Mitsubishi Melservo-J2-SUPER series, Instruction Manual

Page 1: ...Purpose AC Servo MR J2S B PY096 MR J2S B S096 5 7kW MODEL INSTRUCTION MANUAL SSCNET Fully Closed Control Compatible J2 Super Series J2 Super Series MR J2S B PY096 MR J2S B S096 5 7kW Instruction Manu...

Page 2: ...us conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damag...

Page 3: ...fier is charged and you may get an electric shock 2 To prevent fire note the following CAUTION Install the converter unit and servo amplifier servo motor and regenerative resistor on incombustible mat...

Page 4: ...ervo amplifier or servo motor Isolate from all impact loads When you keep or use it please fulfill the following environmental conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non...

Page 5: ...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 servo amplifier Connect the output te...

Page 6: ...a toxic gas Do not burn or break a servo amplifier Use the servo amplifier with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should no...

Page 7: ...TY 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 t...

Page 8: ...he low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply...

Page 9: ...to one PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the corresponding ear...

Page 10: ...B1 PY096 Servo motor HC KFS HC MFS HC SFS HC RFS HC UFS HA LFS HC LFS 2 Installation Install a cooling fan of 100CFM 2 8m3 min air flow 4 in 10 16 cm above the servo amplifier or provide cooling of at...

Page 11: ...rvo 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 l...

Page 12: ...erminal explanation 3 5 3 3 About power on 3 6 4 OPERATION AND FUNCTIONS 4 1 to 4 22 4 1 Startup 4 1 4 1 1 Startup procedure 4 1 4 1 2 Selection of full closed function 4 2 4 1 3 Selection of full clo...

Page 13: ...l closed compatible MR Configurator MRZJW3 SETUP151 S W E1 version or later is used 4 21 5 PARAMETERS 5 1 to 5 8 5 1 Parameter list 5 1 6 TROUBLESHOOTING 6 1 to 6 2 6 1 Alarm list 6 1 6 2 Scale error...

Page 14: ...changed from those of the standard model 1 The A B Z differential input I F unit MR J2S CLP01 or Mitsubishi serial interface compatible linear scale is used to detect the position F B signal of a ful...

Page 15: ...in parameter No 67 is performed In this case full closed control is performed when the motor is at a stop and semi closed control is performed when the motor is operating to improve control performanc...

Page 16: ...or less non condensing Ambience Indoors no direct sunlight without corrosive gas flammable gas oil mist dust and dirt Altitude 1000m or less above sea level Environment Vibration 5 9m s2 or less Weig...

Page 17: ...trol signal CN1A CN1B CN2 CN2 SSCNET Encoder signal Linear scale A B Z phase output ALM output ABZ differential input I F unit Servo motor To other axis General purpose pulse output linear scale MR J2...

Page 18: ...osition detection system Note that the battery MR BAT is not needed System configuration example 4 when serial communication specified servo motor is used SSCNET controller Servo amplifier Position co...

Page 19: ...1 6 1 FUNCTIONS AND CONFIGURATION MEMO...

Page 20: ...ed of the linear scale 2 Changes depending on the setting of the interpolator MJ830 Sony Precision Technology make Set the resolution within the range of the minimum resolution to 5 m 3 The phase diff...

Page 21: ...tion resistance 100m s2 55 to 2000Hz 150m s2 55 to 2000Hz Shock resistance 150m s2 1 2sin 11ms 200m s2 1 2sin 11ms Sliding force 5N or less Output signal Serial communication compatibility Output cabl...

Page 22: ...343A 800 800 860 970 485 400 AT343A 2400 2400 2500 2610 1305 400 7 AT343A 900 900 960 1070 535 450 AT343A 2500 2500 2600 2710 1355 315 AT343A 1000 1000 1060 1170 585 500 3 AT343A 2600 2600 2700 2810 1...

Page 23: ...0 2 8 The signal cable is optional Part No 09BAA598A to C 0 2m 2m 3m 1 5 0 2 0 2 G AT543A outline drawing Reference Dimension unit mm This outline drawing is based on the data from Mitutoyo Contact Mi...

Page 24: ...LG MR MRR LG 6 16 Plate MD MDR SD P5 LG RQ RQ P5 LG FG Note 2 CN2 Servo motor Encoder Note 3 Servo amplifier MR J2S B PY096 S096 50m or less 2 wire type 5m or less Note 1 Do not connect the linear sc...

Page 25: ...96 10120 3000PE 10320 52F0 008 3M make or equivalent 50m or less 2 wire type 30m or less Note 1 Do not connect the linear scale that is not indicated in this specification 2 Connect the shield wire to...

Page 26: ...Option cable MR J2SCLCBL02M P H 5m or less Note 1 Do not connect the linear scale that is not indicated in this specification 2 Connect the shield wire to the plate ground plate in the connector secu...

Page 27: ...indicated in this specification 2 Connect the shield wire to the plate ground plate in the connector securely 3 For the wiring to the servo motor refer to the standard connection examples in Chapter 3...

Page 28: ...ear encoder IP64 when filled with compressed air Vibration resistance 100m s2 DINIEC 68 2 6 without mounting spur 150m s2 DINIEC 68 2 6 with mounting spur Shock resistance 150m s2 DINIEC 68 2 6 11ms R...

Page 29: ...ased on the data from Heidenhain Contact Heidenhain for this outline drawing DIN ISO 8015 ISO 2768 m H 2 Without mounting spur With mounting spur Machine guide Measurement point for adjustment Dimensi...

Page 30: ...r linear scale Linear encoder head section 19 12 20 11 7 17 1 P5 LG P5 LG MR MRR LG 4 14 6 16 Plate MD2 MDR2 MD MDR SD P5 LG SD SD RQ RQ FG Note2 CN2 Servomotor Encoder Note 3 Servoamplifier MR J2S B...

Page 31: ...10120 3000PE 10320 52F0 008 3M make or equivalent 50m or less 2 wire type 30m or less Note 1 Do not connect the linear encoder linear scale that is not indicated in this specification 2 Connect the sh...

Page 32: ...J2SCLCBL02M P H Note 1 Heidenhain make linear encoder linear scale Linear encoder head section P5 LG SD SD RQ RQ FG 5V sensor 0V sensor 7 17 MR MRR 5m or less Note 1 Do not connect the linear encoder...

Page 33: ...Q RQ 5V sensor 0V sensor 7 17 MR MRR FG 30mor less Note 1 Do not connect the linear encoder linear scale that is not indicated in this specification 2 Connect the shield wire to the plate ground plate...

Page 34: ...n freezing Dust tightness water tightness IP50 Vibration resistance 100m s2 55 to 2000HZ Shock resistance 1000m s2 1 2sin 11ms Output signal Serial communication compatibility Z phase data included se...

Page 35: ...up LED Roll tolerance 1 0 0 13 Mounting surface range Selectable mounting surface Q limit sensor position M3 0 5 two 7 5 deep holes Mount the Q limit switch with the white point up P limit sensor posi...

Page 36: ...1 Do not connect the linear encoder linear scale that is not indicated in this specification 2 Connect the shield wire to the plate ground plate in the connector securely 3 For the wiring to the serv...

Page 37: ...specification 2 Connect the shield wire to the plate ground plate in the connector securely 3 For the wiring to the servo motor refer to the standard connection examples in Chapter 3 and the Instructi...

Page 38: ...Note 4 5m or less Note 1 Do not connect the linear encoder linear scale that is not indicated in this specification 2 Connect the shield wire to the plate ground plate in the connector securely 3 For...

Page 39: ...ecification 2 Connect the shield wire to the plate ground plate in the connector securely 3 For the wiring to the servo motor refer to the standard connection examples in Chapter 3 and the Instruction...

Page 40: ...the cable Item Specifications Interpolator model MJ830 Linear encoder model SH13 System Optical detection system Effective measurement length 70 to 1240mm Resolution Min 0 005 m Note 2 Accuracy 3 m A...

Page 41: ...Y SL700 SONY PL101R Increasing direction Decreasing direction When SH13 is used Decreasing direction Increasing direction SH13 Note 1 Note that the increasing direction decreasing direction of the lin...

Page 42: ...e 12 6 20 20 20 20 25 9 12 0 2 12 0 2 9 25 SH13 outline drawing Reference Dimension unit mm This outline drawing is based on the data from Sony Precision Technology Contact Sony Precision Technology f...

Page 43: ...utline drawing Reference Dimension unit mm This outline drawing is based on the data from Sony Precision Technology Contact Sony Precision Technology for this outline drawing 4 5 mounting hole 26 13 1...

Page 44: ...PY096 S096 Sony Precision Technology make linear encoder linear scale Stabilized power supply 5V 10120 3000PE 10320 52F0 008 3M make or equivalent 50m or less 2 wire type 30m or less Note 1 Do not con...

Page 45: ...tor Option cable MR J2SCLCBL02M P H Note 1 Sony Precision Technology make interpolator LG LG MR MRR SHD Sony Precision Technology make linear encoder linear scale Stabilized power supply 5V 30m or les...

Page 46: ...ed from external power supply Note 1 Input signal A B Z phase differential input signal Minimum phase difference 500ns Output signal High speed serial communication Z phase data included Structure Ope...

Page 47: ...2 28 2 LINEAR SCALES MR J2S CLP01 outline drawing Unit mm 6 hole Terminal layout Model Weight kg 75 90 1 6 6 156 168 R3 TE1 P5L P50 MR J2S CLP01 0 4...

Page 48: ...orten the length depending on the power supply voltage drop and linear scale specifications 10 As the connection cable use the MR J2HBUS05M or MR J2HBUS1M 11 When a connection cable is to be fabricate...

Page 49: ...2 30 2 LINEAR SCALES MEMO...

Page 50: ...5 9 P5 LG MR MRR MD MDR SD 3 BAT 6 CNT 7 6 8 9 5 4 14 2 3 LZ LZR LAL LALR SD LBR LB P5L LAR LA CN1A 1 LG MR J2S CLP01 7 RA1 CN1B CS1 Configure a sequence that will turn off MC at an alarm or emergency...

Page 51: ...recision Technology make linear encoder linear scale Stabilized power supply 5V Renishaw make linear encoder linear scale Heidenhain make linear encoder linear scale Limit switch output 0V sensor 5V s...

Page 52: ...m or less Plate Plate Motor connector MR JHSCBL M H cable MR JHSCBL M L cable or MR ENCBL M H cable Use 30m or less Drive motor HC KFS MFS UFS3000r min series Drive motor HC SFS RFS UFS2000r min serie...

Page 53: ...LCBL02M P H Refer to CHAPTER 7 OPTIONS AND AUXILIARY EQUIPMENT for details such as internal connection 2 Use the encoder cable e g MR JCCBL M H MR JHSCBL M H MR ENCBL M H of the servo motor 3 The wiri...

Page 54: ...power supply of 24VDC and 200mA or more instead of VDD I F internal power supply output VDD 10 Digital interface driver power output terminal 24VDC is output across VDD SG Connect with COM Do not make...

Page 55: ...after the main circuit is powered on Therefore when SON is turned on as soon as the main circuit is powered on the base circuit switches on within about 5s to make operation ready Timing chart Within...

Page 56: ...n check in semi closed control Positioning operation check using MR Configurator Selection of full closed function Gain adjustment Selection of full closed encoder communication system Setting of full...

Page 57: ...r setting the parameter marked switch power off once The setting is made valid by switching power on again 2 Parameter setting method Selection between semi closed control and full closed control can...

Page 58: ...r type Refer to section 2 1 Compatible Linear Scale List for the communication systems of the full closed encoders CAUTION If a wrong value is set in Serial encoder cable selection parameter No 23 a s...

Page 59: ...ed encoder feedback This setting must be made for all linear scales or rotary encoders Pr 62 0 When the encoder address increasing direction is set for motor CCW Linear scale Servo motor Motor CCW dir...

Page 60: ...directly coupled with a ballscrew and the linear scale resolution is 0 05 m Calculate the number of linear scale pulses per servo motor revolution Setting example 2 When a rotary encoder at roll feed...

Page 61: ...back direction Setting of full closed encoder polarity Confirm the full closed encoder feedback direction at the within full one revolution position full closed encoder side by moving the device full...

Page 62: ...mi closed control 2 While observing the servo operation waveform with the graph function etc of the MR Configurator adjust the dual F B filter The dual F B filter operates as described below depending...

Page 63: ...dog signal turns off 4 2 2 Full closed encoder types and home position return methods 1 About proximity dog type home position return using absolute linear scale Serial I F When an absolute linear sc...

Page 64: ...rence mark does not exist in the home position return direction move the axis up to the stroke end on the side opposite to the home position return direction by jog operation etc of the controller onc...

Page 65: ...passed through in the same direction The following indicates a home position return method in which a lag equivalent to the scale home position signal width is not produced in the positioning module Q...

Page 66: ...E bus Position Board MR MC01 are scheduled for modification to operate like the other controllers Contact your sales representative for the modification time and compatible versions CAUTION The home p...

Page 67: ...ion must be noted since the axis cannot stop at the same home position return position Servo amplifier power on position Machine position Home position Home position reference position Full closed enc...

Page 68: ...on return direction turns on b Perform the power on reset of the servo amplifier or reset the controller c Switch on the servo and make a home position return Machine position Stroke end Scale home po...

Page 69: ...e start of a home position return since a scale home position reference mark or the Z phase signal of a rotary encoder is not required When the linear scale used does not have a scale home position re...

Page 70: ...e setting valid For motion controller resetting makes the servo amplifier setting valid Settings Motion controller Positioning module Setting Item A17 SH A173UH A273UH Q17 QD75M Command resolution Mot...

Page 71: ...h 131072 Add 0603h 0080h Automatic setting Add 0414h Serial encoder cable selection parameter No 23 Setting is necessary only when a 4 wire type linear scale is used Home position setting condition se...

Page 72: ...d control error detection function 1 valid 2 Full closed control error detection function 2 valid 3 Full closed control error detection functions 1 and 2 both valid 1300 0000h to 1312h 63 BC1 Full clo...

Page 73: ...n of the MR Configurator is the same as that of the standard servo For full information refer to the Instruction Manual of the MR J2S B standard model This function is activated by the feedback of the...

Page 74: ...like the standard amplifier At this time the option cable MR J2SCLCBL02M P H cannot be used Connect the encoder cable of the motor encoder directly to the servo amplifier Precautions Make setting to...

Page 75: ...lution 5 Regenerative load ratio read as Cumulative feedback pulse 2 Caution The name does not match what is monitored The real regenerative load ratio is displayed on the left side Feedback pulses fr...

Page 76: ...screen This screen is designed to display Cumulative feedback pulse 2 Within full one revolution position and Full ABS counter as formal names Refer to above Section 4 7 1 for the explanation of what...

Page 77: ...he case of the INC type a counter starting at power on is displayed In the ABS type linear encoder absolute position data is displayed In the case of the ABS type rotary encoder a multi revolution cou...

Page 78: ...VG1 PG2 VG2 VIC NCH FFC INP MBR MOD OP1 OP2 LPF Ratio of load inertia moment to servo motor inertia moment Position loop gain 1 Speed loop gain 1 Position loop gain 2 Speed loop gain 2 Speed integral...

Page 79: ...etting For manufacture setting Optional function C For manufacture setting Full closed selection additional function unavailable for the standard model Full closed control error detection 1 additional...

Page 80: ...ystem only when 2 Switching valid is selected for the full closed function If absolute position detection valid is selected in such cases the parameter error AL 37 occurs Analog monitor ch2 output sel...

Page 81: ...3 20 input 0 Valid forced stop signal is used 1 Invalid forced stop signal is not used monitor ch1 Serial encoder cable selection Select the communication systems of CH1 for motor and CH2 for full clo...

Page 82: ...ent to one motor revolution moving distance of the full closed encoder equivalent to one revolution of the semi closed end motor For example when the linear scale of 0 1 m resolution is installed as t...

Page 83: ...g 00 to 11 40 00 to 11 40 000A 40 40 000C 00 to 40 00 to 11 40 000E 00 to 40 00 to 40 000F 00 to 75 00 to 75 100E 00 to 40 40 only Encoder pulse output direction selection 0 A phase 90 lead for CCW 1...

Page 84: ...F B filter Set the bandwidth of the dual F B filter At 1000rad s setting the full closed control is made always valid At 0rad s setting the full closed control is made invalid About half of the posit...

Page 85: ...5 8 5 PARAMETERS MEMO...

Page 86: ...f the full closed encoder Reexamine the setting of parameter No 62 AL42 Full closed control error detection The setting of the full closed encoder electronic gear is wrong Reexamine the settings of pa...

Page 87: ...ror Overspeed Bit5 EEPROM error Encoder alarm EEPROM error Bit4 CPU error CPU error Bit3 Capacitive error ABS data error Bit2 Photoelectric error INC data error Bit1 Photoelectric capacitive data mism...

Page 88: ...ector Connect the serial communication encoder connector at the full closed end CN2 MOTOR SCALE 19 12 20 11 7 17 6 16 4 14 9 1 P5 LG P5 LG MR MRR MD MDR MD2 MDR2 BAT LG Shield CN2 connector 10120 3000...

Page 89: ...7 2 7 OPTIONS AND AUXILIARY EQUIPMENT MEMO...

Page 90: ...edition Jan 2007 SH NA 030035 B Chapter 2 Section 4 3 2 1 Section 5 1 Section 6 1 Change of connector type name manufactured by 3M Originally 10120 3000VE Addition of sentence Addition of sentence Cha...

Page 91: ...Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE J2 Super Series MR J2S B PY096 MR J2S B S096 5 7kW Instruction Manual HEAD OFFICE TOK...