General Purpose AC Servo MELSERVO-J2S · PDF fileBCN-B32110-011* MITSUBISHI General Purpose AC Servo MELSERVO-J2S Full Closed Control Compatible MR-J2S- A -PY091 (3.5kW or less) MR-J2S-

BCN-B32110-011*

MITSUBISHI General Purpose AC Servo MELSERVO-J2S

Full Closed Control Compatible MR-J2S- A -PY091 (3.5kW or less)

MR-J2S- A-S091 (5k, 7kW)

MITSUBISHI ELECTRIC CORPORATION NAGOYA WORKS

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Revision

Version Description Created ・ Newly created

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∼ CONTENTS ∼

CHAPTER 1 FUNCTIONS AND CONFIGURATION 1.1 Overview 1.2 Control Block Diagram 1.3 Specification List 1.4 Model Name 1.5 System Configuration

CHAPTER 2 LINEAR SCALES

2.1 Compatible Linear Scale List

CHAPTER 3 SIGNALS AND WIRING 3.1 Standard Connection Examples of Full Closed Control Servo Amplifier Control Signals 3.2 Signal/Terminal Explanation

CHAPTER 4 OPERATION AND FUNCTIONS

4.1 Startup 4.2 Home Position Return Operation 4.3 Functions

4.3.1 Test operation 4.3.2 Semi/full closed control switching operation

4.4 About the Servo Configuration Software 4.4.1 When current version of Servo Configuration software (MRZJW3-SETUP111E to -SETUP151E S/W:

E1 version) is used 4.4.2 When full closed compatible Servo Configuration software (MRZJW3-SETUP151E S/W: E2 version or

later) is used

CHAPTER 5 PARAMETERS 5.1 Parameter List

CHAPTER 6 DISPLAY

CHAPTER 7 TROUBLESHOOTING

7.1 Alarm List 7.2 Alarm Code Outputting and Resetting Methods 7.3 Scale Error (AL. 2A) Details Classified by Linear Scale Makers

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CHAPTER 1 FUNCTIONS AND CONFIGURATION 1.1 Overview

This Specification explains the full closed control compatible product that imports a position F/B signal from an external encoder, such as a linear scale, to the MR-J2S-A servo amplifier. For the items that are not described in this Specification, refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual and the MELSERVO-J2S-A Specifications and Installation Guide and Instruction Manual.

[Servo amplifier]

[Items 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 an external encoder such as a linear scale. 2) In addition to the full closed control that feeds back the position signal of the external encoder, dual F/B control that

feeds back a signal composed of the external encoder's position F/B signal and the motor position F/B signal has been added as an extended function.

3) Function to switch pulse output between the closed encoder and motor end encoder

[Functions deleted from the standard model] 1) Speed/torque control 2) Absolute position detection function 3) Control switching mode 4) Motor-less operation (test operation)

1.2 Control Block Diagram

A full closed control block diagram is shown below.

ω S+ω Dual F/B filter

Parameter No. 97

CMX CDV

FCM FCD

CDV CMX

FCD FCM E

INP

Command pulse train electronic gear Parameter No. 3, 4

Full closed electronic geaParameter No. 89, 90

Droop pulse disp

Servo motor

Linear scale

Closed end pulse unit

Position deviation Encoder pulse unit

S

+ −

+ −

Full closed selection Parameter No. 86

+ −

+ +

− +

OP9 ABZ phase pulse output selection Parameter No. 5

FCT Full closed control error detection function selectio

Dual f/b position signal

Droop pulse unit selecParameter No. 49

Command pulse train

Command pulse unit

Switching between semi closed control and full closed control can be performed by changing the setting of parameter No. 86. When semi closed control is selected, control is always performed on the basis of the position data of the motor end encoder (independently of whether the motor is at a stop or running). When the full closed function in parameter No. 86 is valid, dual F/B control in which the motor F/B signal and linear scale

F/B signal are combined by the dual F/B filter in parameter No. 97 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 performance. When 1000 is set as the filter value of parameter No. 97, full closed control is always performed.

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1.3 Specification List

(1) Servo amplifiers

Servo Amplifier Model MR-J2S-

10A -PY091

20A -PY091

40A -PY091

60A -PY091

70A -PY091

100A -PY091

200A -PY091

350A -PY091

500A -S091

700A -S091

10A1 -PY091

20A1 -PY091

40A1 -PY091

Vo l tage/ f requency (Note 1)

Three-phase 200 to 230VAC/50, 60Hz or single-phase 230VAC/50, 60Hz (Note 2)

Three-phase 200 to 230VAC/50, 60Hz (Note 2)

Single-phase 100 to 120VAC/50, 60Hz

Perm iss ib le vo l tage f luc tuat ion

Three-phase 170 to 253VAC/50, 60Hz or single-phase 207 to 253VAC/50, 60Hz Three-phase 170 to 253VAC/50, 60Hz Single-phase 85 to

127VAC/50, 60Hz Power supply

Permissible frequency fluctuation

Within ±5%

Cont ro l sys tem Sine-wave PWM control/current control system

Protec t i ve func t ions

Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal relay), servo motor overheat protection, encoder error protection, regeneration error protection, undervoltage/instantaneous power failure protection, overspeed protection, error excessive protection

St ruc ture Self-cooling, open (IP00) Forced cooling, open (IP00) Self-cooling, open (IP00) Ambient temperature

0 to 55(C (non-freezing), storage: -20 to 65(C (non-freezing)

Ambient hum id i ty

90%RH or less (non-condensing), storage: 90%RH or less (non-condensing)

Ambience Indoors (no direct sunlight), without corrosive gas, flammable gas, oil mist, dust and dirt Al t i tude 1000m or less above sea level

Envi ro nment

V ibra t ion 5.9m/s2 or less W eight ( k g ) 0.7 0.7 1.1 1.1 1.7 1.7 2.0 2.0 4.9 7.2 0.7 0.7 1.1

Note: 1. The rated output capacity and rated speed of a servo motor used with the servo amplifier assumes that the power supply voltage and frequency are as indicated. They cannot be guaranteed when a power supply voltage drop occurs.

2. The torque characteristic of the servo amplifier used with a servo motor assumes that the voltage is three-phase 200 to 230VAC or single-phase 230VAC.

1.4 Model Name

A special number is added to the model name of the servo amplifier. M R −J 2 S − A −P Y 0 9 1

Indicates that the servo amplifier software conforms to this specification.

PY091: 0.05kW to 3.5kW type S091: 5.0kW to 7.0kW type

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1.5 System Configuration

(1) When A/B/Z differential input I/F unit (MR-J2S-CLP01) is used The A/B/Z differential input I/F unit (MR-J2S-CLP01) converts external ABZ phase pulses into a position feedback signal that can be used for serial communication. Full closed control is enabled by connecting the output of the ABZ differential input I/F unit to the servo amplifier encoder connector. Note: When the MR-J2S-CLP01 is used, a linear scale without Z phase (rotary encoder) cannot be connected. Use a linear scale that has the Z phase.

•System configuration example 1 (when ABZ pulse train-specified linear scale is used)

Controller Servo amplifier

Position command control signal

CN1A

CN1B

CN2

CN2

CN1A,CN1B

Encoder signal Linear scale

A,B,Z phase output (ALM output)

Servo motor

ABZ differential input I/F unit

MR-CLP01 General-purpose pulse output linear scale

•System configuration example 2 (when ABZ phase pulse train-specified rotary encoder is used)


Position command control signal

CN1A

CN1B

CN2

CN2

CN1A,CN1B

Encoder signal Rotary encoder

A,B,Z phase output

ABZ differential input I/F unit

MR-CLP01

Servo motor

General-purpose pulse output encoder

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(2) When A/B/Z differential input I/F unit (MR-J2S-CLP01) is not used •System configuration example 3 (when serial communication-specified linear scale is used)


Position command control signal CN2

CN1A,CN1B

Encoder signal Linear scale

Serial communication signal cable

Servo motor

Serial I/F linear scale

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CHAPTER 2 LINEAR SCALES

2.1 Compatible Linear Scale List

Scale Type Maker Model Resolution Speed Communication

System

ABS type Mitutoyo AT343A

AT543A 0.05µm 2.0m/s 2 wire type

SL710 + PL101R + MJ830

0.2µm 6.4m/s

Sony Precision

SH13

+MJ830 0.005µm 1.4m/s

2 wire type

RGH26P 5.0µm 4.0m/s

RGH26Q 1.0µm 3.2m/s

Mitsubishi serial interface

compatibility INC type

Renishaw

RGH26R 0.5µm 1.6m/s

2 wire type

General-purpose pulse train output (MR-J2S-CLP01

used)

INC type Not specified Not

specified 2 wire type

Note: The linear scales of Heidenhain make cannot be used (including LC491M).

For the specifications and connection cable wiring examples of the linear scales, refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual.

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NF MC Power supply Three-phase 200VAC

CHAPTER 3 SIGNALS AND WIRING 3.1 Standard Connection Examples of Full Closed Control Servo Amplifier Control Signals (1) When MR-J2S-CLP01 is used

Command pulse Clear Ready In position Encoder Z-phase pulse (Differential line driver) Encoder A-phase pulse (Differential line driver) Encoder B-phase pulse (Differential line driver) Encoder Z-phase pulse (Open collector)

Emergency stop Servo-on Alarm reset Proportion control Torque limit Forward rotation stroke end Reverse rotation stroke end Trouble Zero speed Limiting torque Analog torque limit

Monitor output 1 Monitor output 2

CN1A COM 9 OPC 11 PP 3 PG 13 NP 2 NG 12 CR 8 SG 10 RD 19 INP 18 SG 20 LZ 5 LZR 15 LA 6 LAR 16 LB 7 LBR 17 LG 1 OP 14 P15R 4 SD Plate CN1B EMG 15 SON ５ RES 14 PC 8 TL 9 LSP 16 LSN 17 SG 10 SG 20 VDD 3 COM 13 ALM 18 ZSP 19 TLC 6 P15R 11 LG 1 TLA 12 SD Plate

RS-232C SD RD GND GND

RS-422 RDP RDN SDP SDN GND GND

CN3 2 RXD 12 TXD 1 LG 11 LG 9 SDP 19 SDN 5 RDP 15 RDN 1 LG 11 LG 10 TRE 4 MO1 3 LG 14 MO2 13 LG Plate SD

RA1

RA4

RA3

RA5

A

A

RA2

When connecting an external regenerative brake option, always disconnect the link across P-D.

L1 TE1 U L2 V L3 W PE L11 PE L21 C TE2 D P

U V SM W E

Do not connect when using an external power supply.

Connect in the case of the last axis.

RS-422 and RS-232C are exclusive functions.

CN2

Enco

der

CN2

CN1B

MR-J2S-CLP01

CN1A

ABZ phase output Alarm output

Standard encoder cable

MR-J2HBUS M Use 1M or less.

External encoder

5V input for external encoder

Servo amplifier Servo motor

*Option unit For the wiring method of the MR-J2S-CLP01 part, refer to the attached Installation

Set to CLOSE

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(2) When serial communication compatible linear scale is connected to closed end F/B

Refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual. (3) About CN2 wiring for closed end serial communication (when MR-J2CLCBL02M-P-H is used)

Refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual. Instructions

1. Connect the diode in the correct orientation. If it is connected oppositely, the servo amplifier will fail, the signals will not be output, and the protective circuits such as the emergency stop may be disabled.

CAUTION 2. Always install an external emergency stop switch.

3. When connecting a regenerative brake option, always disconnect the link across D-P. 4. CN1A, CN1B, CN2 and CN3 have the same shape. Incorrect connection of the connector can cause .

NOTICE a failure 5. The sum of the currents that will flow in the external relay should be within 80mA. If it will exceed

80mA, supply interface power from the outside.

6. When starting operation, always short the external emergency stop (EMG) and forward/reverse rotation stroke end signals (LSP, LSN). (Normally closed contacts)

7. The signals having the same name are connected inside the servo amplifier.

MEMO 8. The trouble signal (ALM) is on in a normal status without any alarm. When it turns off (when an alarm

occurs), stop the controller signal with a sequence program.

9. Connect the shield wire to the plate (ground plate) in the connector securely.

!

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3.2 Signal/Terminal Explanation (1) Main circuit terminal block, control circuit terminal block

Signal Name Abbreviation Terminal Block Function/Application

Main circuit power supply

L1, L2, L3 TE1 Main circuit power input terminals. MR-J2S- A : Connect three-phase 200 to 230VAC/50, 60Hz. MR-J2S- A1 : Connect single-phase 100 to 120VAC/50, 60Hz.

Servo motor output

U, V, W TE1 Servo motor power output terminals. Connect to the servo motor power supply terminals (U, V, W).

Control circuit power supply

L11, L21

TE2

Control circuit power input terminals. L11 should be in the same power supply phase with L1, and L21 with L2. MR-J2S- A : Connect to single-phase 200 to 230VAC/50, 60Hz. MR-J2S- A1 : Connect to single-phase 100 to 120VAC/50, 60Hz.

Regenerative brake option

P, C, D

TE2

Regenerative brake option connection terminals. Factory-wired across P-D. When using the regenerative brake option, always remove the wire across P-D and connect the regenerative brake option across P-C.

N Keep open. Protective

earth PE Chassis Ground terminal.

Connect to the earth terminal of the servo motor and the protective earth of the control box for grounding.

(2) CN1A

Signal Name Abbreviation Pin

Connector No.

Function/Application

Digital I/F

power supply input

COM

9

Input 24VDC for input interface. Digital interface driver power input terminal. COM is all connected internally. When using an external power supply, connect a power supply of 24VDC and 200mA or more.

Open collector power supply

input

OPC 11 When inputting a pulse train in the open collector system, supply 24VDC to this terminal.

Digital I/F common

SG 10,20 24V common for VDD/COM and isolated from LG.

15VDC power supply output

P15R 4 Outputs 15VDC. The permissible current is 30mA.

Control common

LG 1 15V, 5V common terminal.

PP 3 Forward rotation pulse

train PG 13

Forward rotation pulse train input terminals. Compatible with the open collector system and differential system. The direction of rotation can be specified using parameter No. 54 (OP9).

NP 2 Reverse rotation pulse

train NG 12

Reverse rotation pulse train input terminals. Compatible with the open collector system and differential system.

LA 6 Encoder A-phase pulse LAR 16

Encoder A-phase pulse output terminals. The pulses set in parameter No. 27 (ENR) in the output type selected in parameter No. 54 (OP9) are output in the differential line driver system.

LB 7 Encoder B-phase pulse LBR 17

Encoder B-phase pulse output terminals. The pulses set in parameter No. 27 (ENR) in the output type selected in parameter No. 54 (OP9) are output in the differential line driver system.

Encoder Z-phase pulse

OP

14

Encoder Z-phase pulse output terminals. Outputs the zero point signal of the encoder. When the zero point is output, OP-SG are connected. 1 pulse is output per servo motor revolution. By setting parameter No. 54 (OP9), the Z phase of the external encoder can be output.

Shield SD Plate Connect one end of the shield wire.

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(3) CN1B


Connector No.


I/F internal power supply

output

VDD 3 Digital interface driver power output terminal. Connect with COM when an external power supply is not used. 24VDC is output across VDD-SG. The permissible current is 80mA.

Digital I/F power supply

input

COM 13 Digital interface driver power input terminal. COM is all connected internally. When using an external power supply, connect a power supply of 24VDC and 200mA or more to this terminal.

15VDC power supply output

P15R 11 Outputs 15VDC. The permissible current is 30mA.

Digital I/F common

SG 10,20 24V common for VDD/COM and isolated from LG.

Control common

LG 1 15V, 5V common terminal.

Emergency stop

EMG 15 Emergency stop input terminal. Opening EMG-SG enters an emergency stop status. Short EMG-SG in the emergency stop status to leave the emergency stop status.

Analog torque limit

TLA 12 Analog torque command input terminal. Apply 0 to +10V across TLA-LG. Maximum torque is developed when 10V is applied.

(4) CN3


Connector No.


MO1 4 Monitor output MO2 14

Monitor output signal output terminals. The data set in parameter No. 17 (MOD) is output in analog form. The multiplying factor can be set in parameter No. 17 (MOD).

SDP 9 SDN 19 RDP 5

RS-422I/F

RDN 15

RS-422 communication terminals. The RS-422 function and RS-232C function are exclusive functions. Make selection using parameter No. 16 (BPS).

RS-422 termination

TRE 10 RS-422 I/F terminating resistor terminal. Connect with RDN in the case of the last axis.

TXD 2 RS-232C I/F RXD 12

RS-232C communication terminals.

Monitor common

LG 1,11 1,13

Control common for monitor.

Ground SD Plate Connect one end of the shield wire.

(5) Function device explanation (only differences between this specification and standard model) 1) Input device

Signal Name Abbreviation Function/Application Full closed selection FCS Full closed selection signal input device.

Shorting FCS-SG selects the full closed control. Opening them selects the semi closed control.

2) Output device

Signal Name Abbreviation Function/Application Full closed controlling FCC Full closed controlling output device.

When the servo amplifier is configured for position control under full closed control, FCC-SG are connected.

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CHAPTER 4 OPERATION AND FUNCTIONS

4.1 Startup

Refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual. Since the parameter number compatibility differs from that of the MR-J2S-B-PY096, read the parameter numbers as indicated below.

Table 4.1.1 Model-by-Model Parameter Compatibility List

Name and Function MR-J2S- A-PY091/-S091 MR-J2S- B-PY096/-S096 (Full Closed Control Compatible Instruction Manual)

Full closed selection Parameter No. 86 Parameter No. 62 Dual F/B filter Parameter No. 97 Parameter No. 67 Serial encoder cable selection Cannot be selected. (Note 1) Parameter No. 23 Full closed electronic gear numerator

Parameter No. 89 Parameter No. 65

Full closed electronic gear denominator

Parameter No. 90 Parameter No. 66

Full closed control error detection 1 Parameter No. 87 Parameter No. 63 Full closed control error detection 2 Parameter No. 88 Parameter No. 64

Note 1: Both the servo motor encoder and closed encoder are compatible with only the two wire type communication system.

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4.2 Home Position Return Operation (1) About controller setting Make setting in the controller after conversion into the motor end unit. The command unit issued from the controller depends on the resolution of the motor end. (2) Precautions for home position return

1) General precautions Home position returns are all performed according to the closed end data. It is irrelevant to the Z phase position of the motor end. In the case of the linear scale, the home position (reference mark) of the linear scale must exist in the home position return direction. The dog should be installed 1/2 or more revolutions of the semi-closed end motor before the reference mark.

Example of incremental linear scale Limit 1 Limit 2 Home position

return direction

Allowed range: A home positionreturn can be made when it isstarted from within this range.

Disallowed range: A home position return cannot be made if it is started from within this range.

To execute a home position return securely, make provisions, e.g. move the axis to Limit 1 by JOG operation.

Home position (reference mark) of linear scale

Dog

2) About Z-phase output of absolute linear scale ( Serial I/F (ABS)) When an absolute linear scale is used, the home position return position is as shown below.

Virtual Z phase is created per semi-closed end revolution. Home position of linear scale

Incompatible with the absolute position detection function. (The description applies to the case where the absolute linear scale is used in the INC system.)

3) About Z-phase output of incremental linear scale ( Serial I/F, general-purpose pulse output (INC))

When an incremental linear scale is used, the Z phase output from the servo amplifier is provided in the home position (reference mark) of the linear scale. Do not set more than one home position (reference mark). Z phase output cannot be executed when there is no home position (reference mark).

Precautions for the case when the axis passes through the home position (reference mark) Inherently, the signal ON region of the home position (reference mark) has some degree of width.

Home position signal

AAAA BBBB

B is recognized as ON position. A is recognized as

ON position. Since the signal ON position changes depending on the home position passing direction, always start a home position return in the same direction when it is desired to stop the axis in the same home position return completion position every time.

Z phase is output in the home position (reference mark) of the linear scale.

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4.3 Functions

For the functions that are not described below, refer to the MELSERVO-J2-Super Series Full Closed Control Compatible Instruction Manual. For parameter number compatibility, refer to the Table 4.1.1 Model-by-Model Parameter Compatibility List since the parameter number compatibility differs from that of the MR-J2S-B-PY096.

4.3.1 Test operation

Test operation can be performed using the Servo Configuration software, which runs on the personal computer, and the servo amplifier. Test operation can also be performed similarly using the amplifier front pushbuttons. The full closed control compatible amplifier cannot use motor-less operation.

Function Item Usability Remarks

JOG operation Usable Performed by the feedback of the motor encoder.

It is irrelevant to the full closed encoder. Positioning operation Usable

Program operation Usable

In a semi closed control/full closed control state, operation is performed in the control mode states as set in parameter No. 86, No. 97. When full closed function switching is valid (semi/full switching), semi closed control is always valid.

DO forced output Usable Same as the standard servo function.

Test operation

Motor-less operation Unusable Not supported.

4.3.2 Semi/full closed control switching operation

Using the external DI signal, semi closed or full closed control can be selected for operation. Using the parameter, pre-assign the full closed selection (FCS) function device to any DI signal. When the full closed selection signal is changed to on or off, the droop pulses are cleared unconditionally and closed loop control switching is executed. This switching must be executed during a servo motor stop. When switching is performed between semi closed and full closed, the machine position and current position do not match since the current position before switching and the current position after switching have a discontinuous position relationship. Note that this switching cannot be used for absolute positioning, etc.

Position command and servo motor speed

Full closed selection (FCS)

Full closed controlling (FCC)

Droop pulse clearing and closed loop switching processing are executed.

Within 15ms Within 15ms

(Semi closed control) (Full closed control) (Semi closed control)

(Application example) When only the fixed-pitch stock feed section is full-closed controlled as in a roll feeder.

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4.4 About the Servo Configuration Software 4.4.1 When current version of Servo Configuration software (MRZJW3-SETUP111E to -SETUP151E S/W: E1 version)

is used The following indicates how to check whether the full closed-related parameter settings are normal or not and whether the servo motor and full closed encoders operate normally or not. Select "MR-J2S-A" in the system setting of the Servo Configuration software. Opening the batch monitor screen displays the following screen.

3)

2) 4)

5)

6)

1)

7)

(1) Explanation of display items The following table indicates the display items that are related to the servo motor and full closed encoders. Symbol Name Explanation

1) Cumulative feedback pulse Feedback pulses from the servo motor encoder are counted and displayed. Click "Clear" to reset the value to 0.

2) Command pulse frequency Position command inputs from the command controller are counted and

displayed. Click "Clear" to reset the value to 0.

3) Within-one-revolution position The within-one-revolution position of the servo motor encoder is displayed. 4) ABS counter The multi-revolution counter of the servo motor encoder is displayed.

The value is incremented or decremented by 1 per servo motor revolution.

5) Cumulative feedback pulse( read as Cumulative feedback pulse 2)

Caution: The name does not match what is monitored.

Feedback pulses from the full closed encoder are counted and displayed. The value is displayed in the pulse unit of the closed encoder. Click "Clear" to reset the value to 0.

6)

Servo motor speed ( read as Within-full-one-revolution position)


The within-one-revolution position of the full closed encoder is displayed. In the case of an INC linear scale, the Z-phase counter is displayed. The value is counted up from 0 relative to the home position (reference mark). The value is displayed in the pulse unit of the closed encoder. In the case of an ABS linear scale, the virtual within-one-revolution position (equivalent to lower 17 bits of the conversion result of 32-bit absolute position data into the motor end unit, 0 to 131071) is displayed.

7)

Droop pulse( read as Full ABS counter)


The multi-revolution counter (number of revolutions from home position) of the full closed encoder is displayed. In the case of an ABS linear scale, the virtual multi-revolution counter (equivalent to lower 15 bits of the conversion result of 32-bit absolute position data into the motor end unit, 0 to 131071) is displayed. Since the absolute position function is invalid, this model has nothing to do with the absolute home position.

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4.4.2 When full closed compatible Servo Configuration software (MRZJW3-SETUP151E S/W: E2 version to be released)

is used Select "MR-J2S-A full closed" in the system setting of the Servo Configuration software.

(1) Batch monitor 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 4.4.1(1) for the explanation of what are displayed.

(2) Diagnosis - full closed diagnosis screen

The position-related monitor indications and parameters on the full closed function are all displayed on a single screen.

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[Explanation of display items and functions]

For the monitor display item, click "Start monitor" to read it continuously from the amplifier. Click "Stop monitor" to stop read. For the parameter item, click "Read parameter" to read it from the amplifier, and click "Write parameter" to write.

Name Explanation Cumulative command pulse

Commands from the host controller are counted and displayed. Click "Clear" to reset the value to 0.

Cumulative feedback pulse

Feedback pulses from the servo motor encoder are counted and displayed. Click "Clear" to reset the value to 0.

Droop pulse When the full closed function is "invalid", a deviation from the command that uses the servo motor encoder as F/B is displayed. When the full closed function is "valid" or "semi/full switching", a deviation from the command that uses the closed encoder as F/B is displayed.

Cumulative feedback pulse 2

Feedback pulses from the full closed encoder are counted and displayed. The value is displayed in the pulse unit of the closed encoder. Click "Clear" to reset the value to 0.

Encoder data The data of the closed end encoder are displayed. The displayed data change depending on the closed encoder type. ID: The ID number of the encoder is displayed. Data 1: In the case of the INC type, a counter starting at power-on is displayed.

In the case of the ABS type linear encoder, absolute position data is displayed. In the case of the ABS type rotary encoder, a multi-revolution counter is displayed.

Data 2: In the case of the INC type, the distance (number of pulses) from the reference mark (Z phase) is displayed. In the case of the ABS type linear encoder, 00000000 is displayed. In the case of the ABS type rotary encoder, a cycle counter is displayed.

Polarity A + or - sign is displayed according to the full closed encoder polarity specified in the full closed selection parameter. Note: Full closed encoder polarity

+ is displayed when the setting is "0: Address increasing direction for motor CCW". Full closed switching device

Displayed only when "semi/full switching" is selected for the full closed function. The switching device selection command state and the internal state during selection are displayed.

Parameter The parameter related to the full closed control is displayed. Its setting can be changed and the new value can be written to the servo amplifier. The related parameters are as follows. Electronic gear: Pr. 3, Pr. 4 Dual F/B filter: Pr. 97 FCM:Pr89 FCD:Pr90 Full closed selection: Pr. 86, 87, 88

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CHAPTER 5 PARAMETERS

5.1 Parameter List Class No. Abbreviation Name Initial Value Unit Customer Setting

0 STY Control mode, regenerative brake option selection

0000

1 OP1 Function selection 1 0002 2 ATU Auto tuning 0105 3 CMX Electronic gear numerator (Command pulse

multiplying factor numerator) 1

4 CDV Electronic gear denominator (Command pulse multiplying factor denominator)

1

5 INP In-position range 100 pulse 6 PG1 Position loop gain 1 35 rad/s 7 PST Position command acceleration/deceleration time

constant (Position smoothing) 3 ms

Internal speed command 1 100 r/min 8 SC1 Internal speed limit 1 100 r/min



11 STA Acceleration time constant 0 ms 12 STB Deceleration time constant 0 ms 13 STC S-pattern acceleration/deceleration time constant 0 ms 14 TQC Torque command time constant 0 ms 15 SNO Station number setting 0 Station 16 BPS Serial communication function selection, alarm

history clear 0000

17 MOD Analog monitor output 0100 18 DMD Status display selection 0000

Bas

ic p

aram

eter

s

19 BLK Parameter block 0000

BCN-B32110-011 -20-

Class No. Abbreviation Name Initial Value Unit Customer Setting

20 OP2 Function selection 2 0000 21 OP3 Function selection 3 (Command pulse selection) 0000 22 OP4 Function selection 4 0000 23 FFC Feed forward gain 0 % 24 ZSP Zero speed 50 r/min

Analog speed command maximum speed (Note 1)0 (r/min) 25 VCM Analog speed limit maximum speed (Note 1)0 (r/min)

26 TLC Analog torque command maximum output 100 % 27 ENR Encoder output pulses 1 28 TL1 Internal torque limit 1 100 %

Analog speed command offset (Note 2) mV 29 VCO Analog speed limit offset (Note 2) mV Analog torque command offset 0 mV 30 TLO Analog torque limit offset 0 mV

31 MO1 Analog monitor 1 offset 0 mV 32 MO2 Analog monitor 2 offset 0 mV 33 MBR Electromagnetic brake sequence output 100 ms 34 GD2 Ratio of load inertia moment to servo motor

inertia moment 70 0.1

times

Expa

nsio

n pa

ram

eter

s 1

35 PG2 Position loop gain 2 35 rad/s 36 VG1 Speed loop gain 1 177 rad/s 37 VG2 Speed loop gain 2 817 rad/s 38 VIC Speed integral compensation 48 ms 39 VDC Speed differential compensation 980 40 For manufacturer setting 0 41 DIA Input signal automatic ON selection 0000 42 DI1 Input signal selection 1 0003 43 DI2 Input signal selection 2 (CN1B-5) 0111 44 DI3 Input signal selection 3 (CN1B-14) 0222 45 DI4 Input signal selection 4 (CN1A-8) 0665 46 DI5 Input signal selection 5 (CN1B-7) 0770 47 DI6 Input signal selection 6 (CN1B-8) 0883 48 DI7 Input signal selection 7 (CN1B-9) 0994

49 DO1 Output signal selection 1 0000 Note 1. Servo motor rated speed at the setting of "0".

2. Changes depending on the servo amplifier.

BCN-B32110-011 -21-

Class NO. Abbreviation Name Initial Value Unit Customer Setting

50 For manufacturer setting 0000 51 OP6 Function selection 6 0000 52 For manufacturer setting 0000 53 OP8 Function selection 8 0000 54 OP9 Function selection 9 1000 55 OPA Function selection A 0000 56 SIC Serial communication time-out selection 0 s 57 For manufacturer setting 10 58 NH1 Machine resonance suppression filter 1 0000 59 NH2 Machine resonance suppression filter 2 0000 60 LPF Low-pass filter, adaptive vibration suppression control 0000 61 GD2B Ratio of load inertia moment to servo motor inertia moment 2 70 0.1 times 62 PG2B Position control gain 2 changing ratio 100 % 63 VG2B Speed control gain 2 changing ratio 100 % 64 VICB Speed integral compensation changing ratio 100 %

Expa

nsio

n pa

ram

eter

s 2

65 CDP Gain changing selection 0000 66 CDS Gain changing condition 10 (Note 3) 67 CDT Gain changing time constant 1 ms 68 For manufacturer setting 0 69 CMX2 Command pulse multiplying factor numerator 2 1 70 CMX3 Command pulse multiplying factor numerator 3 1 71 CMX4 Command pulse multiplying factor numerator 4 1

Internal speed command 4 72 SC4 Internal speed limit 4

200 r/min


300 r/min


500 r/min


800 r/min

76 TL2 Internal torque limit 2 100 % 77 100 78 10000 79 10 80 10 81 100 82 100 83 100 84 0 85

For manufacturer setting

0000 86 FCT Full closed selection 1300 87 BC1 Full closed control error detection 1 400 r/min 88 BC2 Full closed control error detection 2 1.0 0.1rev 89 FCM Full closed electronic gear numerator 1 90 FCD Full closed electronic gear denominator 1 91 DIO Input/output signal selection 1 0000 92 0000 93 0000 94 0000 95 0908 96

For manufacturer setting

0 97 DUF Dual F/B filter 10 rad/sec 98 0000

99 For manufacturer setting

0000 Note 3. Depends on the setting of parameter No. 65.

BCN-B32110-011 -22-

The following parameters are those added to or modified in the MR-J2S- A-S091. For the other parameters, refer to the MELSERVO-J2S-A Specifications and Installation Guide and Instruction Manual since they are the same as those of the standard model.

Note: After setting the values of the parameters marked , switch power off once. Switching power on again completes the setting.

Class No. Abbre viation

Name and Function Initial Value

Unit Setting Range

Basi

c par

amet

ers

0 STY Control mode, regenerative brake option selection Select the control mode and regenerative brake option.

0000 0000h ∼

0A00h

1 OP1 Function selection 1 Select the input signal filter and CN1B-19 pin function.

0002 0000h ∼

0013h

Input signal filter 0: None 1: 1.777msec 2: 3.555msec 3: 5.333msec

Regenerative brake option selection 0: Not used 8: MR-RB31 1: Spare (Do not set) 9: MR-RB51 2: MR-RB032 A: Spare (Do not set) 3: MR-RB12 4: MR-RB32 5: MR-RB30 6: MR-RB50 7: Spare (Do not set) Note: Select the regenerative brake option compatible with the amplifier. Incorrect setting will result in a parameter error.

Control mode selection 0: Position

CN1B-19 pin function selection 0: Zero speed detection signal 1: Electromagnetic brake interlock signal

BCN-B32110-011 -23-

Class No. Abbre

viation Name and Function Initial

Value Unit Setting

Range Ba

sic p

aram

eter

s 17 MOD Analog monitor output

Set the signals output to the analog monitor outputs.

0100 0000h ∼

4C4Ch

18 DMD Status display selection Select the status display shown at power-on.

0000 0000h ∼

001Fh


Power on-time servo amplifier status display selection 0: Cumulative feedback pulse 1: Motor speed 2: Droop pulse 3: Cumulative command pulse 4: Command pulse frequency 5: VC voltage (invalid) 6: TLA voltage 7: Regenerative load ratio 8: Effective load ratio 9: Peak load ratio A: Instantaneous torque B: Within one-revolution position low C: Within one-revolution position high D: ABS counter (invalid) E: Load inertia moment ratio F: Bus voltage

Servo amplifier display switching 0: Depending on the control mode

Control mode When automatic display is selected Position Cumulative feedback pulse

1: According to the setting of the first digit of this parameter

Analog monitor ch1 output selection The settings and their definitions are as in analog monitor ch2.

Analog monitor ch2 output selection 0: Motor speed (±8V/maximum speed) 1: Torque (±8V/maximum torque) 2: Motor speed (+8V/maximum speed) 3: Torque (+8V/maximum torque) 4: Current command (±8V/maximum current command) 5: Command pulse frequency (±10V/500kpps) 6: Droop pulses (±10V/128 pulses) 7: Droop pulses (±10V/2048 pulses) 8: Droop pulses (±10V/8192 pulses) 9: Droop pulses (±10V/32768 pulses) A: Droop pulses (±10V/131072 pulses) B: Bus voltage (+8V/400V) C: Motor end full closed end position difference

(±10V/131072 pulses) Droop pulses are in the pulse unit of the motor end. The difference between the position command and linear scale is output. By setting the droop pulse unit selection in parameter No. 49, droop pulses can be output in the full closed end pulse unit.

Multiplying factor of ch1 The set multiplying factor is the same as that of ch2.

Multiplying factor of ch2 0: 1 time 1: 1/2 times 2: 2 times 3: 4 times 4: 8 times

BCN-B32110-011 -24-

Class No. Abbre


Value Unit Setting

Range Ba

sic p

aram

eter

s 19 BLK Parameter block

Select the reference and write ranges of the parameters.

0000 0000h ∼

100Fh

Expa

nsio

n pa

ram

eter

s 1

27 ENR Encoder output pulses Set the encoder output provided by the servo amplifier in terms of the number of output pulses per revolution or a division ratio. (After multiplication by 4) Use parameter No. 54 (OP9) to select the number of output pulses per revolution or the division ratio. The maximum output frequency is 1.3Mpulse/sec. Use it within this range. Note: When the full closed function is made valid in parameter No. 86 (FCT) and the ABZ-phase pulse output of the full closed encoder is selected in parameter No. 54 (OP9), the number of pulses obtained by dividing the number of full closed encoder pulses by the value set as the encoder output pulses is output.

Pulses equivalent to full closed encoder resolutionOutput pulses =

Setting

For example, when the linear scale of 0.1µm resolution is used as the full closed encoder and the setting is 20, the number of output pulses for 10mm movement is as follows.

1 1∼ 65535


Setting Reference Parameter Range Write Parameter Range Other than following

Basic parameters (0 to 19) Basic parameters (0 to 19)

000A Parameter No. 19 only Parameter No. 19 only 000B Basic parameters (0 to 19)

Expansion parameters 1 (20 to 49) Basic parameters (0 to 19)

000C Basic parameters (0 to 19) Expansion parameters 1 (20 to 49)

Basic parameters (0 to 19) Expansion parameters 1 (20 to 49)

000E Basic parameters (0 to 19) Expansion parameters 1, 2 (20 to 84)

Basic parameters (0 to 19) Expansion parameters 1, 2 (20 to 84)

000F Basic parameters (0 to 19) Expansion parameters 1, 2, 3 (20 to 99)

Basic parameters (0 to 19) Expansion parameters 1, 2, 3 (20 to 99)

100B Basic parameters (0 to 19) Parameter No. 19 only 100C Basic parameters (0 to 19)

Expansion parameters 1 (20 to 49) Parameter No. 19 only

100E Basic parameters (0 to 19) Expansion parameters 1, 2 (20 to 84)

Parameter No. 19 only

100F Basic parameters (0 to 19) Expansion parameters 1, 2, 3 (20 to 99)

Parameter No. 19 only

Output pulses = 100000(Number of linear scale pulses for 10mm movement)

20 = 5000(pulse)

BCN-B32110-011 -25-

Class No. Abbre


Value Unit Setting

Range 43 DI2 Input signal selection 2 (CN1B-5)

Assign a function to the input signal of the CN1B-5 pin.

0111 0000h ∼

0FFFh

44 DI3 Input signal selection 3 (CN1B-14) Any input signal can be assigned to the CN1B-14 pin. The signals that can be assigned and the setting method are the same as those of Input signal selection 2 (parameter No. 43).

0222 0000h ∼

0FFFh

45 DI4 Input signal selection 4 (CN1A-8) Any input signal can be assigned to the CN1A-8 pin. The signals that can be assigned and the setting method are the same as those of Input signal selection 2 (parameter No. 43).

0665 0000h ∼

0FFFh


0770 0000h ∼

0FFFh


0883 0000h ∼

0FFFh

Expa

nsio

n pa

ram

eter

s 1


0994 0000h ∼

0FFFh


Select the input signal of the CN1B-5 pin.

The selectable functions are indicated in the following table. Setting Input Signal Function Setting Input Signal Function

0 No assigned function 8 1 Servo-on (SON) 9 2 Alarm reset (RES) A 3 Proportion control (PC) B Electronic gear selection 1 (CM1) 4 External torque limit (TL) C Electronic gear selection 2 (CM2) 5 Clear (CR) D Internal torque limit selection (TL1) 6 E Gain changing selection 7 F Full closed selection (FCS)


Select the input signal of the CN1A-8 pin.




BCN-B32110-011 -26-

Class No. Abbre


Value Unit Setting

Range Ex

pans

ion

para

met

ers 1

49 DO1 Output signal selection 1

Select the ones that will automatically turn on the function device signals.

0000 0000h ∼

1551h

Expa

nsio

n pa

ram

eter

s 2

54 OP9 Function selection 9 Select the command pulse rotation direction, encoder output pulse direction and encoder pulse output setting.

1000 0000h ∼

1111h


Droop pulse unit selection 0: Motor end pulse unit 1: Closed end pulse unit With this setting, the droop pulse unit of the Servo Configuration software batch monitor display, monitor graph data and analog monitor output can be selected. (Note: When the full closed function is invalid (including when the semi closed function is selected at the time of the switching valid setting), the motor end pulse unit is forcibly set.)

Alarm code output (CN1B-19, A-18, A-19) 0: Invalid 1: Valid

Command pulse rotation direction selection 0: CCW direction for forward rotation pulse 1: CW direction for forward rotation pulse

Pulse output setting 0: ABZ phase pulses of the full closed encoder are output. 1: ABZ phase pulses of the motor end encoder are output. (Note: When the full closed function is invalid (including when the semi closed function is selected at the time of the switching valid setting), the ABZ phase pulses of the motor end encoder are forcibly output.)

Encoder pulse output setting selection 0: Output pulse setting 1: Division ratio setting Note: When the full closed function is made valid in parameter No. 86 (FCT) and the ABZ-phase pulse output of the full closed encoder is selected in parameter No. 54 (OP9), the encoder pulse output setting is fixed to the division ratio setting independently of the setting.

Encoder pulse output direction selection 0: A phase leads by 90° when rotation is CCW 1: A phase leads by 90° when rotation is CW

Warning output selection Select the connector pin that will output a warning.

Setting Connector Pin 0 Not output 1 CN1A-19 2 CN1B-18 3 CN1A-18 4 CN1B-19 5 CN1B-6

BCN-B32110-011 -27-

Class No. Abbre


Value Unit Setting

Range 86 FCT Full closed selection

Select the full closed encoder rotation direction and full closed control error detection functions 1 2

1300 0000h ∼

1312h

87 BC1 Full closed control error detection 1 Set the speed difference error detection level of the full closed control error detection function 1.Whether this function is valid or invalid can be selected using parameter No. 86 (FCT).

400 r/min 1 to permissi

ble speed

88 BC2 Full closed control error detection 2 Set the position difference error detection level of the full closed control error detection function 2.Whether this function is valid or invalid can be selected using parameter No. 86 (FCT).

10 0.1rev 1∼ 2000

89 FCM Full closed electronic gear numerator Set the numerator of the electronic gear relative to the full closed encoder pulse.

1 1∼ 65535

Expa

nsio

n pa

ram

eter

s 3

90 FCD Full closed electronic gear denominator Set the denominator of the electronic gear relative to the full closed encoder pulse.

1 1∼ 65535


Full closed function 0: Invalid 1: Always valid 2: Switching valid (semi/full switching by DI)

Full closed encoder error (AL-2A) selection 0: Invalid (when ALM signal is not connected in MR-J2S-CLP01) 1: Valid

Full closed encoder polarity 0: Address increasing direction for motor CCW 1: Address increasing direction for motor CW

Full closed control error detection function Setting Control error detection function

0 Invalid 1 Full closed 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

BCN-B32110-011 -28-

Class No. Abbrevia

tion Name and Function Initial

Value Unit Setting

Range 91 DIO Input/output signal selection 1

Select the function of the I/O signal. Note: When alarm code output has been selected, the alarm code is output at alarm occurrence independently of this setting.

0000 0000h ∼

0051h

Expa

nsio

n pa

ram

eter

s 3

97 DUF Dual 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 position loop gain 2 in parameter No. 35 is the guideline of the upper setting limit.

10 rad/s 0∼ 1000


Full closed controlling output selection Select the output connector pin.

Setting Connector Pin 0 Not output 1 CN1A-19 2 Do not use. 3 CN1A-18 4 CN1B-19 5 CN1B-6

BCN-B32110-011 -29-

CHAPTER 6 DISPLAY (1) Display flowchart

Diagnosis display

MODE button

UP button

DOWN button

Alarm Basic parameters

Expansion parameters

Special parameters Status display

AL Current alarm A0 Last alarm A1 Second alarm in past A2 Third alarm in past A3 Fourth alarm in past A4 Fifth alarm in past A5 Sixth alarm in past E Parameter error No.

rd − oF Sequence External signal display do − on Output signal forced output TEST1 JOG operation TEST2 Positioning operation TEST3 Motor-less operation (Invalid) TEST4 Machine analyzer − A0 Software version L = 000 Software version H H1 0 Automatic VC offset H2 0 Motor series ID H3 0 Motor type ID H4 0 Encoder ID H5 0 Full-C encoder ID

C Cumulative feedback pulse [pulse] r Motor speed [r/min] E Droop pulse [pulse] P Cumulative command pulse [pulse] n Command pulse frequency [kpps] F Speed command voltage [V] U Torque limit voltage [V] L Regenerative load ratio [%] J Effective load ratio [%] b Peak load ratio [%] T Instantaneous torque [%] CY1 Within one-revolution position [pulse] CY2 Within one-revolution position [pulse] LS ABS counter [rev] dC Load inertia moment ratio [times] Pn Bus voltage [v]

P 60 Parameter No. 60 P 61 Parameter No. 61






Can be accessed by setting

000F in parameter No. 19.

FC Cumulative feedback pulse 2 [pulse]

FY1 Full-C within one-revolutio position [pulse]

FY2 Full-C within one-revolution position [pulse]

FLS Full-C ABS counter [rev]

BCN-B32110-011 -30-

(2) Status display

Name Symbol Display Range Unit Description Cumulative

feedback pulse

C −99999

∼ 99999

pulse Feedback pulses from the servo motor encoder are counted and displayed. When the value exceeds 99999, it starts with zero. Press the [set] button to start the value from zero.

Servo motor speed

r

−5400 ∼

5400

r/min The speed of the servo motor is displayed. The value rounded off is displayed in ×0.1r/min

Droop pulse E

−99999 ∼

99999

pulse The droop pulses of the deviation counter are displayed in motor end pulse unit. (Using Pr. 49, the unit can also be changed to the full closed end unit.) When the full closed function in parameter No. 86 is made valid, the deviation counter indicates the difference between the command and external encoder. When the value exceeds 99999, it starts with 0.

Cumulative command

pulse

P

−99999 ∼

99999

pulse Position command input pulses are counted and displayed as the value before use of the electronic gear.When the value exceeds 99999, it starts with 0. Press the [set] button to start the value from zero.

Command pulse

frequency

n

−800 ∼

800

kpps Position command input pulses are displayed in terms of frequency as the value before use of the electronic gear. The value before multiplication of the electronic gear is displayed.

Speed command

voltage

F −10.00 ∼

10.00

V The analog speed command voltage is displayed. The value rounded off to two decimal places is displayed. This is not used in this model.

Torque limit voltage

U −10.00 ∼

10.00

V The forward rotation torque limit voltage is displayed. The value rounded off is displayed in ×0.1r/min.

Regenerative load ratio

L

0 ∼

100

% The ratio of regenerative power to permissible regenerative power is displayed in %.

Effective load ratio

J

0 ∼

300

% The continuous effective load torque is displayed. The value is 100% when the rated torque is developed. The maximum value for the past 15 sec is displayed.

Peak load ratio b

0 ∼

400

% The maximum generated torque is displayed. The value is 100% when the rated torque is developed. The maximum value for the past 15 sec is displayed.

Instantaneous torque

T

0 ∼

400

% The instantaneously generated torque is displayed. The value is 100% when the rated torque is developed.

Within one-revolution

position low

CY1

0 ∼

99999

pulse The position within one revolution is displayed in the pulse unit of the encoder. When the value exceeds 99999, it starts with 0.

Within one-revolution position high

CY2

0 ∼

99999

100 pulse

The position within one revolution is displayed in the 100 pulse unit of the encoder. When the value exceeds 9999, it starts with 0.

ABS counter

LS −32768 ∼

32767

rev The value is displayed according to the increase/decrease of the multi-revolution counter at the servo motor end. Since the absolute position function is invalid for this model, it has nothing to do with the absolute position home position.

Load inertia moment ratio

dC

0.0 ∼

300.0

times The estimated ratio of the load inertia moment to the servo motor inertia moment is displayed.

Bus voltage Pn 0 ∼

450

V The bus voltage is displayed. The value rounded off is displayed in ×0.1r/min.

(Continued to the next page) After any of the status displays is selected, the symbol is displayed. The data of the status display is shown when set is pressed. Only at power-on, however, the data is shown after the symbol of the display selected in the parameter has been shown for 2 sec. When the negative value of the cumulative feedback pulse, droop pulse or cumulative command pulse is displayed, the decimal points in the second, third, fourth and fifth digits turn on.

BCN-B32110-011 -31-

(From the previous page)

Name Symbol Display Range Unit Description Cumulative

feedback pulse 2

FC −99999 ∼

99999

pulse Feedback pulses from the full closed end encoder are counted and displayed. When the value exceeds 99999, it starts with zero. Press the set button to start the value from zero.

Full-C within one-revolution

position low

FY １ 0 ∼

99999

pulse The position within one revolution of the full closed end encoder is displayed in the pulse unit of the encoder. When the value exceeds 99999, it starts with 0.

Full-C within one-revolution position high

FY2 0 ∼

99999

pulse The position within one revolution of the full closed end encoder is displayed in the 100 pulse unit of the encoder. When the value exceeds 9999, it starts with 0.

Full-C ABS counter

FLS −32768 ∼

32767

rev The value is displayed according to the increase/decrease of the multi-revolution counter of the full closed end encoder. Since the absolute position function is invalid for this model, it has nothing to do with the absolute position home position.

After any of the status displays is selected, the symbol is displayed. The data of the status display is shown when set is pressed. Only at power-on, however, the data is shown after the symbol of the display selected in the parameter has been shown for 2 [sec]. When the negative value of the cumulative feedback pulse, droop pulse or cumulative command pulse is displayed, the decimal points in the second, third, fourth and fifth digits turn on.

BCN-B32110-011 -32-

7 TROUBLESHOOTING 7.1 Alarm List The following protective functions are the alarms that differ from those of the standard model. For the other alarms, refer to the MELSERVO-J2S-A Specifications and Installation Guide and Instruction Manual since they are the same as those of the standard model.

Indication Name Definition Occurrence Factor Corrective Action The linear scale temperature is high. (Mitutoyo make linear scale)

Check the linear scale temperature and contact the scale maker.

AL28 Full closed encoder error 2

Linear scale operating environment was abnormal.

Reduction of linear scale signal level

Check the mounting state of the linear scale.

Full closed encoder fault Change the full closed encoder. Linear scale alarm Confirm the detailed information

given in Section 13 (3)and contact the scale maker.

The linear scale speed exceeded the specification range.

Use the linear scale at the speed within the specification range.

Linear scale and detection head mounting position error

Adjust the linear scale and detection head mounting positions.

Noise entry Take noise reduction measures. The MR-J2S-CLP01 connector CN1A is disconnected.

Connect it correctly.

AL2A Full closed encoder error 1

Full closed encoder (linear scale) is faulty.

ALM output of the full closed encoder (when ALM output detection is valid in parameter No. 86)

Change the full closed encoder.

Full closed encoder failure Change the full closed encoder. The polarity of the full closed encoder is set oppositely.

Check the mounting orientation of the full closed encoder. Reexamine the setting of parameter No. 86.

AL42 Full closed control error detection

Full closed control error detection function was activated.

(The difference between the F/B speed of the full closed encoder and the F/B speed of the motor end encoder reached or exceeded the setting of Pr. 87. The motor shaft-equivalent difference between the F/B position of the full closed encoder and the F/B position of the motor end encoder reached or exceeded the setting of Pr. 88.)

The setting of the full closed encoder electronic gear is wrong.

Reexamine the settings of parameter No. 89, 90. Check the mounting state of the full closed encoder.

The connector CN2 is disconnected. Connect it correctly. MR-J2S-CLP01 unit failure Change the unit.

AL70 Full closed encoder communication error 1

Error occurred in communication between the full closed encoder and servo amplifier. Full closed encoder cable failure Correct or change the cable.

MR-J2S-CLP01 unit failure Change the unit. Full closed encoder cable failure Correct or change the cable.

AL71 Full closed encoder communication error 2

Error occurred in communication between the full closed encoder and servo amplifier. Full closed encoder cable wiring

mistake (All of the A-, B- and Z-phase signal and power supply wires are not yet connected. Especially note that the wiring of the MR-J2S-CLP01 unit Z-phase cannot be omitted.)

Reexamine the wiring.

Note: The above alarms are cleared by powering off the servo amplifier. They are not cleared by performing an alarm reset.

BCN-B32110-011 -33-

7.2 Alarm Code Outputting and Resetting Methods The alarm code outputting and resetting methods are as follows. Alarm Code Alarm Deactivation Alarm number CN1B

19 CN1A 18

CN1A 19

Power OFF →ON

Press "SET" on current alarm screen.

Alarm reset (RES) signal

AL-28. 2A. 42. 70. 71 1 1 0

7.3 Scale Error (AL. 2A) Details Classified by Linear Scale Makers

When the occurrence cause of alarm 2A is unknown, contact the linear scale maker after confirming the scale error details in the following table on the basis of the alarm detail information of the alarm history display on the Servo Configuration software.

Scale Error (Alarm 2A) Details Detail Information Bit Mitutoyo Sony Precision Technology Renishaw

Bit7 Optical overspeed

Bit6 ROM RAM error/communication error Overspeed

Bit5 EEPROM error Encoder alarm Bit4 CPU error/ROM RAM error Bit3 Capacitive error Bit2 Photoelectric error

Bit1 Photoelectric capacitive data mismatch Encoder warning Level error

Bit0 Initialization error

Example in which alarm 2A occurred on Mitutoyo make linear scale AT343A

Alarm details : 44h When the alarm detail information of alarm 2A is 44h, bit 6 and bit 2 are on as indicated below, indicating that the ROM RAM error and photoelectric error occurred. Use this information when contacting the scale maker.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 44h = 0 1 0 0 0 1 0 0

4 4

Documents

General Purpose AC Servo MELSERVO-J2S · PDF fileBCN-B32110-011* MITSUBISHI General Purpose AC Servo MELSERVO-J2S Full Closed Control Compatible MR-J2S- A -PY091 (3.5kW or less) MR-J2S-