8: Droop pulses ( 4V/8192pulse)
9: Droop pulses ( 4V/32768pulse)
A: Droop pulses ( 4V/131072pulse)
B: Bus voltage ( 4V/400V)
C: In position ( 4V/ON)
D: Ready ( 4V/ON)
E: Trouble ( 4V/ON)
Slot number of analog monitor 1
Choose the slot number output to analog monitor 1.
Slot number set value. Selecting "0" disables output.
4
*MD2 Analog monitor 2 output
Choose the signal to be output to analog monitor 2.
0000
Refer to
name
and
0 0
function
column.
Analog monitor 2 selection
0: Servo motor speed ( 4V/max. Servo motor speed)
1: Torque ( 4V/max. Torque)
2: Servo motor speed ( 4V/max. Servo motor speed)
3: Torque ( 4V/max. Torque)
4: Current command ( 4V/max. Current command)
5: Command pulse frequency ( 4V/500kpps)
6: Droop pulses ( 4V/128pulse)
7: Droop pulses ( 4V/2048pulse)
8: Droop pulses ( 4V/8192pulse)
9: Droop pulses ( 4V/32768pulse)
A: Droop pulses ( 4V/131072pulse)
B: Bus voltage ( 4V/400V)
C: In position ( 4V/ON)
D: Ready ( 4V/ON)
E: Trouble ( 4V/ON)
Slot number of analog monitor 2
Choose the slot number output to analog monitor 2.
Slot number set value. Selecting "0" disables output.
5 - 17
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
5
*MD3 Analog monitor 3 output
0000
Refer to
name
Choose the signal to be output to analog monitor 3.
and
0 0
function
column.
Analog monitor 3 selection
0: Servo motor speed ( 4V/max. Servo motor speed)
1: Torque ( 4V/max. Torque)
2: Servo motor speed ( 4V/max. Servo motor speed)
3: Torque ( 4V/max. Torque)
4: Current command ( 4V/max. Current command)
5: Command pulse frequency ( 4V/500kpps)
6: Droop pulses ( 4V/128pulse)
7: Droop pulses ( 4V/2048pulse)
8: Droop pulses ( 4V/8192pulse)
9: Droop pulses ( 4V/32768pulse)
A: Droop pulses ( 4V/131072pulse)
B: Bus voltage ( 4V/400V)
C: In position ( 4V/ON)
D: Ready ( 4V/ON)
E: Trouble ( 4V/ON)
Slot number of analog monitor 3
Choose the slot number output to analog monitor 3.
Slot number set value. Selecting "0" disables output.
MO1 Analog monitor 1 offset
Used to set the offset voltage of the analog monitor 1 (MO1).
999
to
999
999
to
999
999
to
6
7
8
9
0
0
mV
mV
mV
MO2 Analog monitor 2 offset
Used to set the offset voltage of the analog monitor 2 (MO2).
MO3 Analog monitor 3 offset
Used to set the offset voltage of the analog monitor 3 (MO2).
0
999
*OP2 Function selection 2
0200
Refer to
name
Used to select the input signal filter.
and
0 0 2 0
function
column.
Input signal filter
0 : None
1 : 1.777ms
2 : 3.555ms
5 - 18
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
10
11
12
13
14
15
*INS Interface unit serial communication
0
1
2
3
4
5
0
Choose the serial communication station number of the interface
to
31
unit.
When making selection, avoid setting the station number used by
any other unit.
*SL1 1 slot serial communication station number selection
Choose the station number of the drive unit connected to the first
slot of the base unit.
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*SL2 2 slot serial communication station number selection
Choose the station number of the drive unit connected to the second
slot of the base unit.
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*SL3 3 slot serial communication station number selection
Choose the station number of the drive unit connected to the third
slot of the base unit.
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*SL4 4 slot serial communication station number selection
Choose the station number of the drive unit connected to the fourth
slot of the base unit.
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*SL5 5 slot serial communication station number selection
Choose the station number of the drive unit connected to the fifth
slot of the base unit.
0
to
31
When making selection, avoid setting the station number used by
any other unit.
5 - 19
5. PARAMETERS
Classifi-
Initial
Value
Setting
Range
No. Symbol
cation
Name and Function
Unit
16
17
18
19
*SL6 6 slot serial communication station number selection
Choose the station number of the drive unit connected to the sixth
slot of the base unit.
6
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*SL7 7 slot serial communication station number selection
Choose the station number of the drive unit connected to the seventh
slot of the base unit.
7
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*SL8 8 slot serial communication station number selection
Choose the station number of the drive unit connected to the eighth
slot of the base unit.
8
0
to
31
When making selection, avoid setting the station number used by
any other unit.
*BLK Parameter write inhibit
0000
Refer to
name
Used to select reference and write ranges of the parameters.
Expansion
and
Setting
I/O
Setting
IFU basic parameter
IFU
function
column.
operation
assignment
parameter
0000
(initial
value)
Reference
Write
Reference IFU parameter No. 19
000A
000B
000C
000E
Write
Reference
Write
IFU parameter No. 19
Reference
Write
Reference
Write
Reference
Write
100B
100C
IFU parameter No. 19
IFU parameter No. 19
Reference
Write
20
SIC
Serial communication time-out selection
0
0
s
0
Set the time-out period of the communication protocol in the [s] unit.
Setting "0" disables time-out checking.
For manufacturer setting
to
60
21
22
23
24
25
26
27
28
29
Do not change this value any means.
5 - 20
5. PARAMETERS
5.3 Detailed description
5.3.1 Electronic gear
Wrong setting can lead to unexpected fast rotation, causing injury.
POINT
CAUTION
1
50
CMX
CDV
The guideline of the electronic gear setting range is
500.
If the set value is outside this range, noise may be generated during
acceleration/ deceleration or operation may not be performed at the preset
speed and/or acceleration/deceleration time constants.
The following specification symbols are required to calculate the electronic
gear.
(1) Concept of electronic gear
The machine can be moved at any multiplication factor to input pulses.
Motor
Deviation
counter
CMX
CDV
DRU parameter No.3
DRU parameter No.4
CMX
CDV
Feedback pulse
Electronic gear
Encoder
The following setting examples are used to explain how to calculate the electronic gear:
POINT
The following specification symbols are required to calculate the electronic
gear
Pb : Ballscrew lead [mm]
n
: Reduction ratio
Pt : Servo motor resolution [pulses/rev]
Travel per command pulse [mm/pulse]
Travel per servo motor revolution [mm/rev]
Angle per pulse [ /pulse]
0:
:
:
S
: Angle per revolution [ /rev]
(a) For motion in increments of 10 m per pulse
Machine specifications
n
n
NL/NM 1/2
NL
Pb 10[mm]
NM
Ballscrew lead Pb 10 [mm]
Reduction ratio: n 1/2
Servo motor resolution: Pt 131072 [pulses/rev]
Servo motor
131072 [pulse/rev]
CMX
CDV
Pt
S
Pt
n Pb
131072
1/2 10
262144 32768
1000 125
3
0
0
10 10
Hence, set 32768 to CMX and 125 to CDV.
5 - 21
5. PARAMETERS
(b) Conveyor setting example
For rotation in increments of 0.01 per pulse
Servo motor
131072 [pulse/rev]
Machine specifications
Table
Table : 360 /rev
Reduction ratio: n 4/64
Servo motor resolution: Pt 131072 [pulses/rev]
Timing belt : 4/64
CMX
CDV
Pt
131072
4/64 360
65536
1125
................................................................................. (5.1)
0.01
Since CMX is not within the setting range in this status, it must be reduced to the lowest term.
When CMX has been reduced to a value within the setting range, round off the value to the
nearest unit.
CMX 65536
1125
26214.4
450
26214
450
CDV
Hence, set 26214 to CMX and 450 to CDV.
POINT
When “0” is set to parameter No.3 (CMX), CMX is automatically set to the
servo motor resolution. Therefore, in the case of Expression (5.1), setting
0 to CMX and 2250 to CDX concludes in the following expression:
CMX/CDV=131072/2250, and electric gear can be set without the
necessity to reduce the fraction to the lowest term.
For unlimited one-way rotation, e.g. an index table, indexing positions will
be missed due to cumulative error produced by rounding off.
For example, entering a command of 36000 pulses in the above example
causes the table to rotate only:
26214
450
1
4
36000
360
359.995
131072 64
Therefore, indexing cannot be done in the same position on the table.
(2) Instructions for reduction
The calculated value before reduction must be as near as possible to the calculated value after
reduction.
In the case of (1), (b) in this section, an error will be smaller if reduction is made to provide no fraction
for CDV. The fraction of Expression (5.1) before reduction is calculated as follows.
CMX 65536
................................................................................................................... (5.2)
58.25422
1125
The result of reduction to provide no fraction for CMX is as follows.
CDV
CMX 65536
1125
32768
562.5
32768
563
.................................................................................... (5.3)
58.20249
CDV
The result of reduction to provide no fraction for CDV is as follows.
CMX 65536 26214.4 26214
1125 450 450
.................................................................................. (5.4)
58.25333
CDV
As a result, it is understood that the value nearer to the calculation result of Expression (5.2) is the
result of Expression (5.4). Accordingly, the set values of (1), (b) in this section are CMX 26214,
CDV 450.
5 - 22
5. PARAMETERS
(3) Setting for use of AD75P
The AD75P also has the following electronic gear parameters. Normally, the servo amplifier side
electronic gear must also be set due to the restriction on the command pulse frequency (differential
400kpulse/s, open collector 200kpulse/s).
AP: Number of pulses per motor revolution
AL: Moving distance per motor revolution
AM: Unit scale factor
AP75P
Servo amplifier
Command
value
AP
AL AM
CMX
CDV
Deviation
counter
Control
unit
Command
pulse
Electronic gear
Electronic gear
Feedback pulse
Servo motor
The resolution of the servo motor is 131072 pulses/rev. For example, the pulse command needed to
rotate the servo motor is as follows
Servo motor speed [r/min]
Required pulse command
2000
3000
131072 2000/60 4369066 pulse/s
131072 3000/60 6553600 pulse/s
For the AD75P, the maximum value of the pulse command that may be output is 200kpulse/s in the
open collector system or 400kpulse/s in the differential line driver system. Hence, either of the servo
motor speeds exceeds the maximum output pulse command of the AD75P.
Use the electronic gear of the servo amplifier to run the servo motor under the maximum output pulse
command of the AD75P.
5 - 23
5. PARAMETERS
To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic
gear as follows
CMX N0
CDV 60
f
pt
f
:
Input pulses [pulse/s]
N0
Pt
:
:
Servo motor speed [r/min]
Servo motor resolution [pulse/rev]
CMX 3000
200 103
131072
60
CDV
CMX 3000 131072
CDV
3000 131072 4096
60 200000 125
60
2003
The following table indicates the electronic gear setting example (ballscrew lead 10mm) when the
AD75P is used in this way.
Rated servo motor speed
Input system
3000r/min
2000r/min
Open
Differential
line driver
500
Open
Differential
line driver
500
collector
200
collector
200
Max. input pulse frequency [kpulse/s]
Feedback pulse/revolution [pulse/rev]
Electronic gear (CMX/CDV)
Servo amplifier
131072
131072
4096/125
200
2048/125
400
8192/375
200
4096/375
400
Command pulse frequency [kpulse/s] (Note)
Number of pulses per servo motor revolution as
viewed from AD75P[pulse/rev]
4000
8000
6000
12000
AP
AL
AM
AP
1
1
1
1
1
1
1
Minimum command unit
1
1
AD75P
1pulse
Electronic gear
1
1
1
4000
8000
6000
12000
Minimum command unit
0.1 m
AL 1000.0 [ m] 1000.0 [ m] 1000.0 [ m] 1000.0 [ m]
AM 10 10 10 10
Note. Command pulse frequency at rated speed
5 - 24
5. PARAMETERS
5.3.2 Analog monitor
The servo status can be output to 3 channels in terms of voltage. Using an ammeter enables monitoring
the servo status.
(1) Setting
Change the following digits of IFU parameter No.3 to 5:
IFU parameter No. 3
Analog monitor 1 selection
(Signal output to across MO1-LG)
Slot number of analog monitor 1
IFU parameter No. 4
Analog monitor 2 selection
(Signal output to across MO2-LG)
Slot number of analog monitor 2
IFU parameter No. 5
Analog monitor 3 selection
(Signal output to across MO3-LG)
Slot number of analog monitor 3
IFU parameters No.6 to 8 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
IFU parameter No.
Description
Setting range [mV]
6
7
8
Used to set the offset voltage for the analog monitor 1.
Used to set the offset voltage for the analog monitor 2.
Used to set the offset voltage for the analog monitor 3.
999 to 999
(2) Settings
The three channels are all factory-set to output servo motor speeds. By changing the IFU parameter
No. 3 to 5 values, you can change the data as shown in the following tale.
Refer to (3) for measurement points.
Setting
Output item
Data
CCW direction
Setting
Output item
Data
Driving in
CCW direction
0
Servo motor speed
1
Torque (Note)
4[V]
4[V]
Max. speed
Max. torque
0
0
Max. torque
4[V]
Max. speed
4[V]
Driving in
CW direction
CW direction
5 - 25
5. PARAMETERS
Setting
Output item
Data
Setting
Output item
Data
CCW direction
2
Servo motor speed
9
Droop pulses
4[V]
CW
direction
CCW
direction
( 4V/32768pulse)
4[V]
32768[pulse]
0
32768[pulse]
Max. speed 0 Max. speed
4[V]
CCW direction
CW direction
4[V]
3
Torque (Note)
A
Droop pulses
Driving in
Driving in
( 4V/131072pulse)
CW direction
CCW direction
4[V]
131072[pulse]
0
131072[pulse]
Max. torque
Max. torque
0
4[V]
CW direction
4[V]
CCW direction
4
Current command
B
Bus voltage
4[V]
Max. current
command
0
Max. current
command
0
400[V]
4[V]
CW direction
CCW direction
5
Command pulse
frequency
C
In-position
4[V]
4[V]
500[kpps]
OFF
ON
0
500[kpps]
0
4[V]
CW direction
4[V]
CCW direction
6
7
8
Droop pulses
D
Ready
( 4V/128pulse)
4[V]
128[pulse]
OFF
ON
0
128[pulse]
0
4[V]
CW direction
4[V]
CCW direction
Droop pulses
E
Failure
4[V]
( 4V/2048pulse)
Alarm
Alarm
2048[pulse]
provided not provided
0
2048[pulse]
0
4[V]
CW direction
4[V]
CCW direction
Droop pulses
( 4V/8192pulse)
8192[pulse]
0
8192[pulse]
4[V]
CW direction
Note. 4V is outputted at the maximum torque. However, when DRU parameter No. 28 76 are set to limit torque, 4V is outputted at the
torque highly limited.
5 - 26
5. PARAMETERS
(3) Analog monitor block diagram
5 - 27
5. PARAMETERS
5.3.3 Using forward rotation stroke end (LSP ) reverse rotation stroke end (LSN ) to change the stopping
pattern
The stopping pattern is factory-set to make a sudden stop when the forward rotation stroke end (LSP )
reverse rotation stroke end (LSN ) is made valid. A slow stop can be made by changing the DRU
parameter No. 22 (Function selection 2) value.
DRU parameter No.22 Setting
Stopping method
0
Sudden stop
(initial value)
Motor stops with droop pulses cleared.
Slow stop
The motor is decelerated to a stop in accordance with the DRU parameter No. 7
1
value.
(Position command acceleration/deceleration time constant)
5.3.4 Alarm history clear
The servo amplifier stores one current alarm and five past alarms from when its power is switched on
first. To control alarms which will occur during operation, clear the alarm history using DRU parameter
No.16 or IFU parameter No.0 before starting operation.
These parameters are made valid when you switch power off, then on after setting their values. DRU
parameter No. 16 and IFU parameter No. 0 return to "
cleared.
0
" automatically when the alarm history is
DRU parameter No.16
Alarm history clear
0: Invalid
1: Valid
IFU parameter No.0
Alarm history clear
0: Invalid
1: Valid
5 - 28
5. PARAMETERS
5.3.5 Position smoothing
By setting the position command acceleration/deceleration time constant (DRU parameter No.7), you can
run the servo motor smoothly in response to a sudden position command.
The following diagrams show the operation patterns of the servo motor in response to a position command
when you have set the position command acceleration/deceleration time constant.
Choose the primary delay or linear acceleration/deceleration in DRU parameter No. 55 according to the
machine used.
(1) For step input
: Input position command
: Position command after
filtering for primary delay
: Position command after filtering
for linear acceleration/deceleration
: Position command acceleration/
deceleration time constant
(DRU parameter No. 7)
t
t
t
Time
(3t)
(2) For trapezoidal input
(3t)
t
: Input position command
: Position command after filtering
for linear acceleration/deceleration
: Position command after
filtering for primary delay
t
: Position command acceleration/
deceleration time constant
(DRU parameter No. 7)
t
Time
(3t)
5 - 29
5. PARAMETERS
MEMO
5 - 30
6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
6.1 Different adjustment methods
6.1.1 Adjustment on a MELSERVO-J2M
The gain adjustment in this section can be made on the MELSERVO-J2M. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.
(1) Gain adjustment mode explanation
Gain adjustment
mode
DRU parameter
No. 2 setting
Estimation of load
Automatically set
DRU parameters
Manually set
inertia moment ratio
DRU parameters
Auto tuning mode 1
(initial value)
010
020
Always estimated
PG1 (DRU parameter No. 6)
GD2 (DRU parameter No. 34)
PG2 (DRU parameter No. 35)
VG1 (DRU parameter No. 36)
VG2 (DRU parameter No. 37)
VIC (DRU parameter No. 38)
PG1 (DRU parameter No. 6)
PG2 (DRU parameter No. 35)
VG1 (DRU parameter No. 36)
VG2 (DRU parameter No. 37)
VIC (DRU parameter No. 38)
PG2 (DRU parameter No. 35)
VG1 (DRU parameter No. 36)
Response level setting of DRU
parameter No. 2
Auto tuning mode 2
Fixed to parameter
No. 34 value
GD2 (DRU parameter No. 34)
Response level setting of
parameter No. 2
Manual mode 1
Manual mode 2
030
040
PG1 (DRU parameter No. 6)
GD2 (DRU parameter No. 34)
VG2 (DRU parameter No. 37)
VIC (DRU parameter No. 38)
PG1 (DRU parameter No. 6)
GD2 (DRU parameter No. 34)
PG2 (DRU parameter No. 35)
VG1 (DRU parameter No. 36)
VG2 (DRU parameter No. 37)
VIC (DRU parameter No. 38)
PG1 (DRU parameter No. 6)
VG1 (DRU parameter No. 36)
Interpolation mode
000
Always estimated
GD2 (DRU parameter No. 34)
PG2 (DRU parameter No. 35)
VG2 (DRU parameter No. 37)
VIC (DRU parameter No. 38)
6 - 1
6. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Yes
Used when you want to
match the position gain 1
(PG1) between 2 or more
axes. Normally not used for
other purposes.
Interpolation
made for 2 or more
axes?
Interpolation mode
Operation
No
Allows adjustment by
merely changing the
response level setting.
First use this mode to make
adjustment.
Auto tuning mode 1
Operation
Yes
No
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
OK?
OK?
Yes
No
Auto tuning mode 2
Operation
Yes
OK?
No
This mode permits
adjustment easily with three
gains if you were not
satisfied with auto tuning
results.
Manual mode 1
Operation
Yes
OK?
You can adjust all gains
manually when you want to
do fast settling or the like.
No
Manual mode 2
END
6.1.2 Adjustment using MR Configurator (servo configuration software)
This section gives the functions and adjustment that may be performed by using the servo amplifier with
the MR Configurator (servo configuration software) which operates on a personal computer.
Function
Description
Adjustment
Machine analyzer
With the machine and servo motor
coupled, the characteristic of the
mechanical system can be measured by
giving a random vibration command from
the personal computer to the servo and
measuring the machine response.
You can grasp the machine resonance frequency and
determine the notch frequency of the machine
resonance suppression filter.
You can automatically set the optimum gains in
response to the machine characteristic. This simple
adjustment is suitable for a machine which has large
machine resonance and does not require much settling
time.
Gain search
Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically
searches for gains which make settling
time shortest.
You can automatically set gains which make positioning
settling time shortest.
Machine simulation
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
You can optimize gain adjustment and command
pattern on personal computer.
6 - 2
6. GENERAL GAIN ADJUSTMENT
6.2 Auto tuning
6.2.1 Auto tuning mode
The MELSERVO-J2M has a real-time auto tuning function which estimates the machine characteristic
(load inertia moment ratio) in real time and automatically sets the optimum gains according to that
value. This function permits ease of gain adjustment of the MELSERVO-J2M.
(1) Auto tuning mode 1
The MELSERVO-J2M is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following DRU parameters are automatically adjusted in the auto tuning mode 1.
DRU parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
34
35
36
37
38
GD2
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
PG2
VG1
Speed control gain 1
VG2
Speed control gain 2
VIC
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor is not more than 100
times.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode 1 2 to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1.
Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load
inertia moment ratio (DRU parameter No. 34).
The following DRU parameters are automatically adjusted in the auto tuning mode 2.
DRU parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
Position control gain 2
Speed control gain 1
35
36
37
38
PG2
VG1
VG2
Speed control gain 2
VIC
Speed integral compensation
6 - 3
6. GENERAL GAIN ADJUSTMENT
6.2.2 Auto tuning mode operation
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Encoder
Control gains
Command
Current
control
Servo
motor
PG1,VG1
PG2,VG2,VIC
Current feedback
Real-time auto
tuning section
Position/speed
feedback
Set 0 or 1 to turn on.
Load inertia
moment ratio
estimation section
Gain
table
Switch
Speed feedback
DRU parameter No. 34
Load inertia moment
ratio estimation value
DRU parameter
No. 2
Third digit First digit
Auto tuning Response
selection level setting
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to DRU parameter No. 34 (the ratio of load inertia moment to servo motor). These
results can be confirmed on the status display screen of the servo amplifier display section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly,
chose the "auto tuning mode 2" (DRU parameter No.2:
2
) to stop the estimation of the load inertia
moment ratio (Switch in above diagram turned off), and set the load inertia moment ratio (DRU
parameter No. 34) manually.
From the preset load inertia moment ratio (DRU parameter No. 34) value and response level (The first
digit of DRU parameter No. 2), the optimum control gains are automatically set on the basis of the
internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-
on. At power-on, auto tuning is performed with the value of each control gain saved in the EEP-ROM
being used as an initial value.
POINT
If sudden disturbance torque is imposed during operation, the estimation
of the inertia moment ratio may malfunction temporarily. In such a case,
choose the "auto tuning mode 2" (DRU parameter No. 2: 020 ) and set the
correct load inertia moment ratio in DRU parameter No. 34.
When any of the auto tuning mode 1, auto tuning mode 2 and manual
mode 1 settings is changed to the manual mode 2 setting, the current
control gains and load inertia moment ratio estimation value are saved in
the EEP-ROM.
6 - 4
6. GENERAL GAIN ADJUSTMENT
6.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor
automatically sets the optimum gains that match the machine. Merely changing the response level
setting value as required completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)
No
Yes
Choose the auto tuning mode 2
(DRU parameter No.2 : 020 )and
set the load inertia moment ratio
(DRU parameter No.34) manually.
Adjust response level setting
so that desired response level is
achieved on vibration-free level.
Acceleration/deceleration repeated
Requested
No
performance satisfied?
Yes
END
To manual mode
6 - 5
6. GENERAL GAIN ADJUSTMENT
6.2.4 Response level setting in auto tuning mode
Set the response (The first digit of DRU parameter No.2) of the whole servo system. As the response level
setting is increased, the trackability and settling time for a command decreases, but a too high response
level will generate vibration. Hence, make setting until desired response is obtained within the vibration-
free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, adaptive vibration suppression control (DRU parameter No. 60) or machine resonance
suppression filter (DRU parameter No. 58 59) may be used to suppress machine resonance. Suppressing
machine resonance may allow the response level setting to increase. Refer to Section 7.2 for adaptive
vibration suppression control and machine resonance suppression filter.
DRU parameter No. 2
Response level setting
Auto tuning selection
Machine characteristic
Response level setting
Machine resonance
frequency guideline
Machine rigidity
Guideline of corresponding machine
1
2
Low
15Hz
20Hz
25Hz
30Hz
35Hz
45Hz
55Hz
70Hz
3
Large conveyor
4
5
6
Arm robot
7
General machine
tool conveyor
8
Middle
9
85Hz
105Hz
130Hz
160Hz
200Hz
240Hz
300Hz
Precision
working
machine
A
B
C
D
E
F
Inserter
Mounter
Bonder
High
6 - 6
6. GENERAL GAIN ADJUSTMENT
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with
three DRU parameters.
6.3.1 Operation of manual mode 1
In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2) and
speed integral compensation (VIC) automatically sets the other gains to the optimum values according to
these gains.
GD2
User setting
PG1
PG2
VG2
VG1
Automatic setting
VIC
Therefore, you can adjust the model adaptive control system in the same image as the general PI control
system (position gain, speed gain, speed integral time constant). Here, the position gain corresponds to
PG1, the speed gain to VG2 and the speed integral time constant to VIC. When making gain adjustment
in this mode, set the load inertia moment ratio (DRU parameter No. 34) correctly.
6.3.2 Adjustment by manual mode 1
POINT
If machine resonance occurs, adaptive vibration suppression control (DRU
parameter No. 60) or machine resonance suppression filter (DRU
parameter No. 58 59) may be used to suppress machine resonance. (Refer
to Section 7.1.)
(1) DRU parameters
The following parameters are used for gain adjustment:
DRU parameter No.
Abbreviation
Name
6
PG1
Position control gain 1
34
37
38
GD2
Ratio of load inertia moment to servo motor inertia moment
Speed control gain 2
VG2
VIC
Speed integral compensation
(2) Adjustment procedure
Step
Operation
Description
Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment (DRU parameter No. 34).
1
2
Set a slightly smaller value to the position control gain 1 (DRU parameter No.
6).
Increase the speed control gain 2 (DRU parameter No. 37) within the
vibration- and unusual noise-free range, and return slightly if vibration takes
place.
Increase the speed control gain.
3
Decrease the speed integral compensation (DRU parameter No. 38) within the Decrease the time constant of the
4
5
vibration-free range, and return slightly if vibration takes place.
Increase the position control gain 1 (DRU parameter No. 6).
If the gains cannot be increased due to mechanical system resonance or the
like and the desired response cannot be achieved, response may be increased
by suppressing resonance with adaptive vibration suppression control or
machine resonance suppression filter and then executing steps 3 to 5.
While checking the settling characteristic and rotational status, fine-adjust
each gain.
speed integral compensation.
Increase the position control gain.
Suppression of machine resonance.
Refer to Section 7.1.
6
7
Fine adjustment
6 - 7
6. GENERAL GAIN ADJUSTMENT
(3) Adjustment description
(a) Position control gain 1 (DRU parameter No. 6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves trackability to a position command but a too high value will make
overshooting liable to occur at the time of settling.
1
3
1
5
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
Position control
gain 1 guideline
to
)
(
(b) Speed control gain 2 (VG2: DRU parameter No. 37)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression:
Speed control gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
Speed loop response
frequency(Hz)
2
(c) Speed integral compensation (DRU parameter No. 38)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large
or the mechanical system has any vibratory element, the mechanical system is liable to vibrate
unless the setting is increased to some degree. The guideline is as indicated in the following
expression:
2000 to 3000
Speed integral compensation
setting(ms)
Speed control gain 2 setting/
(1 ratio of load inertia moment to
servo motor inertia moment setting 0.1)
6 - 8
6. GENERAL GAIN ADJUSTMENT
6.4 Interpolation mode
The interpolation mode is used to match the position control gains of the axes when performing the
interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the
position control gain 2 and speed control gain 2 which determine command trackability are set manually
and the other parameter for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
DRU parameter No.
Abbreviation
Name
34
35
37
38
GD2
PG2
VG2
VIC
Ratio of load inertia moment to servo motor inertia moment
Position control gain 2
Speed control gain 2
Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
DRU parameter No.
Abbreviation
PG1
Name
6
Position control gain 1
Speed control gain 1
36
VG1
(2) Adjustment procedure
Step
Operation
Description
Set 15Hz (DRU parameter No. 2: 010 ) as the machine resonance frequency of
response in the auto tuning mode 1.
1
2
Select the auto tuning mode 1.
During operation, increase the response level setting (DRU parameter No. 2),
and return the setting if vibration occurs.
Adjustment in auto tuning mode
1.
Check the values of position control gain 1 (DRU parameter No. 6) and speed
control gain 1 (DRU parameter No. 36).
3
4
Check the upper setting limits.
Select the interpolation mode.
Set the interpolation mode (DRU parameter No. 2: 000 ).
Using the position control gain 1 value checked in step 3 as the guideline of the
5
upper limit, set in PG1 the value identical to the position loop gain of the axis to Set position control gain 1.
be interpolated.
Using the speed control gain 1 value checked in step 3 as the guideline of the
upper limit, look at the rotation status and set in speed control gain 1 the value Set speed control gain 1.
three or more times greater than the position control gain 1 setting.
6
7
Looking at the interpolation characteristic and rotation status, fine-adjust the
Fine adjustment.
gains and response level setting.
(3) Adjustment description
(a) Position control gain 1 (DRU parameter No.6)
This parameter determines the response level of the position control loop. Increasing position
control gain 1 improves trackability to a position command but a too high value will make
overshooting liable to occur at the time of settling. The droop pulse value is determined by the
following expression.
Rotation speed (r/min)
131072(pulse)
60
Droop pulse value (pulse)
Position control gain set value
(b) Speed control gain 1 (DRU parameter No. 36)
Set the response level of the speed loop of the model. Make setting using the following expression
as a guideline.
Speed control gain 1 setting Position control gain 1 setting 3
6 - 9
6. GENERAL GAIN ADJUSTMENT
MEMO
6 - 10
7. SPECIAL ADJUSTMENT FUNCTIONS
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
The functions given in this chapter need not be used generally. Use them
if you are not satisfied with the machine status after making adjustment
in the methods in Chapter 6.
If a mechanical system has a natural resonance point, increasing the servo system response level may
cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance
frequency.
Using the machine resonance suppression filter and adaptive vibration suppression control functions can
suppress the resonance of the mechanical system.
7.1 Function block diagram
DRU parameter DRU parameter
DRU parameter
No.59
DRU parameter Current
No.60 command
Speed
control
No.58
No.60
00
00
0
0
Low-pass
filter
Servo
motor
Encoder
Machine resonance
suppression filter 1
Machine resonance
suppression filter 2
1
00
00
except
except
Adaptive vibration
suppression control
1
or
2
7.2 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of
the specific frequency to suppress the resonance of the mechanical system. You can set the gain
decreasing frequency (notch frequency) and gain decreasing depth.
Machine resonance point
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
Notch frequency
7 - 1
7. SPECIAL ADJUSTMENT FUNCTIONS
You can use the machine resonance suppression filter 1 (DRU parameter No. 58) and machine
resonance suppression filter 2 (DRU parameter No. 59) to suppress the vibration of two resonance
frequencies. Note that if adaptive vibration suppression control is made valid, the machine resonance
suppression filter 1 (DRU parameter No. 58) is made invalid.
Machine resonance point
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
DRU parameter No. 58 DRU parameter No. 59
POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
(2) Parameters
(a) Machine resonance suppression filter 1 (DRU parameter No. 58)
Set the notch frequency and notch depth of the machine resonance suppression filter 1 (DRU
parameter No. 58)
When you have made adaptive vibration suppression control selection (DRU parameter No. 60)
"valid" or "held", make the machine resonance suppression filter 1 invalid (DRU parameter No. 58:
0000).
DRU parameter No. 58
0
Notch frequency
Setting
value
Setting
value
Setting
value
Setting
value
Frequency
Frequency
Frequency
Frequency
281.3
264.7
250
00
01
02
03
04
05
06
07
Invalid
4500
2250
1500
1125
900
08
09
562.5
500
10
11
12
13
14
15
16
17
18
19
187.5
180
450
173.1
166.7
160.1
155.2
150
0A
0B
0C
0D
0E
0F
1A
1B
1C
1D
1E
1F
409.1
375
236.8
225
346.2
321.4
300
214.3
204.5
195.7
750
642.9
145.2
Notch depth
Setting
value
Depth (Gain)
Deep ( 40dB)
( 14dB)
0
1
2
3
( 8dB)
Shallow( 4dB)
7 - 2
7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch
frequency is set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator (servo configuration software). This
allows the required notch frequency and depth to be determined.
Resonance may occur if DRU parameter No. 58 59 is used to select a
close notch frequency and set a deep notch.
(b) Machine resonance suppression filter 2 (DRU parameter No. 59)
The setting method of machine resonance suppression filter 2 (DRU parameter No. 59) is the same
as that of machine resonance suppression filter 1 (DRU parameter No. 58). However, the machine
resonance suppression filter 2 can be set independently of whether adaptive vibration suppression
control is valid or invalid.
7.3 Adaptive vibration suppression control
(1) Function
Adaptive vibration suppression control is a function in which the drive unit detects machine resonance
and sets the filter characteristics automatically to suppress mechanical system vibration. Since the
filter characteristics (frequency, depth) are set automatically, you need not be conscious of the
resonance frequency of a mechanical system. Also, while adaptive vibration suppression control is
valid, the servo amplifier always detects machine resonance, and if the resonance frequency changes,
it changes the filter characteristics in response to that frequency.
Machine resonance point
Machine resonance point
Mechanical
system
Mechanical
system
response
level
response
level
Frequency
Frequency
Notch
depth
Notch
depth
Frequency
Frequency
Notch frequency
Notch frequency
When machine resonance is large and frequency is low When machine resonance is small and frequency is high
POINT
The machine resonance frequency which adaptive vibration suppression
control can respond to is about 150 to 500Hz. Adaptive vibration
suppression control has no effect on the resonance frequency outside this
range. Use the machine resonance suppression filter for the machine
resonance of such frequency.
Adaptive vibration suppression control may provide no effect on a
mechanical system which has complex resonance characteristics or which
has too large resonance.
Under operating conditions in which sudden disturbance torque is imposed
during operation, the detection of the resonance frequency may malfunction
temporarily, causing machine vibration. In such a case, set adaptive
vibration suppression control to be "held" (DRU parameter No. 60:
2
)
to fix the characteristics of the adaptive vibration suppression control filter.
7 - 3
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
The operation of adaptive vibration suppression control selection (DRU parameter No.60).
DRU parameter No. 60
Adaptive vibration suppression control selection
Choosing "valid" or "held" in adaptive vibration suppression
control selection makes the machine resonance suppression
filter 1 (DRU parameter No. 58) invalid.
0: Invalid
1: Valid
Machine resonance frequency is always detected to generate
the filter in response to resonance, suppressing machine vibration.
2: Held
Filter characteristics generated so far is held, and detection of
machine resonance is stopped.
Adaptive vibration suppression control sensitivity selection
Select the sensitivity at which machine resonance is detected.
0: Normal
1: Large sensitivity
POINT
Adaptive vibration suppression control is factory-set to be invalid (DRU
parameter No. 60: 0000).
The filter characteristics generated are saved in the EEP-ROM every 60
minutes since power-on. At next power-on, vibration suppression control is
performed with this data saved in the EEP-ROM being used as an initial
value.
Setting the adaptive vibration suppression control sensitivity can change
the sensitivity of detecting machine resonance. Setting of "large sensitivity"
detects smaller machine resonance and generates a filter to suppress
machine vibration. However, since a phase delay will also increase, the
response of the servo system may not increase.
7.4 Low-pass filter
(1) Function
When a ballscrew or the like is used, resonance of high frequency may occur as the response level of
the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the
following expression:
Speed control gain 2 setting 10
Filter frequency(Hz)
(1 Ratio of load inertia moment to servo motor inertia moment setting 0.1)
2
(2) Parameter
Set the operation of the low-pass filter (DRU parameter No. 60.)
DRU parameter No. 60
Low-pass filter selection
0: Valid (automatic adjustment) initial value
1: Invalid
POINT
In a mechanical system where rigidity is extremely high and resonance is
difficult to occur, setting the low-pass filter to be "invalid" may increase
the servo system response to shorten the settling time.
7 - 4
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5 Gain changing function
This function can change the gains. You can change between gains during rotation and gains during stop
or can use an external signal to change gains during operation.
7.5.1 Applications
This function is used when:
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during
rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains using an external signal to ensure stability of the servo system since the
load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).
7.5.2 Function block diagram
The valid control gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection (DRU parameter No. 65) and gain changing condition (DRU
parameter No. 66).
CDP
DRU parameter No.65
External signal
CDP
Command pulse
frequency
Droop pulses
Changing
Model speed
Comparator
CDS
DRU parameter No.66
GD2
DRU parameter No.34
Valid
GD2B
GD2 value
DRU parameter No.61
PG2
DRU parameter No.35
Valid
PG2 PG2B
100
PG2 value
VG2
DRU parameter No.37
Valid
VG2 VG2B
100
VG2 value
VIC
DRU parameter No.38
Valid
VIC VICB
100
VIC value
7 - 5
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.3 Parameters
When using the gain changing function, always set "
4
" in DRU parameter No.2 (auto tuning) to
choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the
auto tuning mode.
DRU
Abbrevi-
ation
Name
Unit
Description
parameter No.
6
PG1
VG1
Position control gain 1
Speed control gain 1
rad/s Position and speed gains of a model used to set the
response level to a command. Always valid.
Control parameters before changing
36
rad/s
0.1
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
34
GD2
times
rad/s
rad/s
ms
35
37
38
PG2
VG2
VIC
Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2 changing
ratio
0.1
Used to set the ratio of load inertia moment to servo
61
62
63
GD2B
PG2B
VG2B
times motor inertia moment after changing.
Used to set the ratio (%) of the after-changing position
%
control gain 2 to position control gain 2.
Speed control gain 2 changing
ratio
Used to set the ratio (%) of the after-changing speed
%
control gain 2 to speed control gain 2.
Speed integral compensation
changing ratio
Used to set the ratio (%) of the after-changing speed
64
65
VICB
CDP
%
integral compensation to speed integral compensation.
Gain changing selection
Used to select the changing condition.
kpps
pulse
r/min
Used to set the changing condition values.
66
67
CDS
CDT
Gain changing condition
You can set the filter time constant for a gain change at
changing.
Gain changing time constant
ms
7 - 6
7. SPECIAL ADJUSTMENT FUNCTIONS
(1) DRU parameters No. 6 34 to 38
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position control gain 2, speed control gain
2 and speed integral compensation to be changed.
(2) Ratio of load inertia moment to servo motor inertia moment 2 (GD2B: DRU parameter No. 61)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia
moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor
inertia moment (DRU parameter No. 34).
(3) Position control gain 2 changing ratio (DRU parameter No. 62), speed control gain 2 changing ratio (DRU
parameter No. 63), speed integral compensation changing ratio (DRU parameter No. 64)
Set the values of after-changing position control gain 2, speed control gain 2 and speed integral
compensation in ratio (%). 100% setting means no gain change.
For example, at the setting of position control gain 2 100, speed control gain 2 2000, speed integral
compensation 20 and position control gain 2 changing ratio 180%, speed control gain 2 changing
ratio 150% and speed integral compensation changing ratio 80%, the after-changing values are as
follows:
Position control gain 2 Position control gain 2 Position control gain 2 changing ratio /100 180rad/s
Speed control gain 2 Speed control gain 2
Speed control gain 2 changing ratio /100 3000rad/s
Speed integral compensation Speed integral compensation Speed integral compensation changing
ratio /100 16ms
(4) Gain changing selection (DRU parameter No. 65)
Used to set the gain changing condition. Choose the changing condition in the first digit. If you set "1"
here, you can use the gain changing (CDP ) external input signal for gain changing. The gain
changing (CDP ) can be assigned to the pins using DRU parameters No. 43 to 48.
DRU parameter No. 65
Gain changing (CDP ) selection
Gains are changed in accordance with the settings of
DRU parameters No. 61 to 64 under any of the following conditions:
0: Invalid
1: Gain changing (CDP ) is ON
2: Command frequency is equal to higher than DRU parameter No. 66 setting
3: Droop pulse value is equal to higher than DRU parameter No. 66 setting
4: Servo motor speed is equal to higher than DRU parameter No. 66 setting
(5) Gain changing condition (DRU parameter No. 66)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (DRU parameter No.65), set the gain changing level.
The setting unit is as follows:
Gain changing condition
Command frequency
Droop pulses
Unit
kpps
pulse
r/min
Servo motor speed
(6) Gain changing time constant (DRU parameter No. 67)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.
7 - 7
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.4 Gain changing operation
This operation will be described by way of setting examples.
(1) When you choose changing by external input
(a) Setting
DRU parameter No.
Abbreviation
PG1
Name
Setting
100
Unit
rad/s
rad/s
6
Position control gain 1
Speed control gain 1
36
VG1
1000
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
34
GD2
4
0.1 times
35
37
38
PG2
VG2
VIC
120
3000
20
rad/s
rad/s
ms
Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2
changing ratio
61
62
63
64
GD2B
PG2B
VG2B
VICB
100
70
0.1 times
%
%
%
Speed control gain 2 changing
ratio
133
250
Speed integral compensation
changing ratio
0001
(Changed by ON/OFF of
pin CN1A-8)
100
65
67
CDP
CDT
Gain changing selection
Gain changing time constant
ms
(b) Changing operation
OFF
OFF
ON
Gain changing
(CDP
)
After-changing gain
Before-changing gain
Change of
each gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
to servo motor inertia moment
Position control gain 2
4.0
10.0
4.0
120
3000
20
84
4000
50
120
3000
20
Speed control gain 2
Speed integral compensation
7 - 8
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
DRU parameter No.
Abbreviation
PG1
Name
Setting
100
Unit
rad/s
rad/s
6
Position control gain 1
Speed control gain 1
36
VG1
1000
Ratio of load inertia moment to
servo motor inertia moment
Position control gain 2
Speed control gain 2
34
GD2
40
0.1 times
35
37
38
PG2
VG2
VIC
120
3000
20
rad/s
rad/s
ms
Speed integral compensation
Ratio of load inertia moment to
servo motor inertia moment 2
Position control gain 2
changing ratio
61
62
63
64
65
GD2B
PG2B
VG2B
VICB
CDP
100
70
0.1 times
%
%
%
Speed control gain 2 changing
ratio
133
250
Speed integral compensation
changing ratio
0003
Gain changing selection
(Changed by droop pulses)
66
67
CDS
CDT
Gain changing condition
50
pulse
ms
Gain changing time constant
100
(b) Changing operation
Command pulse
Droop pulses
CDS
CDS
Droop pulses [pulses]
0
After-changing gain
Before-changing gain
Change of each gain
CDT 100ms
Position control gain 1
100
Speed control gain 1
1000
Ratio of load inertia moment
4.0
10.0
4.0
10.0
to servo motor inertia moment
Position control gain 2
120
3000
20
84
4000
50
120
3000
20
84
4000
50
Speed control gain 2
Speed integral compensation
7 - 9
7. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
7 - 10
8. INSPECTION
8. INSPECTION
Before starting maintenance and/or inspection, make sure that the charge lamp is
off more than 15 minutes after power-off. Then, confirm that the voltage is safe in
the tester or the like. Otherwise, you may get an electric shock.
WARNING
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your safes representative.
POINT
Do not test MELSERVO-J2M with a megger (measure insulation
resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
(1) Inspection
It is recommended to make the following checks periodically:
(a) Check for loose terminal block screws. Retighten any loose screws.
(b) Check the cables and the like for scratches and cracks. Perform periodic inspection according to
operating conditions.
(2) Life
The following parts must be changed periodically as listed below. If any part is found faulty, it must be
changed immediately even when it has not yet reached the end of its life, which depends on the
operating method and environmental conditions. For parts replacement, please contact your sales
representative.
Part name
Life guideline
Smoothing capacitor
10 years
Number of power-on and number of forced
Stop times:100,000times.
Relay
Cooling fan
10,000 to 30,000hours (2 to 3 years)
Refer to Section 13.2
Absolute position battery unit
(a) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly
depends on ambient temperature and operating conditions. The capacitor will reach the end of its
life in 10 years of continuous operation in normal air-conditioned environment.
(b) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of
their life when the cumulative number of power-on and forced stop times is 100,000, which depends
on the power supply capacity.
(c) Drive unit cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore,
the fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
8 - 1
8. INSPECTION
MEMO
8 - 2
9. TROUBLESHOOTING
9. TROUBLESHOOTING
9.1 Trouble at start-up
Excessive adjustment or change of parameter setting must not be made as it will
CAUTION
make operation instable.
POINT
Using the optional MR Configurator (servo configuration software), you can
refer to unrotated servo motor reasons, etc.
The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.
(1) Troubleshooting
No.
Start-up sequence
Fault
Investigation
Possible cause
Reference
1
Power on
LED is not lit.
LED flickers.
Not improved if connectors
1. Power supply voltage fault
CN1A, CN1B, CN2 and CN3 2. MELSERVO-J2M is faulty.
are disconnected.
Improved when connectors
CN1A and CN1B are
disconnected.
Power supply of CNP1 cabling
is shorted.
Improved when connector
CN2 is disconnected.
1. Power supply of encoder
cabling is shorted.
2. Encoder is faulty.
Power supply of CN3 cabling is
shorted.
Improved when connector
CN3 is disconnected.
Alarm occurs.
Alarm occurs.
Refer to Section 9.2 and remove cause.
Refer to Section 9.2 and remove cause.
Section 9.2
Section 9.2
Section 4.3.6
2
Switch on servo-on
(SON ).
Servo motor shaft is 1. Check the display to see if 1. Servo-on (SON ) is not
not servo-locked
(is free).
the servo amplifier is
ready to operate.
input. (Wiring mistake)
2. 24VDC power is not
supplied to VIN.
2. Check the external I/O
signal indication to see if
the servo-on (SON ) is
ON.
3
Enter input
command.
Servo motor does
not rotate.
Check cumulative command 1. Wiring mistake
pulses. (a) For open collector pulse
Section 4.3.2
(Test operation)
train input, 24VDC
power is not supplied to
OPC.
(b) LSP /LSN -SG are not
connected.
2. No pulses is input.
1. Mistake in wiring to
controller.
Servo motor run in
reverse direction.
Chapter 5
2. Mistake in setting of DRU
parameter No. 54.
9 - 1
9. TROUBLESHOOTING
No.
Start-up sequence
Fault
Investigation
Possible cause
Reference
4
Gain adjustment
Rotation ripples
Make gain adjustment in the Gain adjustment fault
Chapter 6
(speed fluctuations) following procedure:
are large at low
speed.
1. Increase the auto tuning
response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
If the servo motor may be
run with safety, repeat
Large load inertia
moment causes the
Gain adjustment fault
Chapter 6
servo motor shaft to acceleration and
oscillate side to side. deceleration several times to
complete auto tuning.
5
Cyclic operation
Position shift occurs Confirm the cumulative
Pulse counting error, etc.
(2) in this
section
command pulses, cumulative due to noise.
feedback pulses and actual
servo motor position.
9 - 2
9. TROUBLESHOOTING
(2) How to find the cause of position shift
Positioning unit
(a) Output pulse
MELSERVO-J2M
Electronic gear (DRU parameters No. 3, 4)
Machine
L
counter
Servo motor
M
CMX
Q
P
(d) Machine stop
position M
CDV
(A)
(B)
(C) Servo-on (SON ),
forward rotation stroke
(b) Cumulative command
pulses
end (LSP
)
reverse
rotation stroke end
(LSD ) input
Encoder
C
(c) Cumulative
feedback pulses
When a position shift occurs, check (a) output pulse counter, (b) cumulative command pulse display, (c)
cumulative feedback pulse display, and (d) machine stop position in the above diagram.
(A), (B) and (C) indicate position shift causes. For example, (A) indicates that noise entered the wiring
between positioning unit and servo amplifier, causing pulses to be mis-counted.
In a normal status without position shift, there are the following relationships:
1) Q P (positioning unit's output counter servo amplifier's cumulative command pulses)
CMX(parameter No.3)
2)
P
CDV(parameter No.4)
C (cumulative command pulses electronic gear cumulative feedback pulses)
M (cumulative feedback pulses travel per pulse machine position)
3) C
Check for a position shift in the following sequence:
1) When Q
P
Noise entered the pulse train signal wiring between positioning unit and servo amplifier,
causing pulses to be miss-counted. (Cause A)
Make the following check or take the following measures:
Check how the shielding is done.
Change the open collector system to the differential line driver system.
Run wiring away from the power circuit.
Install a data line filter. (Refer to (2)(a) Section 12.2.6.)
CMX
When
2)
P
C
CDV
During operation, the servo-on (SON ) or forward rotation stroke end (LSP ) reverse rotation
stroke end (LSN ) was switched off or the clear (CR ) and the reset (RES ) switched on.
(Cause C)
If a malfunction may occur due to much noise, increase the input filter setting (DRU parameter
No. 1).
3) When C
M
Mechanical slip occurred between the servo motor and machine. (Cause B)
9 - 3
9. TROUBLESHOOTING
9.2 Alarms and warning list
POINT
The alarm/warning whose indication is not given does not exist in that
unit.
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to Section 9.3 or 9.4 and take the appropriate action.
When an alarm occurs in any of slots 1 to 4, ALM_A-SG open. When an alarm occurs in any of slots 5 to 8,
ALM_B-SG open.
The alarm can be canceled by turning the power OFF to ON.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
alarm deactivation column.
in the
When an alarm/warning occurs, the interface unit display shows the corresponding unit and alarm
number.
Interface unit display
Slot number
Alarm/warning number
Symbol
Definition (Slot)
Interface unit
First slot
Second slot
Third slot
Fourth slot
Fifth slot
Sixth slot
F
1
2
3
4
5
6
7
8
Seventh slot
Eight slot
9 - 4
9. TROUBLESHOOTING
Alarm deactivation
Display
Name
Power
OFF ON
Press “SET” on
current alarm screen.
Reset (RES)
A.10
A.12
A.13
A.15
A.16
A.17
A.19
A.1A
A.1C
A.1D
A.1E
A.20
A.24
A.25
A.30
A.31
A.32
A.33
A.35
Undervoltage
Memory error 1
Clock error
Memory error 2
Encoder error 1
Board error
Memory error 3
Servo motor combination error
Base unit bus error 1
Base unit bus error 2
Drive unit mounting error
Encoder error 2
Main circuit error
Absolute position erase
Regenerative error
Overspeed
Overcurrent
Overvoltage
Command pulse frequency error
IFU parameter error
DRU parameter error
Main circuit device overheat
Servo motor overheat
Overload 1
Overload 2
Error excessive
Multiple axis overload
Drive unit alarm
Option slot fault
Option slot loading error
Serial communication time-out
Serial communication error
Watchdog
Open battery cable warning
Home position setting warning
Battery warning
Excessive regenerative warning
Overload warning
Absolute position counter warning
Servo forced stop warning
Main circuit off warning
(Note 1)
(Note 1)
(Note 1)
A.37
A.45
A.46
A.50
A.51
A.52
A.53
A.54
A.78
A.79
A.8A
A.8E
88888
A.92
A.96
A.9F
A.E0
A.E1
A.E3
A.E6
A.E9
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 2)
(Note 2)
(Note 2)
Removing the cause of occurrence
deactivates the alarm automatically.
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. Automatically deactivated when the alarm of the drive unit is reset.
9 - 5
9. TROUBLESHOOTING
9.3 Remedies for alarms
When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
If an absolute position erase (A.25) occurred, always make home position setting
again. Otherwise, misoperation may occur.
CAUTION
As soon as an alarm occurs, turn off Servo-on (SON ) and power off the main
circuit.
POINT
When any of the following alarms has occurred, always remove its cause
and allow about 30 minutes for cooling before resuming operation. If
operation is resumed by switching control circuit power off, then on to reset
the alarm, each unit and servo motor may become faulty.
Regenerative error (A.30)
Overload 1 (A.50)
Overload 2 (A.51)
The alarm can be deactivated by switching power off, then on press the
“SET” button on the interface unit current alarm screen or by turning on
the reset (RES ). For details, refer to Section 9.2.
When an alarm occurs, the dynamic brake is operated to stop the servo motor. At this time, the display
indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance
with this section. The optional MR Configurator (servo configuration software) may be used to refer to the
cause.
@ in the Indication field denotes the slot number of the base unit.
Display
Name
Definition
Cause
Action
IFU
DRU
1. Power supply voltage is low.
2. There was an instantaneous control
circuit power failure of 30ms or
longer.
FA.10
Undervoltage
Power supply voltage
fell to or below
160VAC.
Review the power supply.
3. Shortage of power supply capacity
caused the power supply voltage to
drop at start, etc.
4. Power was restored after the bus
voltage had dropped to 200VDC.
(Main circuit power switched on
within 5s after it had switched off.)
5. Faulty parts in the base unit.
Change the base unit.
Checking method
Alarm (A.10) occurs if interface unit
is changed.
6. Faulty parts in interface unit.
Change the interface unit.
Checking method
Alarm (A.10) occurs if base unit is
changed.
7. CNP3 or CNP1B connector
unplugged.
Connect properly.
Faulty parts in the interface unit.
FA.12
FA.13
FA.15
Memory error 1 RAM, memory fault
Clock error Printed board fault.
Memory error 2 EEP-ROM fault
Change the interface unit.
Checking method
Alarm (any of A.11 and 13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
9 - 6
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.12@ Memory error 1 RAM, memory fault
@A.13@ Clock error Printed board fault.
@A.15@ Memory error 2 EEP-ROM fault
1. Faulty parts in the drive unit
Change the drive unit.
Checking method
Alarm (A.15)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.
2. The number of write times to EEP-
ROM exceeded 100,000.
@A.16@ Encoder error 1 Communication error 1. Encoder connector (CN2)
Connect correctly.
occurred between
encoder and servo
amplifier.
disconnected.
2. Encoder fault.
Change the servo motor.
Repair or change cable.
3. Encoder cable faulty.
(Wire breakage or shorted)
1. Faulty parts in the drive unit.
@A.17@ Board error 2
CPU/parts fault
Change the drive unit.
Checking method
Alarm (A.17) occurs if power is
switched on after disconnection of all
cables but the control circuit power
supply cables.
The output terminals 2. The wiring of U, V, W is
Correctly connect the output
terminals U, V, W of the drive
unit and the input terminals U,
V, W of the servo motor.
U, V, W of the drive
unit and the input
terminals U, V, W of
the servo motor are
not connected.
disconnected or not connected.
FA.19 @A.19@ Memory error 3 ROM memory fault
Faulty parts in the interface unit or
drive unit.
Change the interface unit or
drive unit.
Checking method
Alarm (A.19) occurs if power is
switched on after disconnection of all
cables but the control circuit power
supply cables.
@A.1A@ Servo motor
combination
error
Wrong combination of Wrong combination of drive unit and Use correct combination.
drive unit and servo
motor.
servo motor connected.
FA.1C
FA.1D
FA.1E
Base unit bus
error 1
There is error in
communication
between interface unit
and drive unit.
1. Interface unit connection fault.
Connect the interface unit to the
base unit properly.
2. Interface unit failure.
3. Base unit failure.
Change the interface unit.
Change the base unit.
Connect the drive unit to the
base unit properly.
Base unit bus
error 2
There is error in
communication
between interface unit
and drive unit.
1. Drive unit connection fault.
2. Drive unit failure.
Change the drive unit.
Change the base unit.
Connect the drive unit to the
base unit properly.
3. Base unit failure.
Drive unit
mounting error the base unit after
initialization.
Drive unit came off
1. Drive unit connection fault.
2. Base unit failure.
Change the base unit.
Change the drive unit.
3. Faulty parts in drive unit.
Checking method
Alarm (A.1E) occurs if power is
switched on after disconnection of
the U, V, W power cables.
@A.20@ Encoder error 2 Communication error 1. Encoder connector (CN2) disconnected. Connect correctly.
occurred between
encoder and drive
unit.
2. Encoder fault.
Change the servo motor.
Repair or change cable.
3. Encoder cable faulty.
(Wire breakage or shorted)
9 - 7
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.24@ Main circuit
error
Ground fault occurred 1. Power input wires and servo motor Connect correctly.
at the servo motor
outputs (U,V and W
phases) of the drive
unit.
output wires are in contact at CNP2.
2. Sheathes of servo motor power
cables deteriorated, resulting in
ground fault.
Change the cable.
3. Main circuit of drive unit failed.
Checking method
Change the drive unit.
Alarm (A.24) occurs if power is
switched on after disconnection of
the U, V, W power cables.
@A.25@ Absolute
position erase
Absolute position data 1. Battery voltage low.
Change battery.
in error.
Always make home position
setting again.
2. Battery cable or battery is faulty.
Power was switched
on for the first time in
the absolute position
detection system.
Permissible
3. Super capacitor of the absolute
position encoder is not charged.
After leaving the alarm occurring
for a few minutes, switch power
off, then on again. Always make
home position setting again.
Set correctly.
FA.30
Regenerative
alarm
1. Mismatch between used
regenerative power of
regenerative brake option and IFU
the regenerative brake parameter No. 1 setting.
option is exceeded.
2. Regenerative brake option is not
connected.
Connect correctly.
3. High-duty operation or continuous 1. Reduce the frequency of
regenerative operation caused the
permissible regenerative power of
the regenerative brake option to be
exceeded.
positioning.
2. Use the regenerative brake
option of larger capacity.
3. Reduce the load.
Checking method
Call the status display and check
the regenerative load ratio.
4. Power supply voltage rose to or
above 260VAC.
Review power supply.
5. Regenerative brake option faulty.
Change regenerative brake
option.
Regenerative
6. Regenerative transistor faulty.
Change the drive unit.
transistor fault
Checking method
1) The regenerative brake option
has overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative brake resistor or
regenerative brake option.
9 - 8
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.31@ Overspeed
Speed has exceeded
the instantaneous
permissible speed.
1. Input command pulse frequency is Set the command pulse correctly.
too high.
2. Small acceleration/deceleration time Increase acceleration/
constant caused overshoot to be
large.
deceleration time constant.
3. Servo system is instable to cause
overshoot.
1. Reset servo gain to proper
value.
2. If servo gain cannot be set to
proper value:
1) Reduce load inertia moment
ratio; or
2) Reexamine acceleration/
deceleration time constant.
Set correctly.
4. Electronic gear ratio is large.
(DRU parameter No. 3 4)
5. Encoder faulty.
Change the servo motor.
@A.32@ Overcurrent
Current that flew is
higher than the
1. Short occurred in drive unit output Correct the wiring.
phases U, V and W.
permissible current of
the drive unit.
2. Transistor of the servo drive unit
faulty.
Change the drive unit.
Checking method
Alarm (A.32) occurs if power is
switched on after disconnection of
the U, V, W power cables.
3. Ground fault occurred in servo
amplifier output phases U, V and W.
4. External noise caused the
overcurrent detection circuit to
misoperate.
Correct the wiring.
Take noise suppression
measures.
FA.33
Overvoltage
Converter bus voltage 1. Regenerative brake option is not
Use the regenerative brake
option.
exceeded 400VDC.
used.
2. Though the regenerative brake
option is used, the IFU parameter
Make correct setting.
No. 1 setting is "
00 (not used)".
3. Regenerative brake option is open or 1. Change lead.
disconnected.
2. Connect correctly.
Change drive unit.
4. Regenerative transistor faulty.
5. Wire breakage of regenerative brake For wire breakage of regenerative
option.
brake option, change regenerative
brake option.
6. Power supply voltage high.
Review the power supply.
@A.35@ Command pulse Input frequency of
frequency error command pulse is too
high.
1. Command given is greater than the Review operation program.
maximum speed of the servo motor.
2. Noise entered bus cable.
Take action against noise.
Change the servo system
controller.
3. Servo system controller failure.
9 - 9
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
FA.37
IFU parameter IFU parameter
1. Interface unit fault caused the IFU Change the interface unit.
parameter setting to be rewritten.
error
setting is wrong.
2. The number of write times to EEP- Change the interface unit
ROM exceeded 100,000 due to
parameter write, program write,
etc.
@A.37@ DRU parameter DRU parameter
1. Drive unit fault caused the DRU
parameter setting to be rewritten.
Change the drive unit.
error
setting is wrong.
2. The number of write times to EEP- Change the drive unit.
ROM exceeded 100,000 due to
parameter write, program write,
etc.
@A.45@ Main circuit
Main circuit device
1. Drive unit faulty.
Change the drive unit.
device overheat overheat.
2. The power supply was turned on
and off continuously by overloaded
status.
The drive method is reviewed.
3. Air cooling fan of drive unit stops.
1. Change the drive unit or
cooling fan.
2. Reduce ambient temperature.
@A.46@ Servo motor
overheat
Servo motor
1. Ambient temperature of servo motor Review environment so that
is over 40 ambient temperature is 0 to
40
temperature rise
actuated the thermal
sensor.
.
.
2. Servo motor is overloaded.
1. Reduce load.
2. Review operation pattern.
3. Use servo motor that provides
larger output.
3. Thermal sensor in encoder is faulty. Change servo motor.
@A.50@ Overload 1
Load exceeded
1. Drive unit is used in excess of its
continuous output current.
1. Reduce load.
overload protection
characteristic of servo
amplifier.
2. Review operation pattern.
3. Use servo motor that provides
larger output.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto
tuning.
2. Change auto tuning response
level setting.
3. Set auto tuning to OFF and
make gain adjustment
manually.
3. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
4. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
5. Encoder faulty.
Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
9 - 10
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
@A.51@ Overload 2
Machine collision or
the like caused max.
output current to flow
successively for
1. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Connect correctly.
2. Wrong connection of servo motor.
Drive unit's output terminals U, V,
W do not match servo motor's input
terminals U, V, W.
several seconds.
Servo motor locked:
0.3s or more
3. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto
tuning.
During rotation:
2.5s or more
2. Change auto tuning response
setting.
3. Set auto tuning to OFF and
make gain adjustment
manually.
4. Encoder faulty.
Checking method
Change the servo motor.
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
@A.52@ Error excessive The difference
between the model
position and the
1. Acceleration/deceleration time
constant is too small.
Increase the acceleration/
deceleration time constant.
2. Torque limit value (DRU parameter Increase the torque limit value.
No.28) is too small.
actual servo motor
position exceeds 2.5
rotations. (Refer to
the function block
diagram in Section
1.2)
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
1. Review the power supply
capacity.
2. Use servo motor which
provides larger output.
Increase set value and adjust to
ensure proper operation.
1. When torque is limited,
increase the limit value.
2. Reduce load.
4. Position control gain 1 (DRU
parameter No.36) value is small.
5. Servo motor shaft was rotated by
external force.
3. Use servo motor that provides
larger output.
6. Machine struck something.
1. Review operation pattern.
2. Install limit switches.
Change the servo motor.
Connect correctly.
7. Encoder faulty.
8. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
9 - 11
9. TROUBLESHOOTING
Display
Name
Definition
Cause
Action
IFU
DRU
FA.53
Multiple axis
overload
Drive unit whose
effective load factor is
85% or more is
adjacent.
1. Drive unit having large load is
adjacent.
1. Change the slot of the drive
unit whose load is large.
2. Reduce the load.
3. Reexamine the operation
pattern.
4. Use a servo motor whose
output is large.
2. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration and perform auto
tuning.
2. Change the response setting of
auto tuning.
3. Turn off auto tuning and make
gain adjustment manually.
Make correct connection.
3. Encoder cable and power cable (U,
V, W) coming out of one drive unit
are connected to the incorrect servo
motor.
FA.54
FA.78
Drive unit
alarm
Alarm occurred in one Alarm occurred in one or more axes of Remove the alarm causes of all
or more axes of drive drive units installed to the base unit. drive units where alarm has
units installed to the
base unit.
occurred.
Option slot fault Extension IO unit is
faulty.
1. Extension IO unit is not inserted
properly.
Insert correctly.
2. Incompatibility with the extension Change the interface unit for the
IO unit.
one compatible with the
extension IO unit.
3. Extension IO unit is faulty.
4. Base unit is faulty.
Change the extension IO unit.
Change the base unit.
FA.79
FA.8A
Option slot
loading error
Serial
Extension IO unit is
connected improperly.
Extension IO unit is disconnected.
Switch power off and reinsert the
extension IO unit.
Serial communication 1. Communication cable fault.
(Wire break or short circuit)
2. Communication cycle is longer than Set the IFU parameter value
Repair or change the cable.
communication stopped for longer
time-out
than the time set in
IFU parameter No.20.
the IFU parameter No.20 setting.
3. Protocol is incorrect.
correctly.
Correct the protocol.
Repair or change the cable.
Serial communication
error occurred
between interface unit
and communication
device (e.g. personal
computer).
FA.8E
88888
Serial
1. Communication cable fault.
(Open cable or short circuit)
communication
error
2. Communication device (e.g. personal Change the communication
computer) faulty.
device (e.g. personal computer).
Watchdog
CPU, parts faulty
Fault of parts in interface unit.
Change interface unit.
Checking method
Alarm (8888) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.
9 - 12
9. TROUBLESHOOTING
9.4 Remedies for warnings
If an absolute position counter warning (A.E3) occurred, always make home
position setting again. Otherwise, misoperation may occur.
CAUTION
POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo
amplifier and servo motor may become faulty. If the power of the servo
amplifier is switched OFF/ON during the alarms, allow more than 30
minutes for cooling before resuming operation.
Excessive regenerative warning (A.E0)
Overload warning 1 (A.E1)
If servo forced stop warning (A.E6) or main circuit off warning (A.E9) occurs, the servo off status is
established. If any other warning occurs, operation can be continued but an alarm may take place or
proper operation may not be performed. Eliminate the cause of the warning according to this section. Use
the optional MR Configurator (servo configuration software) to refer to the cause of warning.
@ in the Indication field denotes the slot number of the base unit.
Display
Name
Definition
Cause
Action
IFU
DRU
1. Battery cable is open.
Repair cable or changed.
@A.92@
Absolute position
detection system
battery voltage is low.
Open battery
cable warning
2. Battery voltage supplied from the Change battery unit.
battery unit to the encoder fell to
about 3.2V or less.
(Detected with the encoder)
3. Encoder cable is open.
Change the encoder cable.
@A.96@ Home position Home position return 1. Droop pulses remaining are greater Remove the cause of droop pulse
setting warning could not be made in
the precise position.
than the in-position range setting.
occurrence.
2. Home position return was executed Reduce creep speed.
during operation command.
3. Creep speed high.
Battery
warning
Voltage of battery for Battery voltage fell to 3.2V or less. Change the battery unit.
FA.9F
FA.E0
absolute position
detection system
reduced.
(Detected with the servo amplifier)
Excessive
regenerative
warning
There is a possibility Regenerative power increased to 85% 1. Reduce frequency of
that regenerative
power may exceed
permissible
regenerative power of
regenerative brake
option.
or more of permissible regenerative
power of regenerative brake option.
positioning.
2. Change regenerative brake
option for the one with larger
capacity.
Checking method
Call the status display and check
regenerative load ratio.
3. Reduce load.
@A.E1@ Overload
There is a possibility Load increased to 85% or more of
that overload alarm 1 overload alarm 1 or 2 occurrence level.
Refer to A.50, A.51.
warning
or 2 may occur.
Cause, checking method
Refer to A.50, A.51.
@A.E3@ Absolute
Absolute position
1. Noise entered the encoder.
Take noise suppression
measures.
Change servo motor.
Make home position setting
again.
position counter encoder pulses faulty.
warning
2. Encoder faulty.
The multi-revolution 3. The movement amount from the
counter value of the
absolute position
encoder exceeded the
maximum revolution
range.
home position exceeded a 32767
rotation or -37268 rotation in
succession.
Servo forced
stop warning
Main circuit off Servo-on (SON ) was
EMG_
-
are open. External forced stop was made valid. Ensure safety and deactivate
SG
FA.E6
FA.E9
(EMG_ -SG opened.)
forced stop.
Switch on main circuit power.
warning
turned on with main
circuit power off.
9 - 13
9. TROUBLESHOOTING
MEMO
9 - 14
10. OUTLINE DRAWINGS
10. OUTLINE DRAWINGS
10.1 MELSERVO-J2M configuration example
The following diagram shows the MR-J2M-BU8 base unit where one interface unit and eight drive units
are installed.
[Unit: mm]
([Unit: in])
30
35
25
(1.12)
(1.38)
240 (9.45)
50 (1.67)
(0.98)
350 (13.78)
6 (0.24)
6 (0.24)
338 (13.31)
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
SON
ALM
MITSUBISHIMMRE-LJ2SME-JR2VMO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
MELSERVO
CC
NN
PP
11
AB
C
N
1
C
N
1
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
A
B
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
2
C
N
P
3
C
N
5
C
N
3
CON4
CON5
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
C
N
P
2
CHARGE
(80 (3.15))
(70 (2.76))
NAME
PLATE
NAME
PLATE
10 - 1
10. OUTLINE DRAWINGS
10.2 Unit outline drawings
10.2.1 Base unit (MR-J2M-BU )
[Unit: mm]
([Unit: in])
Variable Dimensions
Mass
[kg]([lb])
Base Unit
A
B
MR-J2M-BU4 230 (9.06) 218 (8.58)
1.1 (2.43)
MR-J2M-BU6 290 (11.42) 278 (10.95) 1.3 (2.87)
MR-J2M-BU8 350 (13.78) 338 (13.307) 1.5 (3.31)
A
B
6 (0.24)
6 (0.24)
Connector layout
NAME
PLATE
CNP3
CNP1A, CNP1B
PE
CC
NN
P P
1 1
A B
A
B
3 L3
2 L2
1 L1
1 N L11
2 P L21
3 C
C
N
P
3
Terminal screw : M4
2 (0.08)
Tightening torque : 3.24 [N m]
(28.7 [lb in])
2- 6 ( 0.24) mounting hole
Mounting screw : M5
Tightening torque : 3.24 [N m]
(28.7 [lb in])
10.2.2 Interface unit (MR-J2M-P8A)
[Unit: mm]
([Unit: in])
5 (0.2)
mounting hole
Approx.80 (3.15)
139 (5.47)
50 (1.97)
130 (5.12)
25
(0.98)
6.5 (0.26)
Display/setting
cover
MELSERVO
MITSUBISHIMR-J2M-J2M
C
N
1
C
N
1
A
B
NAME PLATE
NAME PLATE
C
N
5
C
N
3
CHARG
Mounting screw : M4
Tightening torque : 1.5 [N m]
(13.3 [lb in])
Mass: 0.5kg (1.10lb)
10 - 2
10. OUTLINE DRAWINGS
10.2.3 Drive unit (MR-J2M- DU)
(1) MR-J2M-10DU to MR-J2M-40DU
[Unit: mm]
([Unit: in])
Approx.70 (2.76)
30
(1.18)
138.5 (5.45)
130 (4.72)
5
Connector layout
CNP2
4.5 ( 0.18)
mounting hole
(0.20)
6.5 (0.26)
2
V
1
4
SON
ALM
MITSUBISHI
MELSERVO
3
NAME
U
W
PLATE
MITSUBISHI
Mounting screw : M4
Tightening torque : 1.5 [N m]
(13.3 [lb in])
NAME PLATE
C
N
2
C
N
P
2
Mass: 0.4kg (0.88lb)
(2) MR-J2M-70DU
[Unit: mm]
([Unit: in])
2- 5 ( 0.2)
mounting hole
30 (1.18)
Approx.70 (2.76)
60 (2.36)
138.5 (5.47)
130 (4.72)
Connector layout
CNP2
5 (0.20)
6.5 (0.26)
2
V
1
4
SON
ALM
MITSUBISHI
MELSERVO
3
NAME
PLATE
U
W
MITSUBISHI
Mounting screw : M4
Tightening
torque : 1.5 [N m]
(13.3 [lb in])
NAME PLATE
C
N
2
C
N
P
2
Mass: 0.7kg (1.54lb)
10 - 3
10. OUTLINE DRAWINGS
10.2.4 Extension IO unit (MR-J2M-D01)
[Unit: mm]
([Unit: in])
Approx.80 (3.15)
138.5 (5.45)
130 (4.72)
25
(0.89)
5 (0.20)
6.5 (0.26)
2- 4.5 ( 0.18)
mounting hole
Mounting screw : M4
Tightening torque : 1.5 [N m]
(13.3 [lb in])
C
N
4
A
C
N
4
B
NAME PLATE
Mass: 0.2kg (1.10lb)
10.2.5 Battery unit (MR-J2M-BT)
[Unit: mm]
([Unit: in])
25(0.89)
Approx.70 (2.76)
130 (5.45)
5 (0.20)
6.5 (0.26)
2- 4.5 ( 0.18)
mounting hole
Mounting screw : M4
Tightening torque : 1.5 [N m]
(13.3 [lb in])
C
N
1
C
NAME PLATE
Mass: 0.3kg (0.66lb)
10 - 4
10. OUTLINE DRAWINGS
10.3 Connectors
(1) CN1A CN1B CN4A CN4B connector
<3M>
(a) Soldered type
Model Connector : 10150-3000VE
Shell kit
: 10350-52F0-008
[Unit: mm]
([Unit: in])
17.0 (0.67)
46.5 (1.83)
18.0 (0.71)
41.1 (1.62)
Logo, etc. are
indicated here.
52.4 (2.06)
12.7
(0.50)
(b) Threaded type
Model Connector : 10150-3000VE
Shell kit : 10350-52A0-008
Note. This is not available as option and should be user-prepared.
[Unit: mm]
([Unit: in])
17.0 (0.67)
46.5 (1.83)
18.0 (0.71)
41.1 (1.62)
Logo, etc. are
indicated here.
52.4 (2.06)
12.7
(0.50)
10 - 5
10. OUTLINE DRAWINGS
(2) CN2 CN3 connector
<3M>
(a) Soldered type
Model Connector : 10120-3000VE
Shell kit
: 10320-52F0-008
[Unit: mm]
([Unit: in])
12.0 (0.47)
22.0 (0.87)
14.0 (0.55)
Logo, etc. are
indicated here.
33.3 (1.31)
12.7
(0.50)
(b) Threaded type
Model Connector : 10120-3000VE
Shell kit : 10320-52A0-008
Note. This is not available as option and should be user-prepared.
[Unit: mm]
([Unit: in])
12.0 (0.47)
14.0 (0.55)
22.0 (0.87)
27.4
Logo, etc. are
indicated here.
(1.08)
33.3
(1.31)
12.7
(0.50)
10 - 6
10. OUTLINE DRAWINGS
(c) Insulation displacement type
Model Connector : 10120-6000EL
Shell kit
: 10320-3210-000
[Unit: mm]
([Unit: in])
6.7 ( 0.26)
Logo, etc. are
indicated here.
20.9 (0.82)
2- 0.5
(
0.02)
29.7
(1.17)
(3) CN5 connector
<3M>
[Unit: mm]
([Unit: in])
12.0 (0.47)
27.4
(1.08)
Logo, etc. are
indicated here.
22.0 (0.87)
14.0 (0.55)
R
R
3.0 (0.12)
4.0 (0.16)
7.6
A
4.0
4.0
(0.16)
(0.16)
(0.3)
10.7 0.2
23.35 (0.92)
33.3 (1.31)
(0.42 0.08)
12.7
(0.50)
Details A
10 - 7
10. OUTLINE DRAWINGS
(4) CNP1A/CNP1B connector
<Tyco Electronics>
Model CNP1A housing
CNP1B housing
: 1-178128-3
: 2-178128-3
Contact
: 917511-2 (max. sheath OD: 2.8 [mm] ( 0.11 [in]))
353717-2 (max. sheath OD: 3.4 [mm] ( 0.13 [in]))
: 91560-1 (for 917511-2)
Applicable tool
937315-1 (for 353717-2)
[Unit: mm]
([Unit: in])
5.08 (0.2)
7.15 (0.28)
29.7 (0.12)
3
2
1
P
A M
3 0 -
X
19.24 (0.76)
6.55
(0.26)
(5) CNP3 connector
<AMP>
Model Housing
Contact
: 1-179958-3
: 316041-2
: 234171-1
Applicable tool
[Unit: mm]
10.16 (0.4)
([Unit: in)
9.8 (0.39)
45.29 (1.79)
3
2
1
P
A M
5 0 -
Y
33.92 (1.33)
10 - 8
10. OUTLINE DRAWINGS
(6) Connectors for CNP2
<molex>
[Unit: mm]
([Unit: in])
0.6 (0.024)
1
2
3
4
5
6
7
9
0 1
R0.3
Circuit number
3 (0.118)
1.2
Layout diagrams classified by the number of poles
(0.047)
5.4 (0.213)
1
3
2
4
11.6
(0.457)
5.4 (0.213)
4 poles
1.5
(0.059)
3
Variable Dimensions
3.5
(0.138)
(0.118)
Model
5557-04R
A
B
4.2 (0.165)
9.6 (0.378)
(Pitch)
4.2
(0.165)
2.7 (0.106)
2.7 (0.106)
A
B
Terminal
[Unit: mm]
([Unit: in])
Model: 5556
1.9 (0.075)
14.7 (0.579)
6.6 (0.26)
5.5 (0.217)
4.3 (0.169)
2.6
(0.102)
1.2 (0.047)
OMIN
1
(0.039)
Applicable wire
2
(0.079)
Core size : AWG#18 to #24 (5556-PBTL)
AWG28 (5556-PBT2L)
Sheath OD: 3.1mm ( 0.122 in) max.
Strip length: 3.0 to 3.5 [mm] (0.118 to 0.138 [in])
Exclusive tools
Wire specifications
Sheath OD [mm(inch)]
Terminal
Tool number
Core size
1.5 to 2.2 (0.06 to 0.09)
2.3 to 3.1 (0.06 to 0.12)
57026-5000
57027-5000
57064-5000
57022-5300
5556-PBL
AWG18 to AWG24
5556-PBT2L
5556-PBT3L
AWG28
AWG16
10 - 9
10. OUTLINE DRAWINGS
MEMO
10 - 10
11. CHARACTERISTICS
11. CHARACTERISTICS
11.1 Overload protection characteristics
An electronic thermal relay is built in the drive unit to protect the servo motor and drive unit from
overloads.
Overload 1 alarm (A.50) occurs if overload operation performed is above the electronic thermal relay
protection curve shown in any of Figs 11.1. Overload 2 alarm (A.51) occurs if the maximum current flows
continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side
area of the continuous or broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.
The overload protection characteristic is about 20% lower than that of the MELSERVO-J2-Super series.
However, operation at the 100% continuous rating can be performed.
1000
1000
During rotation
100
100
During rotation
During servo lock
10
1
10
1
During servo lock
0.1
0
0.1
0
50
100
150
200
250
300
50
100
150
Load ratio [%]
200
250
300
Load ratio [%]
a. MR-J2M-10DU to MR-J2M-40DU
Fig 11.1 Electronic thermal relay protection characteristics
b. MR-J2M-70DU
Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop
status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic
thermal relay protection is not activated.
11 - 1
11. CHARACTERISTICS
11.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the drive unit
Table 11.1 indicates drive unit's power supply capacities and losses generated under rated load. For
thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating
conditions. The actual amount of generated heat will be intermediate between values at rated torque
and servo off according to the duty used during operation. When the servo motor is run at less than
the maximum speed, the power supply capacity will be smaller than the value in the table, but the
drive unit's generated heat will not change.
Table 11.1 Power supply capacity and generated heat at rated output
(Note 2)
(Note 1)
Area required for heat dissipation
Generated heat[W]
Unit
Servo motor
Power supply
capacity[kVA]
At rated torque
At servo off
[m2]
0.2
0.2
0.2
0.3
0.3
0.3
0.4
0.4
0.7
0.7
0.7
0.2
0.1
0.1
0.1
[ft2]
HC-KFS053 13
HC-MFS053 13
HC-UFS13
0.3
0.3
0.3
0.5
0.5
0.5
0.9
0.9
1.3
1.3
1.3
0.1
0
11
11
11
14
14
14
20
20
40
40
40
9
6
6
6
6
6
6
6
6
6
6
6
9
4
4
4
2.16
2.16
2.16
3.24
3.24
3.24
4.32
4.32
7.54
7.54
7.54
2.16
1.08
1.08
1.08
MR-J2M-10DU
HC-KFS23
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
HC-MFS23
HC-UFS23
HC-KFS43
HC-MFS43
HC-KFS73
HC-MFS73
HC-UFS73
MR-J2M-P8A
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
4
0
4
0
4
Note 1. Note that the power supply capacity will vary according to the power supply impedance.
This value applies to the case where the power factor improving reactor is not used.
2. Heat generated during regeneration is not included in the drive unit-generated heat. To calculate heat generated by the
regenerative brake option, use Equation 12.1 in Section 12.1.1.
11 - 2
11. CHARACTERISTICS
(2) Heat dissipation area for enclosed drive unit
The enclosed control box (hereafter called the control box) which will contain the drive unit should be
designed to ensure that its temperature rise is within 10
at the ambient temperature of
(50 )
40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 )
limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1:
P
............................................................................................................................................. (11.1)
A
K
T
where, A
P
: Heat dissipation area [m2]
: Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [
: Heat dissipation coefficient [5 to 6]
]
K
When calculating the heat dissipation area with Equation 11.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 11.1 for heat generated by the drive unit. "A" indicates the
effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that
extra amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore,
arrangement of the equipment in the enclosure and the use of a fan should be considered.
Table 11.1 lists the enclosure dissipation area for each drive unit when the drive unit is operated at
the ambient temperature of 40 (104 ) under rated load.
(Outside)
(Inside)
Air flow
Fig. 11.2 Temperature distribution in enclosure
When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because
the temperature slope inside and outside the enclosure will be steeper.
11 - 3
11. CHARACTERISTICS
11.3 Dynamic brake characteristics
Fig. 11.4 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.4)
ON
OFF
Forced stop(EMG_
)
Time constant
V0
Machine speed
Time
te
Fig. 11.3 Dynamic brake operation diagram
JL
JM
V0
60
Lmax
te
....................................................................................................................... (11.2)
1
Lmax
Vo
: Maximum coasting distance .................................................................................................[mm][in]
: Machine rapid feedrate......................................................................................... [mm/min][in/min]
: Servo motor inertial moment.................................................................................[kg cm2][oz in2]
: Load inertia moment converted into equivalent value on servo motor shaft.....[kg cm2][oz in2]
: Brake time constant........................................................................................................................[s]
M
J
L
J
te
: Delay time of control section ..........................................................................................................[s]
(There is internal relay delay time of about 30ms.)
11 - 4
11. CHARACTERISTICS
0.02
0.018
0.016
0.014
0.012
0.01
16
14
12
23
10
8
6
73
23
053
0.008
0.006
0.004
0.002
0
43
73
4
2
0
053
43
13
13
0
500 1000 1500 2000 2500 3000
Speed [r/min]
0
500 1000 1500 2000 2500 3000
Speed [r/min]
a. HC-KFS series
b. HC-MFS series
0.07
0.06
0.05
0.04
0.03
0.02
0.01
0
73
43
23
13
0
50
500
1000 1500 2000 2500 3000
Speed [r/min]
c. HC-UFS3000r/min series
Fig. 11.4 Dynamic brake time constant
Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the
load inertia moment may exceed the value, contact Mitsubishi.
Drive unit
Load inertia moment ratio [times]
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
30
11 - 5
11. CHARACTERISTICS
11.4 Encoder cable flexing life
The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1
5
108
107
a
1
5
107
106
a : Long flexing-life encoder cable
MR-JCCBL M-H
MR-JC4CBL M-H
1
5
106
105
b : Standard encoder cable
MR-JCCBL M-L
1
5
105
104
1
5
104
103
b
1
103
4
7
10
20
40
70 100
200
Flexing radius [mm]
11 - 6
12. OPTIONS AND AUXILIARY EQUIPMENT
12. OPTIONS AND AUXILIARY EQUIPMENT
Before connecting any option or auxiliary equipment, make sure that the charge
lamp is off more than 15 minutes after power-off, then confirm the voltage with a
tester or the like. Otherwise, you may get an electric shock.
WARNING
CAUTION
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
12.1 Options
12.1.1 Regenerative brake options
The specified combinations of regenerative brake options and base units may only
be used. Otherwise, a fire may occur.
CAUTION
(1) Combinations and regenerative powers
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power [W]
Base unit
MR-RB032
[40
MR-RB14
[26
MR-RB34
[26
MR-RB54
[26
]
]
]
]
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
30
100
300
500
(2) Selection of regenerative brake option
(a) Simple judgment of regenerative brake option necessity
The MELSERVO-J2M series does not contain a regenerative brake resistor. Check whether the
regenerative brake option is needed or not in the following method.
1) Requirements
The drive units mounted to the same base unit are all horizontal axes.
The operation pattern is clear and the load inertia moments of the axes to be decelerated
simultaneously are clear.
2) Checking method
The following table gives the permissible load inertia moment that does not require the
regenerative brake option when speed is reduced from 3000r/min.
Drive unit
Permissible Load Inertia Moment
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
2
1.42kg cm
2
4.94kg cm
Calculate the 3000r/min-equivalent inertia moment of each drive unit.
(Load inertia moment equivalent for 3000r/min) (JL JM) (running speed/3000)2
12 - 1
12. OPTIONS AND AUXILIARY EQUIPMENT
Calculate the total of the 3000r/min-equivalent inertia moments of the axes to be decelerated
simultaneously, and find the maximum total of 3000r/min-equivalent inertia moments.
Also find the sum total of permissible load inertia moments of the drive units installed on the
same base unit.
(Maximum total of 3000r/min-equivalent inertia moments) (Sum total of permissible load
inertia moments of drive units) 1.42
Regenerative brake option is unnecessary.
(Maximum total of 3000r/min-equivalent inertia moments) (Sum total of permissible load
inertia moments of drive units) 1.42
Regenerative brake option is necessary.
3) Confirmation example
In the following 8-axis system, the total 3000r/min-equivalent inertia moment is maximum
(9.75kg cm2) at the timing of 7). The permissible inertia moment of this 8-axis system is
11.36[kg cm2] as indicated by the following expression.
8 [axes] 1.42[kg cm2] 11.36[kg cm2]
Hence,
(Maximum total of 3000r/min-equivalent load inertia moments 9.75) 11.36[kg cm2]
The regenerative brake option is unnecessary.
Speed
1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13)
First slot
Second slot
Third slot
Fourth slot
Fifth slot
Operation pattern
Sixth slot
Seventh slot
Eighth slot
Servo
Load Inertia
Total
Running 3000r/min-
Servo
Motor
Model
Moment
equivalent
Total Inertia
Moment
kg cm2
Motor
inertia
moment
speed
Axis
No.
Inertia
Moment
kg cm2
(Servo motor
shaft equivalent)
kg cm2
kg cm2
r/min
HC-KFS13
HC-KFS23
HC-KFS43
HC-KFS13
HC-MFS13
HC-MFS23
HC-KFS13
HC-KFS43
0.084
0.42
1.3
2.1
2.0
0.8
0.9
2.5
0.4
5.83
1.384
2.52
3000
3000
3000
2500
2500
3000
3300
3000
1.38
2.52
2.67
0.61
0.65
2.59
0.59
6.5
1.38
2.52
2.67
1.38
2.52
2.67
1.38
2.52
2.67
First slot
Second slot
Third slot
Fourth slot
Fifth slot
0.67
2.67
0.084
0.03
0.884
0.93
0.61
0.65
0.61
0.65
0.088
0.084
0.67
2.588
0.484
6.5
2.59
0.59
Sixth slot
Seventh slot
Eighth slot
6.5
6.5 6.57
kg cm2
3000r/min-equivalent total inertia moment
6.57 1.26
9.75
1.26
Simultaneous deceleration total inertia moment maximum value
12 - 2
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) To make selection according to regenerative energy
Use the following method when regeneration occurs continuously in vertical motion applications or
when it is desired to make an in-depth selection of the regenerative brake option:
1) Regenerative energy calculation
Use the following table to calculate the regenerative energy.
Formulas for calculating torque and energy in operation
Regenerative power
Torque applied to servo motor [N m]
Energy [J]
(JL JM)
1
0.1047
2
No
No
No
No
E1
No
T1 Tpsa1
T1
TF
TF
TU
1)
2)
104
Tpsa1
9.55
T2 TU TF
E2 0.1047 No T2 t1
0.1047
(JL JM)
1
E3
No T3 Tpsd1
T3
TU
3)
104
2
Tpsd1
9.55
4), 8)
5)
T4 TU
E4 0 (No regeneration)
0.1047
(JL JM)
1
E5
No
T5 Tpsa2
T5
TU TF
104
2
Tpsa2
9.55
T6 TU TF
(JL JM)
6)
E6 0.1047 No T6 t3
0.1047
1
E7
No
T7 Tpsd2
T7
TU TF
7)
104
2
Tpsd2
9.55
From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative
energies.
2) Losses of servo motor and drive unit in regenerative mode
The following table lists the efficiencies and other data of the servo motor and drive unit in the
regenerative mode.
Drive unit
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
Inverse efficiency [%]
C charging [J]
55
70
85
80
5.5
18
Using the following expression, find the total of C charging [J] of the MELSERVO-J2M.
Number of drive unit axes 5.5J
Then, find the energy at each timing in a single-cycle operation pattern. The energy is positive in
the driving mode and negative in the regenerative mode. Enter signed driving/regenerative
energy values into the following calculation table. The shaded areas indicate negative values.
12 - 3
12. OPTIONS AND AUXILIARY EQUIPMENT
<Entry example>
Timing
First slot
1)
E1
E1
E1
E4
E4
E1
E1
E1
E 1)
2)
E2
E2
E2
E4
E4
E2
E2
E2
E 2)
3)
E3
4)
E4
5)
E1
E1
E5
E3
E4
E4
E4
E4
E 5)
6)
E2
E2
E6
E4
E1
E4
E4
E4
E 6)
7)
E3
E3
E7
E4
E2
E1
E1
E1
E 7)
8)
E4
E4
E8
E4
E3
E2
E2
E2
E 8)
Second slot
Third slot
Fourth slot
Fifth slot
E3
E4
E3
E4
E1
E2
E4
E4
Sixth slot
Seventh slot
Eighth slot
Total
E2
E3
E2
E3
E2
E3
E 3)
ES 3)
ER
E 4)
ES 4)
ER
Regenerative ES
|ES|-EC
PR(W)
ER/t
f
Calculate the total of energies at each timing. Only when the total is negative (timings 3, 4 in
the example), use the following expression for calculation.
Energy total ER regenerative energy ES (absolute value) C charging total (EC)
If the subtraction results are negative at all timings, the regenerative brake option is not
needed. From the total of ER's whose subtraction results are positive and a single-cycle period,
the power consumption of the regenerative brake option can be calculated with the following
expression.
Power consumption PR [W] (total of positive ER's)/1-cycle operation period (tf)
12 - 4
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Connection of the regenerative brake option
POINT
When using the MR-RB54, cooling by a fan is required. Please obtain a
cooling fan at your discretion.
Set IFU parameter No.1 according to the option to be used. The regenerative brake option will
generate heat of about 100
. Fully examine heat dissipation, installation position, used cables,
(212 )
etc. before installing the option. For wiring, use flame-resistant cables and keep them clear of the
regenerative brake option body. Always use twisted cables of max. 5m(16.4ft) length for connection
with the base unit.
The G3 and G4 terminals act as a thermal sensor. G3-G4 are disconnected when the regenerative
brake option overheats abnormally.
DRU parameter No.2
Selection of regenerative
0: Not used.
2: MR-RB032
5: MR-RB14
6: MR-RB34
7: MR-RB54
Base unit
Regenerative brake option
CNP1A
P
2
3
P
C
C
G3
G4
(Note)
5m (16.4 ft) max.
Note. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5V/4.8VDC
Maximum capacity: 2.4VA
12 - 5
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Outline drawing
(a) MR-RB032 MR-RB14
[Unit: mm (in)]
LA
6 (0.24) mounting hole
LB
MR-RB
TE1
Terminal block
5 (0.20)
G3
G4
P
G3
G4
TE1
P
C
C
Terminal screw: M3
Tightening torque:
0.5 to 0.6 [N m](4 to 5 [lb in])
Mounting screw
1.6 (0.06)
6 (0.23)
Screw size: M5
20
(0.79)
LD
LC
Tightening torque:
3.2 [N m](28.32 [lb in])
Variable dimensions
LB LC
Mass
[kg] [lb]
Regenerative
brake option
LA
LD
MR-RB032
MR-RB14
30 (1.18) 15 (0.59) 119 (4.69) 99 (3.9) 0.5 1.1
40 (1.57) 15 (0.59) 169 (6.69) 149 (5.87) 1.1 2.4
(b) MR-RB34
[Unit: mm (in)]
Terminal block
P
Terminal screw: M4
C
G3 Tightening torque: 1.2 [N m] (10.6 [lb in])
G4
7(0.28)
318 (12.52)
335 (13.19)
17
(0.67)
90 (3.54)
10 (0.39)
Mounting screw
100 (3.94)
Screw : M6
Tightening torque: 5.4 [N m](47.79 [lb in])
Regenerative Brake Option
Mass [kg(lb)]
MR-RB34
2.9 (6.393)
12 - 6
12. OPTIONS AND AUXILIARY EQUIPMENT
(c) MR-RB54
[Unit: mm (in)]
Terminal block
P
Fan mounting screw
(2-M3 screw)
On opposite side
82.5
(3.25)
49
(1.93)
C
Terminal screw: M4
G3
G4
Tightening torque: 1.2 [N m](10.6 [lb in])
7
14 slot
Mounting screw
Screw : M6
Tightening torque: 5.4 [N m](47.79 [lb in])
Wind blows in the
arrow direction.
7 (0.28)
2.3
(0.09)
Approx.30 (1.18)
17 (0.67)
200 (7.87)
223 (8.78)
108 (4.25)
120 (4.73)
12
(0.47)
8 (0.32)
Regenerative Brake Option
Mass [kg(lb)]
MR-RB54
5.6 (12.346)
12 - 7
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.2 Cables and connectors
(1) Cable make-up
The following cables are used for connection with the servo motor and other models.
The broken line areas in the diagram are not options.
5)
5)
Operation
panel
Operation
panel
16)
Programmable
controller
Programmable
controller
14)
Battery unit
MR-J2M-BT
Inhancin IO unit
MR-J2M-D01
BU
IFU
DRU
DRU
CN1C
CNP1A CNP1B
CN4A
To regenerative
brake option
CN1A CN1B
To control circuit
power supply
CN2
CN2
12)
CN3
CN4B
To main circuit
power supply
CN5 CN3
CON5
13)
CNP2
CNP2
Supplied with interface unit
17)
10)
9) 10)
HC-KFS
HC-MFS
HC-UFS 3000r/min
15)
Programmable
controller
1) 2) 3)
Personal
computer
7)
4)
8)
6)
12 - 8
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Housing: 1-172161-9
Pin: 170359-1
Application
1) Standard encoder MR-JCCBL M-L
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Standard
cable
Refer to (2) (a) in
this section.
flexing life
(Tyco Electronics or equivalent) IP20
Cable clamp: MTI-0002
(Toa Electric Industry)
2) Long flexing life MR-JCCBL M-H
Long flexing
encoder cable
Refer to (2) (a) in
this section.
life
IP20
3)
MR-JC4CBL M-H
Refer to (2) (b) in
this section.
4 line type
Long flexing
life
IP20
4) Encoder
connector set
MR-J2CNM
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
Housing: 1-172161-9
Pin: 170359-1
IP20
(Tyco Electronics or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)
5) Connector set
6) Bus cable
MR-J2MCN1
Connector: 10150-3000VE
Shell kit: 10350-52F0-008
(3M or equivalent)
Qty: 2 each
MR-J2HBUS M
Refer to section
12.1.4 (4).
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
7) Maintenance
junction card
MR-J2CN3TM
Refer to Section 12.1.4.
8) Communication MR-CPCATCBL3M Connector: DE-9SF-N
Connector: 10120-6000EL
Shell kit: 10320-3210-000
(3M or equivalent)
For
cable
Refer to (3) in this Case: DE-C1-J6-S6
connection
with PC-AT-
compatible
personal
computer
IP20
section.
(Japan Aviation Electronics)
9) Power supply
connector set
MR-PWCNK1
MR-PWCNK2
Plug: 5559-04P-210
Terminal: 5558PBT3L (For AWG16)(6 pcs.)
(Molex)
10) Power supply
connector set
Plug: 5559-06P-210
For motor
with brake
IP20
Terminal: 5558PBT3L (For AWG16)(8 pcs.)
(Molex)
12 - 9
12. OPTIONS AND AUXILIARY EQUIPMENT
No.
Product
Model
Description
Application
11) Power supply
connector
MR-PWCNK3
Plug: 5557-04R-210
Servo motor
power cable
Terminal: 5556PBT3L (for AWG16) (6 pcs.)
(Molex)
12) Base unit
connector set
MR-J2MCNM
Housing: 2-178128-3 (5 pcs.)
Contact: 917511-2 (max. sheath OD 2.8 [mm]
For CNP1B
For CNP1A
For CNP3
Y
X
(
0.11[in]) 15 pcs.)
(Tyco Electronics)
Housing: 1-178128-3 (5 pcs.)
Contact: 917511-2 (max. sheath OD 2.8 [mm]
(
0.11[in]) 15 pcs.)
(Tyco Electronics)
Housing: 1-179958-3 (5 pcs.)
Contact: 316041-2 (20 pcs.)
(Tyco Electronics)
13) Battery cable
MR-J2MBTCBL M Housing: 51030-0230
Terminal: 50083-8160
(molex)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
(3M or equivalent)
14) Junction terminal MR-J2M-CN1TBL M Junction terminal block connector
Interface unit connector
(3M or equivalent)
For MR-TB50
For MR-TB20
block cable
Cable length
(3M)
0.5, 1m D7950-B500FL (connector)
10150-6000EL(connector)
10350-3210-000(shell kit)
(1.64, 3.28ft)
15)
MR-J2TBL M-1A Junction terminal block connector
Interface unit connector
(3M or equivalent)
Cable length
(3M)
0.5, 1m D7920-B500FL (connector)
10120-6000EL(connector)
10320-52F0-F08-M1A(shell kit)
(1.64, 3.28ft)
16) Junction terminal MR-TB50
17) MR-TB20
Refer to Section 12.1.3
Refer to Section 12.1.4
12 - 10
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Encoder cable
If you have fabricated the encoder cable, connect it correctly.
CAUTION
Otherwise, misoperation or explosion may occur.
POINT
The encoder cable is not oil resistant.
Refer to Section 11.4 for the flexing life of the encoder cable.
When the encoder cable is used, the sum of the resistance values of the
cable used for P5 and the cable used for LG should be within 2.4 .
When soldering the wire to the connector pin, insulate and protect the
connection portion using heat-shrinkable tubing.
Generally use the encoder cable available as our options. If the required length is not found in the
options, fabricate the cable on the customer side.
(a) MR-JCCBL M-L/H
1) Model explanation
Model: MR-JCCBL M-
Symbol
Specifications
Standard flexing life
Long flexing life
L
H
Symbol
Cable length [m(ft)]
2
5
2 (6.56)
5 (16.4)
10
20
10 (32.8)
20 (65.6)
2) Connection diagram
The signal assignment of the encoder connector is as viewed from the pin side. For the pin
assignment on the drive unit side, refer to Section 3.5.3
Encoder cable
supplied to servo motor
Drive unit
Encoder connector
Encoder connector
1-172169-9
(Tyco Electronics)
Servo motor
Encoder
Encoder cable
(option or fabricated)
1
2
3
MR MRR BAT
CN2
4
5
6
MD MDR
Less than 30m(98ft)
30cm
(0.98ft)
7
8
9
P5
LG SHD
12 - 11
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JCCBL10M-L
MR-JCCBL20M-L
MR-JCCBL10M-H
MR-JCCBL20M-H
MR-JCCBL2M-L
MR-JCCBL5M-L
MR-JCCBL2M-H
MR-JCCBL5M-H
Drive unit side
Encoder side
7
Drive unit side
Encoder side
7
Drive unit side
Encoder side
7
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
P5
LG
P5
LG
P5
LG
19
11
20
12
18
2
8
1
2
4
5
3
8
1
2
4
5
3
8
1
2
4
5
3
MR
7
MR
7
MR
7
MRR 17
MD
MDR 16
MRR 17
MD
MDR 16
MRR 17
MD
MDR 16
6
6
6
BAT
LG
9
1
BAT
LG
9
1
BAT
LG
9
1
(Note)
(Note)
(Note)
Plate
Plate
Plate
SD
9
SD
9
SD
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the
MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown
in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder
cable of less than 30m(98ft) length including the length of the encoder cable supplied to the servo
motor.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not
required.
Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector
according to the servo motor installation environment.
For use of AWG22
Drive unit side
(3M)
Encoder side
19
11
20
12
18
2
7
P5
LG
P5
LG
P5
LG
8
1
2
7
MR
17
MRR
9
1
3
BAT
LG
(Note)
9
Plate
SD
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
12 - 12
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) MR-JC4CBL M-H
POINT
When using this encoder cable, set "1
" in DRU parameter No. 20.
1) Model explanation
Model: MR-JC4CBL M- H
Long flexing life
Symbol
Cable length [m(ft)]
30
40
50
30 (98.4)
40 (131.2)
50 (164.0)
2) Connection diagram
The signal assignment of the encoder connector is as viewed from the pin side. For the pin
assignment on the drive unit side, refer to Section 3.5.3.
Encoder cable
supplied to servo motor
Drive unit
Encoder connector
Encoder connector
1-172169-9
(Tyco Electronics)
Servo motor
Encoder
Encoder cable
(option or fabricated)
1
2
3
MR MRR BAT
CN2
4
5
6
MD MDR CNT
50m(164ft) max.
30cm
(0.98ft)
7
8
9
P5
LG SHD
12 - 13
12. OPTIONS AND AUXILIARY EQUIPMENT
MR-JC4CBL30M-H
to
MR-JC4CBL50M-H
Drive unit side
Encoder side
7
P5
19
11
20
12
18
2
LG
P5
LG
P5
LG
8
1
2
4
5
3
MR
7
MRR 17
MD
MDR 16
6
BAT
LG
9
1
(Note)
Plate
SD
9
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
When fabricating an encoder cable, use the recommended wires given in Section 12.2.1 and the
MR-J2CNM connector set for encoder cable fabrication, and fabricate an encoder cable as shown
in the following wiring diagram. Referring to this wiring diagram, you can fabricate an encoder
cable of up to 50m(164.0ft) length.
When the encoder cable is to be fabricated by the customer, the wiring of MD and MDR is not
required.
Refer to Chapter 3 of the servo motor instruction manual and choose the encode side connector
according to the servo motor installation environment.
For use of AWG22
Drive unit side
(3M)
Encoder side
19
11
20
12
18
2
7
P5
LG
P5
LG
P5
LG
6
8
1
2
7
MR
17
MRR
9
1
3
BAT
LG
(Note)
9
Plate
SD
Note. Always make connection for use in an absolute position detection system.
This wiring is not needed for use in an incremental system.
12 - 14
12. OPTIONS AND AUXILIARY EQUIPMENT
(3) Communication cable
POINT
This cable may not be used with some personal computers. After fully
examining the signals of the RS-232C connector, refer to this section and
fabricate the cable.
(a) Model definition
Model : MR-CPCATCBL3M
Cable length 3[m](10[ft])
(b) Connection diagram
MR-CPCATCBL3M
Personal computer side
Interface unit side
Plate FG
TXD
3
2
1
RXD
LG
RXD
GND
RTS
CTS
DSR
DTR
2
5
7
8
6
4
12
11
TXD
LG
D-SUB9 pins
Half-pitch 20 pins
When fabricating the cable, refer to the connection diagram in this section.
The following must be observed in fabrication:
1) Always use a shielded, multi-core cable and connect the shield with FG securely.
2) The optional communication cable is 3m(10ft) long. When the cable is fabricated, its maximum
length is 15m(49ft) in offices of good environment with minimal noise.
12 - 15
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Battery cable
When fabricating, use the recommended wire given in Section 12.2.1 and fabricate as in the
connection diagram shown in this section.
(a) Definition of model
Model: MR-J2MBTCBL M
Symbol Cable Length L [m(ft)]
03
1
0.3 (0.1)
1 (3.28)
(b) Outline drawing
L
(c) Connection diagram
Base unit side
Battery unit side
Housing: 51030-0230
Terminal: 50083-8160
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
LG
1
2
1
LG
BAT
BAT
SD
9
Plate
12 - 16
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.3 Junction terminal block (MR-TB50)
(1) How to use the junction terminal block
Always use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2M-
CN1TBL M) as a set. A connection example is shown below:
Interface unit
Junction terminal block
MR-TB50
CN1A
or
CN1B
Junction terminal
block cable
(MR-J2M-CN1TBL M)
Ground the junction terminal block cable on the junction terminal block side with the standard
accessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to Section
12.2.6, (2)(c).
(2) Terminal labels
Use the following junction terminal block labels.
(a) For CN1A
ALM
_A
OP_
VIN
SG
RES2
PP4
NG2 NG1
P5
SON4 CR3
RD1
PP3 PP2 PP1 LG OP3 OP1
CR4 RES3 RD2 INP1SON1 NG4 NG3
INP4
OP_
COM
OPC RES4
INP2 SON2
NP4 NP3 NP2 NP1 OP4 OP2 VIN RD4 INP3 SON3CR2
RES1
PG4 PG3 PG2 PG1 LG
RD3
CR1
(b) For CN1B
ALM
_B
OP_
VIN
SON5
SG INP8 SON8 CR7 RES6 RD5 PP8 PP7 PP6 PP5 LG OP7 OP5
CR8RES7 RD6 INP5
NG8 NG7 NG6 NG5
P5
OP_
COM
OPC
INP6
NP8 NP7 NP6 NP5 OP8 OP6 VIN RD8
CR6 RES5 PG8 PG7 PG6 PG5
LG
RES8 RD7
SON6
CR5
INP7 SON7
(3) Outline drawing
[Unit: mm]
([Unit: in.])
235(9.25)
2- 4.5(0.18)
2
1
50
49
MITSUBISHI
MR-TB50
244(9.61)
46.5(1.83)
Terminal screw: M3.5
Applicable cable: 2mm2
Crimping terminal width: 7.2mm (0.283 in) max.
12 - 17
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Junction terminal block cable (MR-J2M-CN1TBL
M)
(a) Model explanation
Model: MR-J2M-CN1TBL
M
Symbol Cable length[m(ft)]
05
1
0.5 (1.64)
1 (3.28)
(b) Connection diagram
PCR-S50FS(Servo amplifier side)
JE1S-501(Junction terminal side)
Pin No.
Symbol
Pin No.
CN1A CN1B
SG
SG
1
2
3
4
5
6
7
8
9
1
OPC OPC
INP4 INP8
RES4 RES8
SON4 SON8
2
3
4
5
6
7
8
9
RD3
CR3
INP2 INP6
RES2 RES6
RD7
CR7
SON2 SON6 10
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
RD1
CR1
PP4
NP4
PP3
NP3
PP2
NP2
PP1
NP1
LG
RD5
CR5
PP8
NP8
PP7
NP7
PP6
NP6
PP5
NP5
LG
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
OP4
OP3
OP2
OP8
OP7
OP6
OP1
VIN
OP5
VIN
ALM_A
ALM_B
RD4
CR4
INP3 INP7
RES3 RES7 31
SON3 SON7 32
RD2
CR2
INP1 INP5
RES1 RES5 36
SON1 SON5 37
RD8
CR8
RD6
CR6
33
34
35
PG4
NG4
PG3
NG3
PG2
NG2
PG1
NG1
LG
PG8
NG8
PG7
NG7
PG6
NG6
PG5
NG5
LG
38
39
40
41
42
43
44
45
46
47
48
OP_VIN OP_VIN
OP_COM OP_COM
P5
LG
SD
P5
LG
SD
49
50
plate
12 - 18
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.4 Junction terminal block (MR-TB20)
(1) How to use the junction terminal block
Always use the junction terminal block (MR-TB20) with the junction terminal block cable (MR-
J2TBL M-1A) as a set. A connection example is shown below:
Servo amplifier
Junction terminal block
Cable clamp
MR-TB20
(AERSBAN-ESET)
CN5
Junction terminal
block cable
(MR-J2TBL M-1A)
Ground the junction terminal block cable on the junction terminal block side with the standard
accessory cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to Section
13.2.6, (2)(c).
(2) Terminal labels
Use the following junction terminal block label designed for CN5. When changing the input signals in
parameters No. 43 to 48, refer to (4) in this section and Section 3.2.1 and apply the accessory signal
seals to the labels.
LSN1 LSN2 LSN3 SG LSP5
LSP7 LSP8 EMG_B SD
LSP6
LSP1 LSP2 LSP3 LSP4 LSN4 LSN5 LSN6 LSN7 LSN8 EMG_A
(3) Outline drawing
[Unit: mm]
([Unit: in.])
126(4.96)
117(4.61)
MITSUBISHI
MR-TB20
10
19
0
9
2- 4.5(0.18)
Terminal screw: M3.5
Applicable cable: Max. 2mm2
(Crimping terminal width: 7.2mm (0.283 in) max.)
12 - 19
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Junction terminal block cable (MR-J2TBL
M-1A)
(a) Model explanation
Model: MR-J2TBL M-1A
Symbol Cable length[m(ft)]
05
1
0.5 (1.64)
1 (3.28)
(b) Connection diagram
Junction terminal block side connector(3M)
D7920-B500FL(Connector)
Servo amplifierside(CN5)connector(3M)
10120-6000EL(Connector)
10320-52F0-R08-M1A(Shell kit)
Junction
Symbol
Pin No.
Pin No.
Terminal
CN5
Block No.
LSP1
LSN1
LSP2
LSN2
LSP3
LSN3
LSP4
0
10
1
11
2
12
3
13
1
2
3
4
5
6
7
1
2
3
4
5
6
7
8
9
SG
8
LSN4
4
9
10
11
12
13
14
15
16
17
18
19
20
plate
LSP5
LSN5
LSP6
LSN6
LSP7
LSN7
LSP8
LSN8
EMG_B
14
5
15
6
16
7
17
8
10
11
12
13
14
15
16
17
18
19
20
18
9
19
EMG_A
SD
12 - 20
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.5 Maintenance junction card (MR-J2CN3TM)
(1) Usage
The maintenance junction card (MR-J2CN3TM) is designed for use when a personal computer and
analog monitor are used at the same time.
Interface unit
Maintenance junction card (MR-J2CN3TM)
Communication cable
Bus cable
MR-J2HBUS
M
CN3B
CN3A
A1 A2 A3 A4 B4 B3 B2 B1 B5 B6 A5 A6
CN3
CN3C
TRE RDP P5 SDN LG
Not used.
LG PE
LG LG MO1
MO2
Analog monitor 2
Analog monitor 1
(2) Connection diagram
TE1
B5
B6
A5
A6
LG
LG
CN3A
1
CN3B
CN3C
1
LG
RXD
LG
MO1
RDP
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
MO1
MO2
2
3
4
5
6
7
8
9
3
4
5
MO3
SDP
9
9
10
A1
A2
A3
A4
B4
B3
B2
B1
TRE 10
LG 11
TXD 12
13
MO2 14
10
11
12
13
14
15
16
17
18
19
20
10
11
12
13
14
15
16
17
18
19
20
TRE
RDP
13
14
15
LG
P5
15
16
17
SDN
Not used.
LG
18
19
20
SDN 19
P5
20
LG
PE
Shell
Shell
Shell
(3) Outline drawing
[Unit: mm]
([Unit: in.])
CN3A
CN3B
CN3C
2- 5.3(0.21)(mounting hole)
A1
B1
A6
B6
TE1
3 (0.12)
41.5 (1.63)
88 (3.47)
100 (3.94)
Mass: 110g (0.24lb)
12 - 21
12. OPTIONS AND AUXILIARY EQUIPMENT
(4) Bus cable (MR-J2HBUS M)
(a) Model explanation
Model: MR-J2HBUS
M
Symbol
Cable length [m(ft)]
05
1
5
0.5 (1.64)
1 (3.28)
5 (16.4)
(b) Connection diagram
MR-J2HBUS05M
MR-J2HBUS1M
MR-J2HBUS5M
10120-6000EL (connector)
10320-3210-000 (shell kit)
10120-6000EL (connector)
10320-3210-000 (shell kit)
1
1
11
2
11
2
12
3
12
3
13
4
13
4
14
5
14
5
15
6
15
6
16
7
16
7
17
8
17
8
18
9
18
9
19
10
20
19
10
20
Plate
Plate
12 - 22
12. OPTIONS AND AUXILIARY EQUIPMENT
12.1.6 MR Configurator (servo configurations software)
POINT
Required to assign devices to the pins of CN4A and CN4B of the MR-
J2M-D01 extension IO unit.
The MR Configurator (servo configuration software) uses the communication function of the interface unit
to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
(1) Specifications
Item
Description
Communication signal Conforms to RS-232C.
Baudrate [bps]
System
57600, 38400, 19200, 9600
Station selection, automatic demo
Display, high speed monitor, trend graph
Minimum resolution changes with the processing speed of the personal computer.
Display, history, amplifier data
Monitor
Alarm
Digital I/O, function device display no motor rotation, total power-on time, amplifier version info,
motor information, tuning data, absolute encoder data, Axis name setting, unit composition
listing.
Diagnostic
Parameters
Test operation
Advanced function
File operation
Others
Turning, change list, detailed information, IFU parameter, DRU parameter, device setting.
Jog operation, positioning operation, operation w/o motor, forced output, demo mode.
Machine analyzer, gain search, machine simulation.
Data read, save, print
Automatic demo, help display
(2) System configuration
(a) Components
To use this software, the following components are required in addition to MELSERVO-J2M and
servo motor:
Model
(Note 1) Description
IBM PC-AT compatible where the English version of Windows® 95, Windows® 98, Windows® Me,
Windows NT® Workstation 4.0 or Windows® 2000 Professional operates
Processor: Pentium® 133MHz or more (Windows® 95, Windows® 98, Windows NT® Workstation 4.0,
Windows® 2000 Professional)
(Note 2)
Personal computer
Pentium® 150MHz or more (Windows® Me)
Memory: 16MB or more (Windows® 95), 24MB or more (Windows® 98)
32MB or more (Windows® Me, Windows NT® Workstation 4.0, Windows® 2000 Professional)
Free hard disk space: 60MB or more
Serial port used
Windows® 95, Windows® 98, Windows® Me, Windows NT® Workstation 4.0, Windows® 2000
Professional (English version)
OS
One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
Display
Keyboard
Mouse
Printer
Connectable with the above personal computer.
Connectable with the above personal computer. Note that a serial mouse is not used.
Connectable with the above personal computer.
MR-CPCATCBL3M
When this cannot be used, refer to (3) Section 12.1.2 and fabricate.
Communication cable
Note 1. Windows and Windows NT are the registered trademarks of Microsoft Corporation in the United State and other countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, this software may not run properly.
(b) Configuration diagram
BU
Personal computer
DRU (First slot)
CN2
IFU
CN3
Communication cable
Servo motor
To RS-232C
connector
DRU (Eighth slot)
CN2
Servo motor
12 - 23
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2 Auxiliary equipment
Always use the devices indicated in this section or equivalent. To comply with the EN Standard or UL/C-
UL (CSA) Standard, use the products which conform to the corresponding standard.
12.2.1 Recommended wires
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or
equivalent.
1) Main circuit power supply lead
3) Motor power supply lead
Base unit
Drive unit
Servo motor
Power supply
L1
U
V
U
V
L2
L3
Motor
W
W
(Earth)
L11
5) Electromagnetic
brake lead
L21
2) Control circuit power supply lead
Regenerative brake option
Electro-
magnetic
brake
B1
B2
CN2
C
P
Encoder
Encoder cable (refer to Section 12.1.2(2))
4) Regenerative brake option lead
The following table lists wire sizes. The wires used assume that they are 600V vinyl wires and the
wiring distance is 30m(98.4ft) max. If the wiring distance is over 30m(98.4ft), choose the wire size in
consideration of voltage drop.
The servo motor side connection method depends on the type and capacity of the servo motor. Refer to
Section 3.5.3.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or
more for wiring.
Table 12.1 Recommended wires
2
Wires [mm ]
Unit
1) L1 L2 L3
2 (AWG14)
2) L11 L21
3) U
V
W
4) P
C
5) B1 B2
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
MR-J2M-10DU
MR-J2M-20DU
MR-J2M-40DU
MR-J2M-70DU
3.5 (AWG12)
5.5 (AWG10)
2 (AWG14)
2 (AWG14)
1.25 (AWG16)
1.25 (AWG16)
12 - 24
12. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent:
Table 12.2 Wires for option cables
Characteristics of one core
(Note 3)
Finishing
OD [mm]
Length
[m(ft)]
Core size Number
Type
Model
Wire model
Structure
Conductor
Insulation coating
[mm2]
of Cores
[Wires/mm] resistance[ /mm] ODd[mm] (Note 1)
2 to 10
(6.56 to 32.8)
20 30
12
(6 pairs)
12
(6 pairs)
12
(6 pairs)
14
(7 pairs)
14
(7 pairs)
6
UL20276 AWG#28
6pair (BLACK)
UL20276 AWG#22
6pair (BLACK)
(Note 2)
A14B2343 6P
(Note 2)
A14B0238 7P
(Note 2)
0.08
0.3
7/0.127
12/0.18
40/0.08
40/0.08
40/0.08
7/0.127
222
62
0.38
1.2
5.6
8.2
7.2
8.0
8.0
4.6
MR-JCCBL M-L
(65.6 98.4)
2 5
(6.56 16.4)
10 to 20
(32.8 to 65.6)
30 to 50
Encoder cable
0.2
105
105
105
222
0.88
0.88
0.88
0.38
MR-JCCBL M-H
0.2
MR-JC4CBL M-H
MR-CPCATCBL3M
0.2
(98.4 to 164)
A14B0238 7P
UL20276 AWG#28
3pair (BLACK)
Communication
cable
3 (9.84)
0.08
(3 pairs)
0.5 to 5
(1.64 to 16.4)
20
(10 pairs)
UL20276 AWG#28
10pair (CREAM)
Bus cable
MR-J2HBUS
M
0.08
0.3
7/0.127
12/0.18
222
63
0.38
1.5
6.1
5.1
Battery unit
cable
0.3 1
(0.98 3.28)
2
2
MR-J2MBATCBL
M
MVVS IP 0.3mm
(1 pairs)
Note 1. d is as shown below:
d
Conductor Insulation sheath
2. Purchased from Toa Electric Industry
3. Standard OD. Max. OD is about 10% greater.
12 - 25
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.2 No-fuse breakers, fuses, magnetic contactors
Always use one no-fuse breaker and one magnetic contactor with one drive unit. Make selection as
indicated below according to the total output value of the servo motors connected to one base unit. When
using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.
(1) No-fuse breaker
Servo motor output total
550W max.
No-fuse breaker
30A frame 5A
30A frame 10A
30A frame 15A
30A frame 20A
30A frame 30A
Rated current [A]
5
More than 550W to 1100W max.
More than 1100W to 1650W max.
More than 1650W to 2200W max.
More than 2200W to 3300W max.
10
15
20
30
(2) Fuse
Fuse
Servo motor output total
Class
K5
Current [A]
Voltage [V]
AC250
AC250
AC250
AC250
AC250
800W max.
15
20
30
40
70
More than 800W to 1100W max.
More than 1100W to 1650W max.
More than 1650W to 2200W max.
More than 2200W to 3300W max.
K5
K5
K5
K5
(3) Magnetic contactor
Servo motor output total
1700W max.
Magnetic contactor
S-N10
More than 1700W to 2800W max.
More than 2800W to 3300W max.
S-N18
S-N20
12 - 26
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.3 Power factor improving reactors
The input power factor is improved to be about 90%. Make selection as described below according to the
sum of the outputs of the servo motors connected to one base unit.
[Unit : mm]
([Unit : in])
Base unit
MR-J2M-BU
NFB
MC
FR-BAL
R
S
T
X
L1
L2
L3
Y
Z
3-phase
200 to 230VAC
Base unit
MR-J2M-BU
W
D1
NFB
Installation screw
MC
FR-BAL
X
(Note)
1-plase
200 to 230VAC
R
S
T
L1
L2
L3
Y
Z
RXSYT Z
W1
C
Note. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.
Dimensions [mm (in) ]
Servo motor
output total
Mounting Terminal
screw size screw size
Mass
Model
[kg (lb)]
W
W1
H
D
D1
C
0
0
300W max.
FR-BAL-0.4K 135 (5.31) 120 (4.72) 115 (4.53) 59 (2.32) 45 2.5(1.77
)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
7.5 (0.29)
10 (0.39)
10 (0.39)
10 (0.39)
M4
M4
M4
M4
M5
M5
M5
M3.5
M3.5
M3.5
M3.5
M4
2.0 (4.4)
2.8 (6.17)
3.7 (8.16)
5.6 (12.35)
8.5 (18.74)
9.5 (20.94)
14.5 (32.0)
0.098
More than 300W to
450W max.
0
0
FR-BAL-0.75K 135 (5.31) 120 (4.72) 115 (4.53) 69 (2.72) 57 2.5(2.24
)
)
)
)
)
)
0.098
More than 450W to
750W max.
0
0
FR-BAL-1.5K 160 (6.30) 145 (5.71) 140 (5.51) 71 (2.79) 55 2.5(2.17
0.098
More than 750W to
1100W max.
0
0
75 2.5(2.95
FR-BAL-2.2K 160 (6.30) 145 (5.71) 140 (5.51) 91 (3.58)
FR-BAL-3.7K 220 (8.66) 200 (7.87) 192 (7.56) 90 (3.54)
0.098
More than 1100W to
1900W max.
0
0
70 2.5(2.76
0.098
More than 1900W to
2500W max.
0
0
FR-BAL-5.5K 220 (8.66) 200 (7.87) 192 (7.56) 96 (3.78) 75 2.5(2.95
M4
0.098
More than 2500W to
3800W max.
0
0
FR-BAL-7.5K 220 (8.66) 200 (7.87) 194 (7.64) 120 (4.72) 100 2.5(3.94
M5
0.098
12 - 27
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.4 Relays
The following relays should be used with the interfaces:
Interface
Selection example
Relay used for digital input signals (interface DI-1)
To prevent defective contacts , use a relay for small signal
(twin contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1)
Small relay with 12VDC or 24VDC of 40mA or less
(Ex.) Omron : type MY
12.2.5 Surge absorbers
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
Insulate the wiring as shown in the diagram.
Maximum rating
Static
capacity
(reference
value)
Maximum
Varistor voltage
Permissible circuit
voltage
Surge
Energy
Rated
power
limit voltage
rating (range) V1mA
immunity
immunity
AC[Vma]
140
DC[V]
180
[A]
[J]
5
[W]
0.4
[A]
25
[V]
[pF]
[V]
220
(Note)
360
300
500/time
(198 to 242)
Note. 1 time
8
20 s
(Example) ERZV10D221 (Matsushita Electric Industry)
TNR-10V221K (Nippon Chemi-con)
Outline drawing [mm] ( [in] ) (ERZ-C10DK221)
13.5 (0.53)
4.7 1.0 (0.19 0.04)
Vinyl tube
Crimping terminal
for M4 screw
0.8 (0.03)
12.2.6 Noise reduction techniques
Noises are classified into external noises which enter MELSERVO-J2M to cause it to malfunction and
those radiated by MELSERVO-J2M to cause peripheral devices to malfunction. Since MELSERVO-J2M
is an electronic device which handles small signals, the following general noise reduction techniques are
required.
Also, the drive unit can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the drive unit, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input cables) and signal cables side by side or do not bundle them
together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal
transmission, and connect the shield to the SD terminal.
Ground the base unit, servo motor, etc. together at one point (refer to Section 3.8).
12 - 28
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Reduction techniques for external noises that cause MELSERVO-J2M to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many
relays which make a large amount of noise) near MELSERVO-J2M and MELSERVO-J2M may
malfunction, the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
(c) Techniques for noises radiated by MELSERVO-J2M that cause peripheral devices to malfunction
Noises produced by MELSERVO-J2M are classified into those radiated from the cables connected
to MELSERVO-J2M and its main circuits (input and output circuits), those induced
electromagnetically or statically by the signal cables of the peripheral devices located near the
main circuit cables, and those transmitted through the power supply cables.
Noises produced
by MELSERVO-J2M
Noise radiated directly
from MELSERVO-J2M
Noises transmitted
in the air
Route 1)
Route 2)
Route 3)
Noise radiated from the
power supply cable
Noise radiated from
servo motor cable
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
Noise transmitted through
power supply cable
Route 7)
Route 8)
Noise sneaking from
grounding cable due to
leakage current
5)
7)
7)
2)
7)
Sensor
power
supply
1)
MELSERVO-
J2M
2)
Instrument
Receiver
3)
8)
6)
Sensor
4)
3)
Servo motor
M
12 - 29
12. OPTIONS AND AUXILIARY EQUIPMENT
Noise transmission route
Suppression techniques
When measuring instruments, receivers, sensors, etc. which handle weak signals and may
malfunction due to noise and/or their signal cables are contained in a control box together with the
MELSERVO-J2M or run near MELSERVO-J2M, such devices may malfunction due to noises
transmitted through the air. The following techniques are required.
1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of
MELSERVO-J2M.
1) 2) 3)
3. Avoid laying the power lines (I/O cables of MELSERVO-J2M) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and
malfunction may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and MELSERVO-J2M.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of
MELSERVO-J2M.
4) 5) 6)
3. Avoid laying the power lines (I/O cables of MELSERVO-J2M) and signal cables side by side or
bundling them together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.
When the power supply of peripheral devices is connected to the power supply of MELSERVO-J2M
system, noises produced by MELSERVO-J2M may be transmitted back through the power supply
cable and the devices may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (input cables) of MELSERVO-J2M.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of MELSERVO-J2M.
When the cables of peripheral devices are connected to MELSERVO-J2M to make a closed loop
circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be
prevented by disconnecting the grounding cable of the peripheral device.
7)
8)
(2) Noise reduction products
(a) Data line filter
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN are available as data
line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedances are reference values and not guaranteed values.
[Unit: mm]([Unit: in.])
Impedance[ ]
10 to 100MHZ
80
100 to 500MHZ
150
39 1(1.54 0.04)
Loop for fixing the
cable band
34 1
(1.34 0.04)
TDK
Product name Lot number
Outline drawing (ZCAT3035-1330)
12 - 30
12. OPTIONS AND AUXILIARY EQUIPMENT
(b) Surge suppressor
The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic
brake or the like near MELSERVO-J2M is shown below. Use this product or equivalent.
MC
Relay
Surge suppressor
Surge suppressor
This distance should be short
Surge suppressor
(within 20cm(0.79 in.)).
(Ex.) 972A.2003 50411
(Matsuo Electric Co.,Ltd. 200VAC rating)
Outline drawing [Unit: mm] ([Unit: in.])
Rated
voltage
AC[V]
Vinyl sheath
C [ F]
R [ ]
Test voltage AC[V]
18 1.5
(0.71 0.06)
Blue vinyl cord
Red vinyl cord
50
Across
6(0.24)
200
0.5
(1W)
T-C 1000(1 to 5s)
10(0.39)or less 10(0.39)or less
15 1(0.59 0.04)
4(0.16)
10 3
(0.39
0.12)
10 3
(0.39
0.15)
31(1.22)
200(7.87)
48 1.5
200(7.87)
or more (1.89 0.06) or more
Note that a diode should be installed to a DC relay, DC valve or
the like.
RA
Maximum voltage: Not less than 4 times the drive voltage of
the relay or the like
Maximum current: Not less than twice the drive current of
the relay or the like
Diode
(c) Cable clamp fitting (AERSBAN -SET)
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown
below.
Install the earth plate near the drive unit for the encoder cable. Peel part of the cable sheath to
expose the external conductor, and press that part against the earth plate with the cable clamp. If
the cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
Cable
Cable clamp
Earth plate
(A,B)
Strip the cable sheath of
the clamped area.
cutter
cable
External conductor
Clamp section diagram
12 - 31
12. OPTIONS AND AUXILIARY EQUIPMENT
Outline drawing
[Unit: mm]
([Unit: in])
Earth plate
Clamp section diagram
2- 5(0.20) hole
installation hole
17.5(0.69)
L or less
10(0.39)
22(0.87)
6
(Note) M4 screw
35(1.38)
(0.24)
Note. Screw hole for grounding. Connect it to the earth plate of the control box.
Type
A
B
C
Accessory fittings
Clamp fitting
L
100
86
30
70
(2.76)
45
AERSBAN-DSET
clamp A: 2pcs.
A
(3.94) (3.39) (1.18)
70 56
(2.76) (2.20)
AERSBAN-ESET
clamp B: 1pc.
B
(1.77)
12 - 32
12. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BLF, FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of
MELSERVO-J2M and also in suppressing high-frequency leakage current side (zero-phase
current) especially within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm] ([Unit: in])
Wind the 3-phase wires by the equal number of times in the
same direction, and connect the filter to the power supply side
and output side of the base unit.
FR-BSF01
110 (4.33)
2- 5 (0.20)
95 0.5 (3.74 0.02)
The effect of the filter on the power supply side is higher as the
number of winds is larger. The number of turns is generally four.
If the wires are too thick to be wound, use two or more filters
and make the total number of turns as mentioned above.
On the output side, the number of turns must be four or less.
Do not wind the grounding wire together with the 3-phase wires.
The filter effect will decrease. Use a separate wire for grounding.
65 (2.56)
33 (1.3)
Example 1
NFB MC
Base unit
Power
supply
L1
L2
L3
Line noise
filter
(Number of turns: 4)
NFB MC
Example 2
Base unit
Power
supply
L1
L2
L3
Line noise
filter
Two filters are used
(Total number of turns: 4)
(e) Radio noise filter (FR-BIF)...for the input side only
This filter is effective in suppressing noises radiated from the power supply side of MELSERVO-
J2M especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the input
only.
Connection diagram
Outline drawing (Unit: mm) ([Unit: in])
Leakage current: 4mA
Make the connection cables as short as possible.
Grounding is always required.
Red WhiteBlue
Green
When using the FR-BIF with a single-phase wire,
always insulate the wires that are not used for wiring.
NFB
MC
Base unit
29 (1.14)
L1
L2
L3
Power
supply
5 (0.20)
hole
29 (1.14)
44 (1.73)
58 (2.28)
7 (0.28)
Radio noise
filter FR-BIF
12 - 33
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.7 Leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the base unit, servo
motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm (11.8 in)) to minimize leakage currents.
Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] ..........(12.1)
K: Constant considering the harmonic contents
Cable
Leakage current breaker
K
1
3
Mitsubishi
products
Noise
filter
Type
NV
MELSERVO
-J2M
Cable
Ig2
M
NV-SP
NV-SW
NV-CP
NV-CW
NV-HW
BV-C1
NFB
Models provided with
harmonic and surge
reduction techniques
Ig1 Ign
Iga
Igm
General models
NV-L
Ig1:
Ig2:
Leakage current on the electric channel from the leakage current breaker to the input terminals
of the base unit (Found from Fig. 12.1.)
Leakage current on the electric channel from the output terminals of the drive unit to the
servo motor (Found from Fig. 12.1.)
Ign:
Iga:
Igm:
Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Leakage current of the drive unit (Found from Table 12.4.)
Leakage current of the servo motor (Found from Table 12.3.)
Table 12.3 Servo motor's
leakage current
Table 12.4 Drive unit's
leakage current
example (Iga)
Leakage current
120
100
80
60
40
20
0
example (Igm)
Servo motor
output [kW]
Leakage
Drive unit
current [mA]
capacity [kW]
[mA]
0.3
0.05 to 0.4
0.1
0.1 to 0.4
0.75
0.6
[mA]
2
3.5 8 1422 38 80 150
5.5 30 60 100
Cable size[mm2]
Fig. 12.1 Leakage current example
(Ig1, Ig2) for CV cable run
in metal conduit
12 - 34
12. OPTIONS AND AUXILIARY EQUIPMENT
12.2.8 EMC filter
For compliance with the EMC directive of the EN standard, it is recommended to use the following filter:
Some EMC filters are large in leakage current.:
(1) Combination with the base unit
Recommended filter
Base unit
Mass [kg(lb)]
Model
Leakage current [mA]
MR-J2M-BU4
MR-J2M-BU6
MR-J2M-BU8
SF1253
57
1.37 (3.02)
(2) Connection example
EMC filter
LOAD
Base unit
MC
NFB LINE
L1
L2
L3
L1
L2
L3
L1
L2
L3
(Note 2)
Power supply
(Note 1)
L11
L21
Note 1. Connect when the power supply has earth.
2. Connect a 1-phase 200 to 230VAC power supply to L1/L2 and keep L3 open.
(3) Outline drawing
[Unit: mm(in)]
6.0(0.236)
SF1253
209.5(8.248)
L1
L2
L3
LINE
(input side)
L1'
L2'
L3'
LOAD
(output side)
23.0(0.906)
8.5
(0.335)
49.0
(1.929)
12 - 35
12. OPTIONS AND AUXILIARY EQUIPMENT
MEMO
12 - 36
13. COMMUNICATION FUNCTIONS
13. COMMUNICATION FUNCTIONS
MELSERVO-J2M has the RS-422 and RS-232C serial communication functions. These functions can be
used to perform servo operation, parameter changing, monitor function, etc.
However, the RS-422 and RS-232C communication functions cannot be used together. Select between RS-
422 and RS-232C with IFU parameter No.0. (Refer to Section 13.2.2.)
13.1 Configuration
13.1.1 RS-422 configuration
(1) Outline (Example)
The interface unit and drive units of stations 0 to 31 can be run/operated on the same bus.
Similarly, any servo amplifiers that enable station number setting can be connected on the same bus.
It should be noted that the commands/data should be handled without mistakes since they are specific
to each servo amplifier.
Station StationStationStation StationStationStationStationStation
Controller such as
personal computer
0
1
2
3
4
5
6
7
8
To CN3
RS-422
RS-232C/
RS-422
converter
MELSERVO-J2M
(General-purpose interface type)
Unavailable as option.
To be prepared by customer.
MITSUBISHI
Station
9
RS-422
To CN3
CHARGE
MELSERVO-J2S-A
Station StationStationStation StationStation Station
10 11 12 13 14 15 16
RS-422
To CN3
MELSERVO-J2M
(General-purpose interface type)
13 - 1
13. COMMUNICATION FUNCTIONS
(2) Cable connection diagram
Wire as shown below:
(Note 1)
(Note 3) 30m(98.4ft) max.
Interface unit or Servo amplifier
CN3 connector
(Note 1)
(Note 1)
Interface unit or Servo amplifier
CN3 connector
Plate SD
Interface unit or Servo amplifier
CN3 connector
Plate
9
SD
Plate
9
SD
SDP
SDN
RDP
RDN
TRE
LG
SDP
9
19
5
SDP
19 SDN
RDP
19 SDN
RDP
5
5
15 RDN
10 TRE
11 LG
15
10
11
1
15 RDN
10 TRE
11 LG
(Note 2)
LG
1
LG
1
LG
RS-422
output unit
RDP
RDN
SDP
SDN
GND
GND
Note 1. Connector set MR-J2CN1 (3M or equivalent)
Connector: 10120-3000VE
Shell kit: 10320-52F0-008
2. In the last axis, connect TRE and RDN.
3. 30m (98.4ft) max. in environment of little noise.
13 - 2
13. COMMUNICATION FUNCTIONS
13.1.2 RS-232C configuration
(1) Outline (Example)
Run operate.
/
MELSERVO-J2M
Controller such as
personal computer
Station StationStationStation StationStation Station Station Station
0
1
2
3
4
5
6
7
8
To CN3
(2) Cable connection diagram
Wire as shown below. The communication cable for connection with the personal computer (MR-
CPCATCBL3M) is available. (Refer to Section 12.1.2 (3))
(Note 1)
Interface unit
CN3 connector
Personal computer
connector D-SUB9 (socket)
(Note 2) 15m(49.2ft) max.
Plate FG
2
1
RXD
GND
TXD
3
12 TXD
11 GND
RXD
GND
RTS
CTS
DSR
DTR
2
5
7
8
6
4
Note 1. For CN3 connector (3M)
Connector: 10120-6000EL
Shell kit: 10320-3210-000
2. 15m(49.2ft) max. in environment of little noise. However, this distance should be 3m(9.84ft) max. for use at
38400bps or more baudrate.
13 - 3
13. COMMUNICATION FUNCTIONS
13.2 Communication specifications
13.2.1 Communication overview
This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this
instruction (e.g. personal computer) is called a master station and the device which sends a reply in
response to the instruction (drive unit) is called a slave station. When fetching data successively, the
master station repeatedly commands the slave station to send data.
Item
Description
Baudrate
9600/19200/38400/57600 asynchronous system
Start bit : 1 bit
Data bit : 8 bits
Transfer code
Parity bit: 1 bit (even)
Stop bit : 1 bit
Transfer protocol
Character system, half-duplex communication system
(LSB)
(MSB)
7
Next
start
Start
Parity
Stop
0
1
2
3
4
5
6
Data
1 frame (11bits)
13 - 4
13. COMMUNICATION FUNCTIONS
13.2.2 Parameter setting
When the RS-422/RS-232C communication function is used to operate the servo, set the communication
specifications of the servo amplifier in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on
again.
(1) Serial communication baudrate
Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
IFU parameter No. 0
Communication baudrate selection
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
(2) Serial communication selection
Select the RS-422 or RS-232C communication standard. RS-422 and RS-232C cannot be used together.
IFU parameter No. 0
Serial communication standard selection
0: RS-232C used
1: RS-422 used
(3) Serial communication response delay time
Set the time from when the servo amplifier (slave station) receives communication data to when it
sends back data. Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.
IFU parameter No. 0
Serial communication response delay time selection
0: Invalid
1: Valid, reply sent in 800 s or more
(4) Station number setting
In IFU parameter No. 10 to 18, set the station numbers of the units connected to the slots. Do not use
the station numbers used by the other units.
IFU parameter No.
Slot Whose Station Number Is Set
Default Station Number
Usable Station Numbers
10
11
12
13
14
15
16
17
18
Interface unit slot
Slot 1
0
1
2
3
4
5
6
7
8
0 to 31
Slot 2
Slot 3
Slot 4
Slot 5
Slot 6
Slot 7
Slot 8
13 - 5
13. COMMUNICATION FUNCTIONS
13.3 Protocol
POINT
Whether station number setting will be made or not must be selected if
the RS-232C communication function is used.
Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to
determine the destination unit of data communication. Set the station number per unit using the IFU
parameters. Send data are valid for the unit of the specified station number.
(1) Transmission of data from the controller to the servo
10 frames (data)
S
O
H
S
T
X
E
T
X
Data
No.
Check
sum
Station number
Master station
Slave station
Data*
S
T
X
E
T
Check
sum
Station number
X
6 frames
Positive response: Error code
A
Negative response: Error code other than A
(2) Transmission of data request from the controller to the servo
10 frames
S
O
H
S
T
X
E
T
X
Data
No.
Check
sum
Station number
Master station
Slave station
S
T
X
E
T
X
Check
sum
Station number
Data*
6 frames (data)
(3) Recovery of communication status by time-out
EOT causes the servo to return to
E
O
T
the receive neutral status.
Master station
Slave station
(4) Data frames
The data length depends on the command.
or
Data
Data
or 12 frames or 16 frames
4 frames
8 frames
13 - 6
13. COMMUNICATION FUNCTIONS
13.4 Character codes
(1) Control codes
Hexadecimal
Personal computer terminal key operation
(General)
Code name
Description
(ASCII code)
SOH
STX
ETX
EOT
01H
02H
03H
04H
start of head
start of text
ctrl
ctrl
ctrl
ctrl
A
B
C
D
end of text
end of transmission
(2) Codes for data
ASCII unit codes are used.
b
b
b
0
0
0
0
0
0
0
1
0
0
1
0
0
0
1
1
0
1
0
0
0
1
0
1
0
1
1
0
0
1
1
1
8
7
6
b5
b to
C
8
b4 b3 b2 b1
0
1
2
3
4
5
6
7
b5
R
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
0
0
0
0
1
1
1
1
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
NUL DLE Space
0
1
2
3
4
5
6
7
8
9
:
@
A
B
C
D
E
F
G
H
I
P
Q
R
S
`
a
b
c
p
SOH DC
STX DC
ETX DC
!
“
q
1
2
3
2
r
3
#
$
%
&
‘
s
4
T
U
V
W
X
Y
Z
d
e
f
t
5
u
6
v
7
g
h
i
w
8
(
x
9
)
y
10
11
12
13
14
15
J
j
z
;
K
L
M
N
O
[
k
l
{
,
|
]
m
n
o
}
.
/
^
_
?
DEL
(3) Station numbers
You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to
specify the stations.
Station number
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ASCII code
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Station number
ASCII code
16
G
17
H
18
I
19
J
20
K
21
L
22
M
23
N
24
O
25
P
26
Q
27
R
28
S
29
T
30
U
31
V
For example, "30H" is transmitted in hexadecimal for the station number of "0".
13 - 7
13. COMMUNICATION FUNCTIONS
13.5 Error codes
Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that
data to the master station.
The error code sent in upper case indicates that the MELSERVO-J2M is normal and the one in lower case
indicates that an alarm occurred.
Error code
Error name
Description
Remarks
Servo normal
Servo alarm
[A]
[B]
[C]
[a]
[b]
[c]
Normal operation
Parity error
Data transmitted was processed properly.
Parity error occurred in the transmitted data.
Checksum error occurred in the transmitted data.
Character not existing in the specifications was
transmitted.
Positive response
Checksum error
[D]
[E]
[F]
[d]
[e]
[f]
Character error
Command error
Data No. error
Negative response
Command not existing in the specifications was
transmitted.
Data No. not existing in the specifications was
transmitted.
13.6 Checksum
The check sum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or S0H).
(Example)
Station number
S
T
X
E
T
X
[0] [A] [1] [2] [5] [F]
[5] [2]
STX or
SOH
ETX Check
02H 30H 41H 31H 32H 35H 46H 03H
30H 41H 31H 32H 35H 46H 03H
152H
Checksum range
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].
13 - 8
13. COMMUNICATION FUNCTIONS
13.7 Time-out operation
The master station transmits EOT when the slave station does not start reply operation (STX is not
received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the
master station retransmits the message. Time-out occurs if the slave station does not answer after the
master station has performed the above operation three times. (Communication error)
100ms
100ms
100ms
*Time-out
300ms
300ms
300ms
300ms
E
O
T
E
O
T
E
O
T
Master station
Slave station
13.8 Retry operation
When a fault occurs in communication between the master and slave stations, the error code in the
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the
master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A
communication error occurs if the above operation is repeated and results in the error three or more
consecutive times.
*Communication error
Master station
Slave station
S
T
X
S
T
X
S
T
X
Station number
Station number
Station number
Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the
slave station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry operation is performed three times.
13 - 9
13. COMMUNICATION FUNCTIONS
13.9 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after:
(1) 1s or more time has elapsed after the slave station is switched on; and
(2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems.
13.10 Communication procedure example
The following example reads the set value of DRU parameter No.2 "function selection 1" from the drive
unit of station 0:
Data item
Station number
Command
Value
0
Description
Interface unit station 0
Read command
05
Data No.
02
DRU parameter No.2
Axis No. Command
Data No.
Start
Data [0] 0 5 STX 0 2 ETX
[0][0][5] [0][2]
Data make-up
STX
ETX
Checksum 30H 30H 35H 02H 30H 32H 03H FCH
Checksum calculation and
addition
Transmission data SOH
0 5 STX 0 2 ETX F C 46H 43H
Master station slave station
0
Addition of SOH to make
up transmission data
Data transmission
Data receive
Master station slave station
No
Is there receive data?
Yes
No
300ms elapsed?
Yes
No
3 consecutive times?
Yes
Master station slave station
Yes
Other than error code
[A] [a]?
100ms after EOT transmission
No
3 consecutive times?
No
Error processing
Yes
Receive data analysis
Error processing
End
13 - 10
13. COMMUNICATION FUNCTIONS
13.11 Command and data No. list
POINT
If the command/data No. is the same, its data may be different from the
interface and drive units and other servo amplifiers.
The commands/data No. of the respective interface unit and drive units are those marked in the Unit
field.
13.11.1 Read commands
(1) Status display (Command [0][1])
Unit
DRU
Frame
length
Command
Data No.
Description
Display item
IFU
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[0][1]
[8][0]
[8][1]
[8][2]
[8][0]
[8][1]
[8][2]
[8][3]
[8][4]
[8][5]
[8][6]
[8][7]
[8][8]
[8][9]
[8][A]
Status display data value and
processing information
regenerative load ratio
Bus voltage
12
12
12
12
12
12
12
12
12
12
12
12
12
12
Peak Bus voltage
Status display data value and
processing information
cumulative feedback pulses
Servo motor speed
droop pulses
cumulative command pulses
command pulse frequency
effective load ratio
peak load ratio
Instantaneous torque
within one-revolution position
ABS counter
load inertia moment ratio
(2) Parameter (Command [0][5])
Unit
DRU
Frame
length
Command
Data No.
Description
IFU
[0][5]
[0][0]
to
Current value of each parameter
The decimal equivalent of the data No. value (hexadecimal) corresponds
to the parameter number.
8
8
[1][D]
[0][5]
[0][0]
to
Current value of each parameter
The decimal equivalent of the data No. value (hexadecimal) corresponds
to the parameter number.
[5][4]
(3) External I/O signals (Command [1][2])
Unit
DRU
Frame
length
Command
Data No.
Description
IFU
[1][2]
[1][2]
[1][2]
[1][2]
[1][2]
[4][0]
[4][1]
[4][3]
[C][0]
[C][1]
External input pin statuses
External input pin statuses
External input pin statuses
External output pin statuses
External output pin statuses
8
8
8
8
8
13 - 11
13. COMMUNICATION FUNCTIONS
(4) Alarm history (Command [3][3])
Unit
DRU
Frame
length
Command
Data No.
Description
Alarm occurrence sequence
IFU
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[3][3]
[1][0]
[1][1]
[1][2]
[1][3]
[1][4]
[1][5]
[2][0]
[2][1]
[2][2]
[2][3]
[2][4]
[2][5]
Alarm number in alarm history
most recent alarm
first alarm in past
second alarm in past
third alarm in past
fourth alarm in past
fifth alarm in past
4
4
4
4
4
4
4
4
4
4
4
4
Alarm occurrence time in alarm history most recent alarm
first alarm in past
second alarm in past
third alarm in past
fourth alarm in past
fifth alarm in past
(5) Current alarm (Command [0][2] [3][5])
Unit
IFU DRU
Frame
length
Command
Data No.
Description
[0][2]
[0][0]
Current alarm number
4
Unit
DRU
Frame
length
Command
Data No.
Description
Display item
IFU
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[3][5]
[8][0]
[8][1]
[8][2]
[8][0]
[8][1]
[8][2]
[8][3]
[8][4]
[8][5]
[8][6]
[8][7]
[8][8]
[8][9]
Status display data value and processing regenerative load ratio
12
12
12
12
12
12
12
12
12
12
12
12
12
12
information at alarm occurrence
Bus voltage
Peak Bus voltage
Status display data value and processing cumulative feedback pulses
information at alarm occurrence
Servo motor speed
droop pulses
cumulative command pulses
command pulse frequency
effective load ratio
peak load ratio
Instantaneous torque
within one-revolution position
ABS counter
load inertia moment ratio
[3][5]
[8][A]
(6) Others
Unit
DRU
Frame
length
Command
Data No.
Description
IFU
[0][2]
[0][2]
[0][2]
[0][0]
[9][0]
[9][1]
[7][0]
[8][0]
Servo motor end pulse unit absolute position
Command unit absolute position
Software version
8
8
16
8
Read of slot connection status
13 - 12
13. COMMUNICATION FUNCTIONS
13.11.2 Write commands
(1) Status display (Command [8][1])
Unit
DRU
Frame
length
Command
Data No.
Description
Description
Setting range
IFU
IFU
[8][1]
[0][0]
Status display data clear
1EA5
4
(2) Parameter (Command [8][4])
Unit
DRU
Frame
length
Command
Data No.
Setting range
[8][4]
[0][0]
to
Each parameter write
Depends on the
parameter.
The decimal equivalent of the data No. value
8
8
[1][D]
(hexadecimal) corresponds to the parameter number.
[8][4]
[0][0]
to
Each parameter write
Depends on the
parameter.
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter number.
[5][4]
(3) Alarm history (Command [8][2])
Unit
DRU
Frame
length
Command
Data No.
Description
Description
Setting range
IFU
IFU
[8][2]
[2][0]
Alarm history clear
1EA5
4
(4) Current alarm (Command [8][2])
Unit
DRU
Frame
length
Command
Data No.
Setting range
[8][2]
[0][0]
Alarm reset
1EA5
4
(5) Operation mode selection (Command [8][B])
Unit
DRU
Frame
length
Command
Data No.
Description
Setting range
IFU
[8][B]
[0][0]
Exit from test operation mode
Jog operation
0000
0001
0002
0003
0004
Positioning operation
4
Motor-less operation
Output signal (DO) forced output
13 - 13
13. COMMUNICATION FUNCTIONS
(6) External input signal disable (Command [9][0])
Unit
DRU
Frame
length
Command Data No.
Description
Setting range
IFU
[9][0]
[0][0]
Turns off the external input signals (DI), external input
signals and pulse train inputs with the exception of EMG_
LSP and LSN , independently of the external ON/OFF
statuses.
,
1EA5
1EA5
4
4
[9][0]
[9][0]
[0][3]
[1][0]
Changes the external output signals (DO) into the value of
command [8][B] or command [A][0] data No. [0][1].
Enables the disabled external input signals (DI), external
input signals and pulse train inputs with the exception of
1EA5
1EA5
4
4
EMG_ , LSP and LSN
.
[9][0]
[1][3]
Enables the disabled external output signals (DO).
(7) Data for test operation mode (Command [9][2] [A][0])
Unit
DRU
Frame
length
Command Data No.
Description
Input signal for test operation
Forced output from signal pin
Setting range
IFU
[9][2]
[9][2]
[0][0]
[A][0]
Refer to section
13.12.6
8
8
Refer to section
13.12.8
Unit
DRU
Frame
length
Command Data No.
Description
Setting range
IFU
[A][0]
[1][0]
Writes the speed of the test operation mode (jog operation,
positioning operation).
0000 to
Permissible
instantaneous
speed
4
[A][0]
[1][1]
Writes the acceleration/deceleration time constant of the
test operation mode (jog operation, positioning operation).
00000000
to
8
4
8
4
20000
[A][0]
[A][0]
[1][2]
[1][3]
Clears the acceleration/deceleration time constant of the test
operation mode (jog operation, positioning operation).
Writes the moving distance (in pulses) of the test operation
mode (jog operation, positioning operation).
1EA5
80000000
to
7FFFFFFF
[A][0]
[1][5]
Temporary stop command of the test operation mode (jog
operation, positioning operation)
1EA5
13 - 14
13. COMMUNICATION FUNCTIONS
13.12 Detailed explanations of commands
13.12.1 Data processing
When the master station transmits a command data No. or a command data No. data to a slave
station, a reply or data is returned from the slave station according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in
decimal, hexadecimal, etc.
Therefore, data must be processed according to the application.
Since whether data must be processed or not and how to process data depend on the monitoring,
parameters, etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.
(1) Processing the read data
When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.
The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.
0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type)
Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit
Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.
13 - 15
13. COMMUNICATION FUNCTIONS
(2) Writing the processed data
When the data to be written is handled as decimal, the decimal point position must be specified. If it is
not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
The data to be sent is the following value.
0
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: First least significant digit
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
By way of example, here is described how to process the set data when a value of "15.5" is sent. Since
the decimal point position is the second digit, the decimal point position data is "2".As the data to be
sent is hexadecimal, the decimal data is converted into hexadecimal.
155 9B
Hence, "0200009B" is transmitted.
13 - 16
13. COMMUNICATION FUNCTIONS
13.12.2 Status display
(1) Status display data read
When the master station transmits the data No. (refer to the following table for assignment) to the
slave station, the slave station sends back the data value and data processing information.
1) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to Section 13.11.1.
2) Reply
The slave station sends back the status display data requested.
0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Decimal point position
0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
(2) Status display data clear
The cumulative feedback pulse data of the status display is cleared. Send this command immediately
after reading the status display item. The data of the status display item transmitted is cleared to
zero.
Unit
Command
Data No.
Data
IFU
DRU
[8][1]
[0][0]
1EA5
For example, after sending command [0][1] and data No. [8][0] and receiving the status display data,
send command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to
zero.
13 - 17
13. COMMUNICATION FUNCTIONS
13.12.3 Parameter
(1) Parameter read
Read the parameter setting.
1) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No.
The data No. is expressed in hexadecimal equivalent of the data No. value corresponds to the
parameter number.
Unit
Command
Data No.
IFU
DRU
[0][5]
[0][0] to
[1][D]
[0][5]
[0][0] to
[5][4]
2) Reply
The slave station sends back the data and processing information of the requested parameter No.
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
0
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Parameter write type
0: Valid after write
1: Valid when power is switched on again after write
Read enable/disable
0: Read enable
1: Read disable
Enable/disable information changes according to the setting of parameter No.19 "parameter
write inhibit". When the enable/disable setting is read disable, ignore the parameter data part
and process it as unreadable.
13 - 18
13. COMMUNICATION FUNCTIONS
(2) Parameter write
POINT
The number of write times to the EEP-ROM is limited to 100,000.
Write the parameter setting.
Write the value within the setting range. Refer to Section 5.1 for the setting range.
Transmit command [8][4], the data No., and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
When the data to be written is handled as decimal, the decimal point position must be specified. If it
is not specified, data cannot be written. When the data is handled as hexadecimal, specify "0" as the
decimal point position.
Write the data after making sure that it is within the upper/lower limit value range given in Section
5.1.2. Read the parameter data to be written, confirm the decimal point position, and create
transmission data to prevent error occurrence. On completion of write, read the same parameter
data to verify that data has been written correctly.
Unit
Command
Data No.
Set data
IFU
DRU
[8][4]
[0][0] to
[1][D]
See below.
[8][4]
[0][0] to
[5][4]
Data is transferred in hexadecimal.
Decimal point position
0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower forth digit
5: Lower fifth digit
Write mode
0: Write to EEP-ROM
3: Write to RAM
When the parameter data is changed frequently through communication,
set "3" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.
13 - 19
13. COMMUNICATION FUNCTIONS
13.12.4 External I/O pin statuses (DIO diagnosis)
(1) External input pin status read (CN1A CN1B)
Read the ON/OFF statuses of the external input pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Unit
Command
Data No.
IFU
DRU
[1][2]
[4][0]
(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.
bit
0
External input pin
CN1A-4
bit
8
External input pin
CN1A-32
CN1A-34
CN1A-36
CN1A-37
CN1B-4
bit
16
17
18
19
20
21
22
23
External input pin
CN1B-10
CN1B-12
CN1B-29
CN1B-31
CN1B-32
CN1B-34
CN1B-36
CN1B-37
bit
24
25
26
27
28
29
30
31
External input pin
1
CN1A-5
9
2
CN1A-7
10
11
12
13
14
15
3
CN1A-9
4
CN1A-10
CN1A-12
CN1A-29
CN1A-31
5
CN1B-5
6
CN1B-7
7
CN1B-9
(2) External input pin status read (CN5)
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [4][1].
Unit
Command
Data No.
IFU
DRU
[1][2]
[4][1]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal data.
bit
0
External input pin
bit
8
External input pin
CN5-11
bit
16
17
18
19
20
21
22
23
External input pin
CN5-20
bit
24
25
26
27
28
29
30
31
External input pin
CN5-1
CN5-2
CN5-3
CN5-4
CN5-5
CN5-6
CN5-7
CN5-10
1
9
CN5-12
CN5-19
2
10
11
12
13
14
15
CN5-13
3
CN5-14
4
CN5-15
5
CN5-16
6
CN5-17
7
CN5-18
13 - 20
13. COMMUNICATION FUNCTIONS
(3) External input pin status read (CN4A CN4B)
Read the ON/OFF statuses of the external input pins.
(a) Transmission
Transmit command [1][2] and data No. [4][3].
Unit
Command
Data No.
IFU
DRU
[1][2]
[4][3]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b1b0
b31
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal date.
bit
0
External input pin
bit
8
External input pin
CN4A-26
CN4A-27
CN4A-28
CN4A-29
CN4A-30
CN4A-31
CN4A-32
CN4A-33
bit
16
17
18
19
20
21
22
23
External input pin
CN4B-1
bit
24
25
26
27
28
29
30
31
External input pin
CN4B-26
CN4B-27
CN4B-28
CN4B-29
CN4B-30
CN4B-31
CN4B-32
CN4B-33
CN4A-1
CN4A-2
CN4A-3
CN4A-4
CN4A-5
CN4A-6
CN4A-7
CN4A-8
1
9
CN4B-2
2
10
11
12
13
14
15
CN4B-3
3
CN4B-4
4
CN4B-5
5
CN4B-6
6
CN4B-7
7
CN4B-8
(4) External output pin status read (CN1A CN1B)
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Unit
Command
Data No.
IFU
DRU
[1][2]
[C][0]
(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b1b0
b31
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal date.
bit
0
External output pin
CN1A-3
bit
8
External output pin
CN1B-6
bit
16
17
18
19
20
21
22
23
External output pin
CN1A-27
bit
24
25
26
27
28
29
30
31
External output pin
CN1B-23
1
CN1A-6
9
CN1B-8
CN1B-27
CN1B-22
2
CN1A-8
10
11
12
13
14
15
CN1B-11
CN1A-11
CN1A-28
CN1A-30
CN1A-32
CN1A-35
CN1A-25
3
CN1A-11
CN1A-28
CN1A-30
CN1A-33
CN1B-3
CN1A-24
4
CN1A-23
5
CN1A-22
6
CN1B-25
7
CN1B-24
13 - 21
13. COMMUNICATION FUNCTIONS
(5) External output pin status read (CN4A CN4B)
Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][1].
Unit
Command
Data No.
IFU
DRU
[1][2]
[C][1]
(b) Reply
The slave station sends back the statuses of the output pins.
b1b0
b31
1: ON
0: OFF
Command of each bit is transmitted to the master
station as hexadecimal date.
bit
0
External output pin
CN4A-9
bit
8
External output pin
bit
16
17
18
19
20
21
22
23
External output pin
bit
24
25
26
27
28
29
30
31
External output pin
1
CN4A-10
CN4A-34
CN4A-35
CN4B-9
9
2
10
11
12
13
14
15
3
4
5
CN4B-10
CN4B-34
CN4B-35
6
7
13 - 22
13. COMMUNICATION FUNCTIONS
13.12.5 Disable/enable of external I/O signals (DIO)
Inputs can be disabled independently of the external I/O signal ON/OFF. When inputs are disabled, the
input signals are recognized as follows. Among the external input signals, forced stop (EMG_ , forward
)
rotation stroke end (LSP
and reverse rotation stroke end (LSN
cannot be disabled.
)
)
Signal
Status
External input signals (DI)
Pulse train inputs
OFF
None
(1) Disabling/enabling the external input signals (DI), external analog input signals and pulse train
inputs with the exception of forced stop (EMG_ , forward rotation stroke end (LSP and reverse
)
)
rotation stroke end (LSN
.
)
Transmit the following communication commands:
(a) Disable
Unit
Command
Data No.
Data
IFU
IFU
DRU
DRU
[9][0]
[0][0]
1EA5
(b) Enable
Unit
Command
Data No.
Data
[9][0]
[1][0]
1EA5
(2) Disabling/enabling the external output signals (DO)
Transmit the following communication commands:
(a) Disable
Unit
Command
Data No.
Data
IFU
IFU
DRU
DRU
[9][0]
[0][3]
1EA5
(b) Enable
Unit
Command
Data No.
Data
[9][0]
[1][3]
1EA5
13 - 23
13. COMMUNICATION FUNCTIONS
13.12.6 External input signal ON/OFF (test operation)
Each input signal can be turned on/off for test operation. Turn off the external input signals.
Send command [9] [2], data No. [0] [0] and data.
Unit
Command
Data No.
Data
IFU
DRU
[9][2]
[0][0]
See below
b31
b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the slave
station as hexadecimal data.
bit
0
Signal abbreviation
bit
8
Signal abbreviation
bit
16
17
18
19
20
21
22
23
Signal abbreviation
bit
24
25
26
27
28
29
30
31
Signal abbreviation
SON
LSP
LSN
TL
1
9
2
10
11
12
13
14
15
3
ST1
ST2
4
5
PC
RES
CR
6
7
13 - 24
13. COMMUNICATION FUNCTIONS
13.12.7 Test operation mode
(1) Instructions for test operation mode
The test operation mode must be executed in the following procedure. If communication is interrupted
for longer than 0.5s during test operation, the servo amplifier causes the motor to be decelerated to a
stop and servo-locked. To prevent this, continue communication without a break, e.g. monitor the
status display.
(a) Execution of test operation
1) Turn off all external input signals.
2) Disable the external input signals.
Unit
Command
Data No.
Data
IFU
DRU
[9][2]
[0][0]
1EA5
3) Choose the test operation mode.
Unit
Command
Data No.
Transmission data
Selection of test operation mode
IFU
DRU
[8][B]
[8][B]
[8][B]
[8][B]
[8][B]
[0][0]
[0][0]
[0][0]
[0][0]
[0][0]
0000
0001
0002
0003
0004
Test operation mode cancel
Jog operation
Positioning operation
Motor-less operation
DO forced output
4) Set the data needed for test operation.
5) Start.
6) Continue communication using the status display or other command.
(b) Termination of test operation
To terminate the test operation mode, complete the corresponding operation and:
1) Clear the test operation acceleration/deceleration time constant.
Unit
Command
Data No.
Data
IFU
DRU
[A][0]
[1][2]
1EA5
2) Cancel the test operation mode.
Unit
Command
Data No.
Data
IFU
DRU
[8][B]
[0][0]
0000
3) Enable the disabled external input signals.
Unit
Command
Data No.
Data
IFU
DRU
[9][0]
[1][0]
1EA5
13 - 25
13. COMMUNICATION FUNCTIONS
(2) Jog operation
Transmit the following communication commands:
(a) Setting of jog operation data
Unit
DRU
Item
Command
Data No.
Data
IFU
Speed
[A][0]
[A][0]
[1][0]
[1][1]
Write the speed [r/min] in hexadecimal.
Write the acceleration/deceleration time constant
[ms] in hexadecimal.
Acceleration/deceleration
time constant
(b) Start
Turn on the external input signals servo-on (SON
forward rotation stroke end (
LSP )
)
reverse rotation stroke end (
LSN )
and ST1/ST2 by using command [9][2] data No. [0][0].
Unit
Item
Command
Data No.
Data
IFU
DRU
Forward rotation start
[9][2]
[0][0]
00000807: Turns on SON
LSP
LSP
LSP
and ST1.
00001007: Turns on SON
LSN
Reverse rotation start
Stop
[9][2]
[9][2]
[0][0]
[0][0]
and ST2.
LSN
00000007: Turns on SON
.
LSN
and
(3) Positioning operation
Transmit the following communication commands:
(a) Setting of positioning operation data
Unit
DRU
Item
Command
Data No.
Data
IFU
Speed
[A][0]
[A][0]
[1][0]
[1][1]
Write the speed [r/min] in hexadecimal.
Write the acceleration/deceleration time constant
[ms] in hexadecimal.
Acceleration/decelera-tion
time constant
Moving distance
[A][0]
[1][3]
Write the moving distance [pulse] in
hexadecimal.
(b)
Input of servo-on stroke end
Turn on the external input signals servo-on (SON
forward rotation stroke end (
)
LSP )
and
reverse rotation stroke end (
LSN )
by using command [9][2] data No. [0][0].
Unit
Item
Command
[9][2]
Data No.
[0][0]
Data
IFU
DRU
Servo-on
00000001: Turns on SON
00000006: Turns off SON and turns on
LSP LSN
Servo OFF
[9][2]
[0][0]
Stroke end ON
Servo-on
.
[9][2]
[0][0]
00000007: Turns on SON
LSP
LSN
.
Stroke end ON
13 - 26
13. COMMUNICATION FUNCTIONS
(c) Start of positioning operation
Transmit the speed and acceleration/deceleration time constant, turn on the servo-on (SON ) and
forward rotation stroke end (LSP
reverse rotation stroke end (LSN , and then send the
)
)
moving distance to start positioning operation. After that, positioning operation will start every
time the moving distance is transmitted. To start opposite rotation, send the moving distance of a
negative value.
When the servo-on (SON ) and forward rotation stroke end (LSP
reverse rotation stroke end
)
(LSN ) are off, the transmission of the moving distance is invalid. Therefore, positioning operation
will not start if the servo-on (SON ) and forward rotation stroke end (LSP
stroke end (LSN ) are turned on after the setting of the moving distance.
reverse rotation
)
(d) Temporary stop
A temporary stop can be made during positioning operation.
Unit
Command
Data No.
Data
IFU
DRU
[A][0]
[1][5]
1EA5
Retransmit the same communication commands as at the start time to resume operation.
To stop positioning operation after a temporary stop, retransmit the temporary stop communication
command. The remaining moving distance is then cleared.
13 - 27
13. COMMUNICATION FUNCTIONS
13.12.8 Output signal pin ON/OFF (output signal (DO) forced output)
In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(1) Choosing DO forced output in test operation mode
Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
0 0 0 4
Selection of test operation mode
4: DO forced output (output signal forced output)
(2) External output signal ON/OFF
Transmit the following communication commands:
Command
Data No.
Setting data
[9][2]
[A][0]
See below.
b31
b1 b0
1: ON
0: OFF
Command of each bit is sent to the slave station in hexadecimal.
bit
0
External output pin
CN1A-19
CN1A-18
CN1B-19
CN1B-6
bit
8
External output pin
bit
16
17
18
19
20
21
22
23
External output pin
bit
24
25
26
27
28
29
30
31
External output pin
1
9
2
10
11
12
13
14
15
3
4
CN1B-4
5
CN1B-18
CN1A-14
6
7
13 - 28
13. COMMUNICATION FUNCTIONS
13.12.9 Alarm history
(1) Alarm No. read
Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last
alarm) to No. 5 (sixth alarm in the past) are read.
(a) Transmission
Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 13.11.1(4).
(b) Reply
The alarm No. corresponding to the data No. is provided.
0 0
Alarm No. is transferred in decimal.
For example, “0032” means A.32 and “00FF” means A._ (no alarm).
(2) Alarm occurrence time read
Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time
beginning with operation start, with the minute unit omitted.
(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to Section 13.11.1(4).
(b) Reply
The alarm occurrence time is transferred in decimal.
Hexadecimal must be converted into decimal.
For example, data “01F5” means that the alarm occurred in 501 hours after start of operation.
(3) Alarm history clear
Erase the alarm history.
Send command [8][2] and data No. [2][0].
Unit
Command
Data No.
Data
IDU
DRU
[8][2]
[2][0]
1EA5
13 - 29
13. COMMUNICATION FUNCTIONS
13.12.10 Current alarm
(1) Current alarm read
Read the alarm No. which is occurring currently.
(a) Transmission
Send command [0][2] and data No. [0][0].
Unit
Command
Data No.
IFU
DRU
[0][2]
[0][0]
(b) Reply
The slave station sends back the alarm currently occurring.
0 0
Alarm No. is transferred in decimal.
For example, “0032” means A.32 and “00FF” means A._ (no alarm).
(2) Read of the status display at alarm occurrence
Read the status display data at alarm occurrence. When the data No. corresponding to the status
display item is transmitted, the data value and data processing information are sent back.
(a) Transmission
Send command [3][5] and any of data No. [8][0] to [8][A] corresponding to the status display item to
be read. Refer to Section 13.11.1 (5).
(b) Reply
The slave station sends back the requested status display data at alarm occurrence.
0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)
Display type
0: Conversion into decimal required
1: Used unchanged in hexadecimal
Decimal point position
0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
(3) Current alarm clear
As by the entry of the reset (RES , reset the servo amplifier alarm to make the servo amplifier ready
)
to operate. After removing the cause of the alarm, reset the alarm with no command entered.
Unit
Command
Data No.
Data
IFU
DRU
[8][2]
[0][0]
1EA5
13 - 30
13. COMMUNICATION FUNCTIONS
13.12.11 Other commands
(1) Servo motor end pulse unit absolute position
Read the absolute position in the servo motor end pulse unit.
Note that overflow will occur in the position of 16384 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No. [9][0].
Unit
Command
Data No.
IFU
DRU
[0][2]
[9][0]
(b) Reply
The slave station sends back the requested servo motor end pulses.
Absolute value is sent back in hexadecimal in
the servo motor end pulse unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the motor end pulse unit.
(2) Command unit absolute position
Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Unit
Command
Data No.
IFU
DRU
[0][2]
[9][1]
(b) Reply
The slave station sends back the requested command pulses.
Absolute value is sent back in hexadecimal in the
command unit.
(Must be converted into decimal)
For example, data "000186A0" is 100000 [pulse] in the command unit.
(3) Software version
Reads the software version of the servo amplifier.
(a) Transmission
Send command [0][2] and data No.[7][0].
Unit
Command
Data No.
IFU
DRU
[0][2]
[7][0]
(b) Reply
The slave station returns the software version requested.
Space
Software version (15 digits)
13 - 31
13. COMMUNICATION FUNCTIONS
(4) Read of slot connection status
Read the absolute position in the command unit.
(a) Transmission
Send command [0][0] and data No.[8][0].
Unit
Command
Data No.
IFU
DRU
[0][0]
[8][0]
(b) Reply
The slave stations send back the statuses of the units connected to the slots.
b1b0
b31
1: Connected
0: Not connected
Command of each bit is sent to the slave station in hexadecimal.
bit
0
Slot
1
bit
8
Slot
bit
16
17
18
19
20
21
22
23
Slot
Option
bit
Slot
24
25
26
27
28
29
30
31
1
2
9
2
3
10
11
12
13
14
15
3
4
4
5
5
6
6
7
7
8
13 - 32
14. ABSOLUTE POSITION DETECTION SYSTEM
14. ABSOLUTE POSITION DETECTION SYSTEM
If an absolute position erase (A.25) or an absolute position counter warning
(A E3) has occurred, always perform home position setting again. Not doing so
can cause runaway.
CAUTION
14.1 Outline
14.1.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the controller power is on or off. Therefore, once the home
position is defined at the time of machine installation, home position return is not needed when power is
switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Also, the absolute position data, which is battery-backed by the super capacitor in the encoder, can be
retained within the specified period (cumulative revolution counter value retaining time) if the cable is
unplugged or broken.
Controller
Battery unit
Drive unit
Pulse train
command
Home position data
EEP-ROM memory
LSO
Current
position data
Current
position data
1XO
Backed up
in the case of
power failure
Changing the
current position
data
LS
1X
Detecting the
number of
Detecting the
position within
one revolutions
Serial
revolutions
communication
RS-422/
RS-232C
High speed serial communication
Within-one-revolution counter
Servo motor
1pulse/rev Accumulative
revolution counter
Super capacitor
14.1.2 Restrictions
The absolute position detection system cannot be configured under the following conditions. Test
operation cannot be performed in the absolute position detection system, either. To perform test
operation, choose incremental in DRU parameter No.1.
(1) Stroke-less coordinate system, e.g. rotary shaft, infinitely long positioning.
(2) Changing of electronic gear after home position setting.
14 - 1
14. ABSOLUTE POSITION DETECTION SYSTEM
14.2 Specifications
(1) Specification of battery unit MR-J2M-BT
POINT
The revision (Edition 44) of the Dangerous Goods Rule of the
International Air Transport Association (IATA) went into effect on
January 1, 2003 and was enforced immediately. In this rule, "provisions of
the lithium and lithium ion batteries" were revised to tighten the
restrictions on the air transportation of batteries. However, since this
battery is dangerous goods (Class 9), requires packing compliant with the
Packing Standard 903. When a self-certificate is necessary for battery
safety tests, contact our branch or representative. For more information,
consult our branch or representative. (As of October, 2005).
Item
Description
MR-J2M-BT
Model
System
Electronic battery backup system
Lithium battery (primary battery, nominal 3.6V)
Home position 32767 rev.
Battery unit
Maximum revolution range
(Note 1) Maximum speed at power failure
(Note 2) Battery backup time
(Note 3) Data holding time during battery
replacement
500r/min
Approx. 10,000 hours (battery life with power off)
2 hours at delivery, 1 hour in 5 years after delivery
Battery storage period
5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years
independently of whether power is kept on or off.
3. Period during which data can be held by the super capacitor in the encoder after power-off, with the battery
voltage low or the battery removed, or during which data can be held with the encoder cable disconnected.
Battery replacement should be finished within this period.
(2) Configuration
Controller
CN1A
Pulse train
command IO
Interface
unit
Base unit Drive unit
RS-422
/RS-232C
CN1B
CN3
Servo motor
Battery
unit
14 - 2
14. ABSOLUTE POSITION DETECTION SYSTEM
(3) DRU parameter setting
Set " 1
" in DRU parameter No.1 to make the absolute position detection system valid.
DRU parameter No. 1
Selection of absolute position detection system
0: Used in incremental system
1: Used in absolute position detection system
14.3 Signal explanation
The following is the signal used in an absolute position detection system. For the I/O interfaces (symbols
in the I/O category column in the table), refer to section 3.2.5.
Signal name
Code
Functions/Applications
I/O category
Clear
(home position setting)
CR
Shorting CR -SG clears the position control counter and stores the
home position data into the non-volatile memory (backup memory).
DI-1
14.4 Serial communication command
The following commands are available for reading absolute position data using the serial communication
function. When reading data, take care to specify the correct station number of the drive unit from where
the data will be read.
When the master station sends the data No. to the slave station (drive unit), the slave station returns the
data value to the master station.
(1) Transmission
Transmit command [0][2] and data No. [9][1].
(2) Reply
The absolute position data in the command pulse unit is returned in hexadecimal.
Data 32-bit length (hexadecimal representation)
14 - 3
14. ABSOLUTE POSITION DETECTION SYSTEM
14.5 Startup procedure
(1) Connection of a battery unit
(2) Parameter setting
Set "1
"in DRU parameter No. 1 of the servo amplifier and switch power off, then on.
(3) Resetting of absolute position erase (A.25)
After connecting the encoder cable, the absolute position erase (A.25) occurs at first power-on. Leave
the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.
(4) Confirmation of absolute position data transfer
After making sure that the ready (RD ) output after the servo-on (SON ) had turned on has turned
on, read the absolute value data with the serial communication function.
(5) Home position setting
The home position must be set if:
(a) System setup is performed;
(b) When the drive unit or interface unit is replaced;
(c) The servo motor has been changed; or
(d) The absolute position erase (A.25) occurred.
In the absolute position system, the absolute position coordinates are made up by making home
position setting at the time of system setup.
The motor shaft may misoperate if positioning operation is performed without home position setting.
Always make home position setting before starting operation.
For the home position setting method and types, refer to Section 14.6.3.
14 - 4
14. ABSOLUTE POSITION DETECTION SYSTEM
14.6 Absolute position data transfer protocol
14.6.1 Data transfer procedure
Every time the servo-on (SON
turns on at power-on or like, the controller must read the current
)
position data in the drive unit. Not performing this operation will cause a position shift.
Time-out monitoring is performed by the controller.
Controller
MELSERVO-J2M
SON ON
RD ON
Absolute position data
command transmission
Command [0][2] data No.[9][1]
Absolute position
data acquisition
Watch dog timer
Absolute position data return
Current position
acquisition
Current value
change
Position command start
14 - 5
14. ABSOLUTE POSITION DETECTION SYSTEM
14.6.2 Transfer method
The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the
servo-on (SON ) going OFF, a forced stop, or alarm, is explained below. In the absolute position
detection system, always give the serial communication command to read the current position in the drive
unit to the controller every time the ready (RD ) turns on. The drive unit sends the current position to
the controller on receipt of the command. At the same time, this data is set as a position command value
in the drive unit.
(1) Sequence processing at power-on
ON
Power
supply
OFF
ON
Servo-on
OFF
(SON
)
100ms
20ms
ON
Base
circuit
OFF
Ready
(RD
ON
)
OFF
Absolute position data
command transmission
Absolute position data
receive
Current position change
Current position
ABS data
Pulse train command
During this period, get absolute position data.
1) 100ms after the servo-on (SON ) has turned on, the base circuit turns on.
2) After the base circuit has turned on, the ready (RD ) turns on.
3) After the ready (RD ) turned on and the controller acquired the absolute position data, give
command pulses to the drive unit. Providing command pulses before the acquisition of the
absolute position data can cause a position shift.
(2) Communication error
If a communication error occurs between the controller and MELSERVO-J2M, the MELSERVO-J2M
sends the error code. The definition of the error code is the same as that of the communication
function. Refer to Section 13.5 for details.
If a communication error has occurred, perform retry operation. If several retries do not result in a
normal termination, perform error processing.
14 - 6
14. ABSOLUTE POSITION DETECTION SYSTEM
(3) At the time of alarm reset
If an alarm has occurred, detect the trouble (ALM_ ) and turn off the servo-on (SON ). After
removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again
from the drive unit in accordance with the procedure in (1) of this section.
ON
Servo-on
(SON
)
OFF
ON
Reset
(RES
)
OFF
100ms
20ms
ON
Base circuit
OFF
Trouble
ON
(ALM_
Ready
)
OFF
ON
(RD
)
OFF
Absolute position data
command transmission
Absolute position
data receive
Current position change
ABS data
Current position
Pulse train command
During this period, get absolute position data.
14 - 7
14. ABSOLUTE POSITION DETECTION SYSTEM
(4) At the time of forced stop reset
200ms after the forced stop is deactivated, the base circuit turns on, and further 20ms after that, the
ready (RD ) turns on. Always get the current position data from when the ready (RD ) is triggered
until before the position command is issued.
(a) When power is switched on in a forced stop status
ON
Power
OFF
supply
ON
Servo-on
(SON
)
OFF
ON(Valid)
Forced stop
(EMG_
)
OFF(Invalied)
200ms
20ms
ON
Base circuit
Ready
OFF
ON
(RD
)
OFF
Absolute position data
command transmission
Absolute position
data receive
Current position change
Current position
ABS data
Pulse train command
During this period, get absolute position data.
(b) When a forced stop is activated during servo on
ON
Servo-on
(SON
)
OFF
ON(Valid)
Forced stop
(EMG_
)
OFF(Invalid)
100ms
ON
Base circuit
OFF
20ms
ON
Ready
(RD
)
OFF
Absolute position data
command transmission
Absolute position
data receive
Current position change
Current position
ABS data
Pulse train command
During this period, get absolute position data.
14 - 8
14. ABSOLUTE POSITION DETECTION SYSTEM
14.6.3 Home position setting
(1) Dog type home position return
Preset a home position return creep speed at which the machine will not be given impact. On detection
of a zero pulse, the home position setting (CR ) is turned from off to on. At the same time, the servo
amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-
volatile memory as the home position ABS data.
The home position setting (CR ) should be turned on after it has been confirmed that the in-position
(INP ) is on. If this condition is not satisfied, the home position setting warning (A.96) will occur, but
that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 100,000 times.
Servo motor
Near-zero point dog
ON
Dog signal
OFF
Zero pulse signal
ON
Completion of positioning
(INP
)
OFF
ON
Home position setting
(CR
)
OFF
20ms or more
20ms or more
Home position
ABS data
Update
14 - 9
14. ABSOLUTE POSITION DETECTION SYSTEM
(2) Data set type home position return
POINT
Never make home position setting during command operation or servo motor
rotation. It may cause home position sift.
It is possible to execute data set type home position return when the servo off.
Perform manual operation such as JOG operation to move to the position where the home position is
to be set. When the home position setting (CR ) is on for longer than 20ms, the stop position is stored
into the non-volatile memory as the home position ABS data.
When the servo on, set home position setting (CR ) to ON after confirming that the in-position
(INP ) is ON. If this condition is not satisfied, the home position setting warning (A.96) will occur,
but that warning will be reset automatically by making home position return correctly.
The number of home position setting times is limited to 100,000 times.
Manual feed (JOG, etc.)
(more than 1 revolution
of the motor shaft)
Servo Motor
Completion of
ON
positioning
OFF
( INP
Home position
setting (CR
)
ON
)
OFF
20 [ms] or more
Home position
ABS data
Update
14.6.4 How to process the absolute position data at detection of stroke end
The drive unit stops the acceptance of the command pulse when forward rotation stroke end
(LSP reverse rotation stroke end (LSN ) is detected, clears the droop pulses to 0 at the same time,
)
and stops the servo motor rapidly.
At this time, the controller keeps outputting the command pulse. Since this causes a discrepancy between
the absolute position data of the servo amplifier and the controller, a difference will occur between the
position data of the servo amplifier and that of the controller.
When the stroke end is detected, therefore, perform JOG operation or like to return to the position where
stroke end detection can be deactivated, and read the current position data in the drive unit again.
14 - 10
14. ABSOLUTE POSITION DETECTION SYSTEM
14.7 Confirmation of absolute position detection data
You can confirm the absolute position data with MR Configurator (servo configuration software MRZJW3-
SETUP151E).
Clicking "Diagnostics" on the menu bar and click "Absolute encoder data" in the menu.
(1)
(2) By clicking "Absolute encoder data" in the sub-menu, the absolute encoder data display window
appears.
(3) Click the "Close" button to close the absolute encoder data display window.
14 - 11
14. ABSOLUTE POSITION DETECTION SYSTEM
MEMO
14 - 12
APPENDIX
App 1. Status indication block diagram
App - 1
APPENDIX
MEMO
App - 2
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data
*Manual Number
Revision
Jan., 2002 SH(NA)030014-A First edition
Sep., 2002 SH(NA)030014-B Safety Instructions: Addition of Note to 4. (1)
Deletion of (7) in 4. Additional instructions
Addition of About processing of waste
Addition of EEP-ROM life
Section 1.5 (2) (a): Partial change of rating plate
Section 2.7: Partial change of CAUTION sentences
Section 2.7 (8): Change of POINT
Section 3.1: Partial change of drawing
Section 3.2.1: Partial change of drawing
Section 3.2.2: Addition of forced stop B text
Section 3.2.4: Partial change of drawing
Section 3.3.1: Partial change of drawing
Section 3.4.2: Change of table
Section 3.5.1: Addition of POINT
Section 3.6: Addition of NOTE
Section 5.1.2: Partial change of DRU parameter No. 20 data
Section 5.2.1: Partial addition of text, change of table
Section 6.2.2: Addition of POINT sentences
Section 6.4 (3) (a): Change of expression
Section 9.2: Deletion of A. 7A
Section 9.3: Deletion of 4. in A. 16A
Deletion of A. 7A
Section 10.3 (4): Partial addition of contacts and applicable tools
Section 11.1: Reexamination
Section 11.2: Partial addition of NOTE sentences
Section 11.4: Addition of MR-JC4CBL M-H
Section 12.1.1 (1): Addition of text
Section 12.1.2: Addition of cable
Section 12.1.2 (2): Addition of POINT sentences
Section 12.1.2 (2) (a): Addition and change of items, partial change of drawing
Section 12.1.2 (2) (b): Addition of item
Section 12.1.3 (2): Change of text
Section 12.1.4: Deletion of POINT
Section 12.1.4 (2): Change of terminal label sketch
Section 12.1.4 (4) (b): Partial change of connection diagram
Section 12.1.6 (1): Reexamination of table
Section 12.1.6 (2): Partial change of contents
Section 12.2.1 (2): Addition of cable
Section 12.2.8: Partial addition of text
Section 13.10: Partial addition of drawing
Section 13.12.3 (2): Partial change of drawing
Section 14.7: Partial reexamination of text
Reexamination of description on configuration software
Safety Instructions 1. To prevent electric shock: Addition of sentence
Mar., 2004 SH(NA)030014-C
Print Data
*Manual Number
Revision
Mar., 2004 SH(NA)030014-C
3. To prevent injury: Reexamination of sentence
4. Additional instructions (1): Addition of Note/Reexamination of
sentence
(5): Reexamination of wiring drawing
COMPLIANCE WITH EC DIRECTIVES 2. PRECAUTIONS FOR
COMPLIANCE: IEC664-1 is modified to IEC60664-1 in (3) and (4).
CONFORMANCE WITH UL/C-UL STANDARD (2): Reexamination of sentence
Section 1.3 (1): Addition of “Inrush current”
Section 2.4 (2): Reexamination of sentence
Section 2.7: Reexamination and addition of NOTE sentence
Section 2.7 (8): Addition of POINT
Section 3.1: The following modification is made to the diagram:
CLEAR COMPULSE COM of positioning module QD70 is
connected to SG (24G).
Section 3.2.5 (1): Reexamination of diagram
Section 3.2.5 (2) (c) 2): Reexamination of diagram
Section 3.3.5 (2): Addition of NOTE
Section 3.7 (3) (a): Partial change of diagram
Section 5.3.1 (1) (b): Addition of POINT sentence
Section 9.2: Reexamination of sentence
Section 9.3: A.12 to 15: Reexamination of occurrence cause
A.37: Addition of occurrence cause
A.51: “Rotation: 2.5s or more” is added.
A.52: Change of content
Section 12.1.1 (4): Addition of terminal block and mounting screw
Section 12.1.6 (2) (a): Reexamination of Windows trademark
Section 12.1.6 (2) (b): Change of FR-BSF01 outline drawing
Section 14.2 (1): Addition of POINT
Section 14.6.2 (4): Reexamination of forced stop
Section 14.2 (1): Error in writing correction of POINT
Feb., 2005 SH(NA)030014-D
Oct., 2005
SH(NA)030014-E Reexamination of description on configuration software
Safety Instructions: 1. To prevent electric shock: Change of description from 10
minutes to 15 minutes
4. Additional instructions (2), (4): Addition of instructions
COMPLIANCE WITH EC DIRECTIVES: Partial change of sentence
CONFORMANCE WITH UL/C-UL STANDARD (4): Partial change of sentence
Chapter 2: Addition of CAUTION sentence
Chapter 3: Partial change of WARNING sentences
Section 3.2.2 (4): Deletion of open collector power input
Section 3.2.5 (2) (d) 2): Modification of servo motor CCW rotation
Section 3.3.4 (2): Limiting torque: Partial change of sentences
Warning Battery warning: Modification of description from
within 3 seconds to after approximately 3 seconds
Section 3.6: Addition of CAUTION sentences
Section 3.6 (3): Change of sentences
Section 3.7: Addition of CAUTION sentences
Change of sentences
Section 3.7(3): Modification of drawing (d), (e)
Print Data
*Manual Number
Revision
Oct., 2005
SH(NA)030014-E Section 5.1.2 (2): Correction of DRU parameter No.38
Section 5.3.2: Partial reexamination of sentences
Section 5.3.2 (2): Addition of Note in table
Chapter 8: Partial change of WARNING sentences
Section 9.2: Alarm code No.A. 45 A.46: Addition of Note in table
Section 9.3: Addition of CAUTION sentence
DRU parameter [email protected]@: Addition of contents
Section 9.4: Addition of CAUTION sentence
Addition of POINT
DRU parameter [email protected]@: Reexamination of Cause 2
IFU parameter No.FA.9F: Partial addition of Cause
IFU parameter [email protected]@: Addition of contents
Section 10.2: Addition of Mounting screw Tightening torque
Section 11.1: Partial change of CAUTION sentences
Chapter 12: Partial change of WARNING sentences
Section 12.1.1 (3): Addition of POINT
Section 12.1.1 (4): Reexamination of Outline drawing (b), (c)
Section 12.1.6 (2) (a): Partial reexamination of table and Note
Section 12.2.3: Correction of Dimensions for D1 in table
Section 12.2.6 (2) (d): Reexamination of Outline drawing for FR-BSF01
Section 12.2.6 (2) (e): Addition of sentences
Section 13.12.7 (3) (b): Correction in table
Chapter 14: Reexamination of CAUTION sentences
MEMO
MODEL
MODEL
CODE
HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
SH (NA) 030014-E (0510) MEE
Printed in Japan
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