Mitsubishi Electric MELSERVO MR-J5 A Series Manuals

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Mitsubishi Electric MELSERVO MR-J5 A Series User Manual (624 pages)

AC Servo System

Brand: Mitsubishi Electric | Category: Controller | Size: 16.22 MB

Safety Instructions
3
About the Manual
5
Cables Used for Wiring
6
Customary Units
6
Table of Contents
7
Chapter 1 Introduction

15
Wiring Procedure

15
Servo Amplifier/Motor Combinations

16
- Rotary Servo Motor
  16
- Geared Servo Motor
  21
- Linear Servo Motor
  23
- Direct Drive Motor
  28
Wiring Check

30
- Power Supply System Wiring
  30
- I/O Signal Wiring
  32
Surrounding Environment

33
Chapter 2 Installation

34
Mounting Direction and Clearances

35
Keeping out Foreign Materials

38
Cable Stress

38
SSCNET III Cable Laying [B]

39
Fan Unit Replacement Procedure

41
Restrictions When Using this Product at an Altitude Exceeding 1000 M and up to 2000 M

44
Chapter 3 Signals and Wiring

45
Example Power Circuit Connections

46
- 200 V Class
  46
- 400 V Class
  50
- Using Servo Amplifier with DC Power Supply Input
  53
Example I/O Signal Connections

55
- MR-J5-_G_ (Excluding MR-J5-_G_-HS_)
  55
- Mr-J5-_G_-Hs
  58
- Mr-J5W_-_G
  61
- Mr-J5-_B
  64
- Mr-J5W_-_B
  67
- Mr-J5-_A
  70
Explanation of Power Supply System

78
- Explanation of Signals
  78
- Power-On Procedure [G] [B]
  80
- Power-On Procedure [A]
  81
- Wiring CNP1, CNP2, and CNP3
  82
Connectors and Pin Assignments

89
Signal (Device) Explanation

100
- Input Device
  100
- Output Device
  110
- Input Signal
  117
- Output Signal
  119
- Power Supply
  121
Interface

122
- Internal Connection Diagram [G]
  122
- Internal Connection Diagram [B]
  128
- Internal Connection Diagram [A]
  132
- Detailed Explanation of Interfaces
  135
- Source I/O Interface
  139
Servo Motor with an Electromagnetic Brake

141
- Connection Diagram
  141
SSCNET III Cable Connection [B]

143
Grounding

145
Chapter 4 Dimensions

146
Mr-J5-_G

146
- 200 V Class
  146
- 400 V Class
  149
Mr-J5W_-_G

152
Mr-J5-_B

154
- 200 V Class
  154
- 400 V Class
  157
Mr-J5W_-_B

159
Mr-J5-_A

161
- 200 V Class
  161
- 400 V Class
  164
Connector

166
- Mr-J5_-_G
  166
- Mr-J5_-_B
  170
- Mr-J5-_A
  171
Chapter 5 Characteristics

172
Overload Protection Characteristics

172
Power Supply Capacity and Generated Loss

175
- Power Supply Capacity
  175
- Generated Loss
  186
- Using Servo Amplifier with DC Power Supply Input
  188
Dynamic Brake Characteristics

189
- Dynamic Brake Operation
  190
Cable Flex Life

253
Inrush Currents at Power-On of Main Circuit and Control Circuit

254
Chapter 6 Options and Peripheral Equipment

255
Cables/Connector Sets

255
Regenerative Option

271
MR-CM Simple Converter

287
- Combination of Simple Converter and Servo Amplifier
  287
- Servo Amplifier Setting When Using a Simple Converter
  287
- Simple Converter Standard Specifications
  287
- External Interface
  289
- Signals and Wiring
  292
- Dimensions
  294
- Peripheral Equipment
  295
- Mounting Direction and Clearances
  296
Multifunction Regeneration Converter (FR-XC-(H))

297
- Precautions
  297
- Servo Amplifier Settings
  297
- Capacity Selection
  297
- Connection Diagram
  300
- Wiring and Peripheral Options
  302
PS7DW-20V14B-F Junction Terminal Block (Recommended) (1-Axis Servo Amplifier) [G] [B]

306
MR-TB26A Junction Terminal Block (Multi-Axis Servo Amplifier) [G] [B]

308
MR-TB50 Junction Terminal Block [A]

310
MR Configurator2

312
- Engineering Tool
  312
- Precautions for Using USB Communication Function and Ethernet Communication Function
  312
Battery

313
- Selection of Battery
  313
- MR-BAT6V1SET Battery
  314
- MR-BAT6V1SET-A Battery
  317
- MR-BT6VCASE Battery Case
  320
- MR-BAT6V1 Battery
  326
- Battery Cable and Junction Battery Cable
  327
Selection Example of Wires

328
Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

331
Power Factor Improving DC Reactor

343
Power Factor Improving AC Reactor

350
Relay (Recommended)

355
Noise Reduction Techniques

356
- Noise Reduction Products
  360
Earth-Leakage Current Breaker

364
- Selection Method
  364
- Selection Example
  367
EMC Filter (Recommended)

369
MR-J3-D05 Safety Logic Unit

375
- Contents of the Package
  375
- Terms Related to Safety
  375
- Precautions
  376
- Residual Risks
  376
- Block Diagram and Timing Chart
  377
- Maintenance and Disposal
  377
- Functions and Configuration
  378
- Signal
  381
- LED Display
  388
- Rotary Switch Settings
  389
- Troubleshooting
  389
- Dimensions
  390
- Installation
  391
- Combinations of Cables and Connectors
  392
J5-CHP07-10P Cabinet-Mounting Attachment

393
- Compatible Models
  393
- Dimensions
  393
- View When Installed
  393
- Fitting Method
  394
- Components
  395
- Installation Dimensions
  395
J5-CHP08 Grounding Terminal Attachment

400
- Compatible Models
  400
- Restrictions
  400
- Appearance and Dimensions
  400
- View When Installed
  401
- Components
  402
- Installation Dimensions
  402
MR-ASCHP06 Shield Clamp Attachment

407
- Compatible Models
  407
- Appearance and Dimensions
  407
- Cable Connection Method
  408
- View When Installed
  409
- Components
  410
- Installation Dimensions
  410
Cables Manufactured by Mitsubishi Electric System & Service Co., Ltd

411
- SSCNET III Cable [B]
  411
SCC 15-F Shield Connection Clamp

412
- Compatible Models
  412
- Applicable Wire Diameter
  412
- Cable Connection Method
  412
- View When Installed
  413
Chapter 7 Absolute Position Detection System

414
Outline

414
- Characteristics
  414
- Restrictions [G]
  414
- Restrictions [B]
  414
- Restrictions [A]
  414
- Precautions [G] [A]
  415
- Precautions [B]
  415
- Configuration
  416
- Servo Parameter Setting [G]
  416
- Servo Parameter Setting [B]
  416
- Servo Parameter Setting [A]
  416
- Homing [G] [A]
  417
- Homing [B]
  417
- Checking the Detected Absolute Position Data
  417
- Procedure of Replacing a Servo Motor with Battery-Less Absolute Position Encoder
  419
- Procedure of Replacing a Servo Amplifier Without Losing the Absolute Position Data [B]
  420
Configuration and Specifications

421
- Connecting the Battery-Less Encoder
  421
- Connecting the Battery Backup Type Absolute Position Encoder
  423
Absolute Position Detection System by DIO [A]

427
- Standard Connection Example
  427
- Signal Explanation
  428
- Startup Procedure
  429
- Absolute Position Data Transfer Protocol
  430
- Absolute Position Data Transfer Errors
  443
Absolute Position Detection System Via Communication [A]

445
- Serial Communication Command
  445
- Absolute Position Data Transfer Protocol
  446
Chapter 8 Using Sto Function

449
Introduction

449
- Outline
  449
- Terms Related to Safety
  449
- Precautions
  449
- Residual Risks of the STO Function
  450
- Specifications
  450
- Maintenance
  451
Functional Safety I/O Signal Connector (CN8) and Pin Assignments

452
- Pin Assignment
  452
- Signal (Device) Explanation
  452
- How to Pull out the STO Cable
  453
Connection Example

454
Detailed Explanation of Interfaces

460
- Sink I/O Interface
  460
- Source I/O Interface
  462
Chapter 9 Using Functional Safety [G] (Exculuding Mr-J5-_G_-Hs_)

463
Introduction

463
Function Block Diagram

464
- Safety Sub-Function Control by Input Device
  464
- Safety Sub-Function Control by Network
  465
System Configuration

466
- Safety Sub-Function Control by Input Device
  466
- Safety Sub-Function Control by Network
  467
Specifications

468
Connectors and Pin Assignments

468
Example I/O Signal Connections

469
- Input Signal
  469
- Output Signal
  470
Connecting I/O Interfaces

471
- Source Input
  471
- Sink Input
  471
Wiring the SBC Output

472
Noise Reduction Techniques

473
Example of Connection with Other Devices

474
- Safety Sub-Function Control by Input Device
  474
- Safety Sub-Function Control by Network
  475
Chapter 10 Using Functional Safety [G] (Mr-J5-_G_-Hs_)

476
Introduction

476
Function Block Diagram

477
- Safety Sub-Function Control by Input Device
  477
- Safety Sub-Function Control by Network
  478
System Configuration

479
- Safety Sub-Function Control by Input Device
  479
- Safety Sub-Function Control by Network
  479
Specifications

480
Connectors and Pin Assignments

480
Example I/O Signal Connections

481
- Input Signal
  481
- Output Signal
  483
Connecting Safety I/O Interfaces

485
- Source Input
  485
- Sink Input
  487
- Source Output
  489
- Source/Sink Output
  490
Wiring the SBC Output

491
- Using SDO1_ and SDO2_ for SBCS
  491
- Using SDO3_ for SBCS
  491
Noise Reduction Techniques

492
Example of Connection with Other Devices

493
- Safety Sub-Function Control by Input Device
  493
- Safety Sub-Function Control by Network
  494
Chapter 11 Using a Linear Servo Motor

495
Functions and Configuration

495

Mitsubishi Electric MELSERVO MR-J5 A Series User Manual (442 pages)

AC Servo System

Brand: Mitsubishi Electric | Category: Controller | Size: 43.32 MB

Safety Instructions
3
About the Manual
5
Object Units
6
U.s. Customary Units
6
Table of Contents
7
Chapter 1 Function

13
- Function Explanation
  13
Chapter 2 Control Mode

21
Chapter 3 Basic Function

85
- Outline of Servo Parameter and Object Dictionary
  85
- Servo Parameter
  85
- Object Dictionary [G] [WG]
  87
- Rotation/Travel Direction Selection [G] [WG]
  88
- Setting Methods of Functions
  89
- Rotation/Travel Direction Selection [A]
  92
- Setting Methods of Functions
  93
- Stroke Limit Function [G] [WG]
  94
- Explanation of the Stroke Limit Signal Names
  94
- Setting Methods of Functions
  95
- Stop Method at Stroke Limit Detection
  98
- Servo Parameter List
  99
- Stroke Limit Function [A]
  100
- Setting Methods of Functions
  100
- Stop Method at Stroke Limit Detection
  101
- Servo Parameter List
  101
- Limit Switch Release Position Assessment Function [G] [WG]
  102
- Outline
  102
- Precautions
  102
- Setting Methods of Functions
  102
- Command Unit Select Function [G] [WG]
  103
- Position Command Unit Selection Function
  103
- Speed Command Unit Selection Function
  105
- Command Unit Select Function [A]
  106
- Torque Command Unit Selection Function
  106
- Electronic Gear Function [G] [WG]
  107
- Setting Method
  107
- Setting Example
  108
- Electronic Gear Function [A]
  113
- Setting Method
  113
- Setting Example
  114
- Electronic Gear Selection Function
  116
- In-Position Range Setting
  117
- Setting Method [G] [WG]
  118
- Setting Method [A]
  118
- Assigning I/O Devices
  119
- Setting Method [G] [WG]
  120
- Setting Method [A]
  121
- Regenerative Option Selection
  122
- Regenerative Option
  122
- Alarm Function
  123
- Operation Status at Alarm Occurrence [G] [WG]
  123
- Operation Status at Alarm Occurrence [A]
  123
- Operation Status at Warning Occurrence [G] [WG]
  124
- Operation Status at Warning Occurrence [A]
  124
- Returning from an Alarm [G] [WG]
  125
- Returning from an Alarm [A]
  125
- Returning from a Warning
  125
- Alarm History [G] [WG]
  125
- Alarm History [A]
  127
- Stop Method at Occurrence of Alarms/Warnings
  127
- Timing Chart at Alarm Occurrence
  128
- Forced Stop Deceleration Function
  130
- Setting Method [G] [WG]
  130
- Setting Method [A]
  131
- Timing Chart [G] [WG]
  131
- Timing Chart [A]
  132
- Electromagnetic Brake Interlock Function
  133
- Base Circuit Shut-Off Delay Time Function
  133
- Setting Method [G] [WG]
  133
- Setting Method [A]
  134
- Timing Chart
  135
- Vertical Axis Freefall Prevention Function
  143
- Setting Method [G] [WG]
  143
- Setting Method [A]
  143
- Timing Chart [G] [WG]
  144
- Timing Chart [A]
  144
- Acceleration/Deceleration Function
  145
- Acceleration/Deceleration Time Constant
  145
- S-Pattern Acceleration/Deceleration Time Constant [G] [WG]
  147
- S-Pattern Acceleration/Deceleration Time Constant [A]
  148
- Acceleration/Deceleration [G] [WG]
  149
- Quick Stop [G] [WG]
  151
- Objects for Setting
  151
- Timing Chart
  152
- Halt [G] [WG]
  153
- Objects for Setting
  153
- Timing Chart
  153
- Command Pulse Train Monitoring Function [A]
  154
- Setting a Command Frequency Error Threshold
  154
- Setting PEN (Command Input Permission Signal)
  154
Chapter 4 Applicable Functions

155
- Tough Drive Function
  157
- Vibration Tough Drive
  157
- Instantaneous Power Failure Tough Drive
  157
- Compliance with SEMI-F47 Standard
  161
- Setting Method
  161
- Behavior
  161
- Requirements of the SEMI-F47 Standard
  162
- Calculation Method of Tolerance against Instantaneous Power Failure
  162
- Scale Measurement Function [G] [WG]
  163
- Outline
  163
- Function Block Diagram
  164
- System Configuration
  165
- Scale Measurement Encoders
  167
- Setting Method
  170
- Related Objects
  173
- Touch Probe [G] [WG]
  174
- Outline
  174
- Setting Method
  175
- Machine Diagnosis
  186
- Friction Vibration Estimation Function
  187
- Friction Failure Prediction Function
  193
- Vibration Failure Prediction Function
  202
- Total Travel Distance Failure Prediction Function
  208
- Gear Failure Diagnosis Function
  215
- Belt Diagnosis Function
  222
- Drive Recorder
  241
- Specification Outline
  243
- How to Use the Function [G] [WG]
  243
- How to Use the Function [A]
  246
- Servo Parameter/Object Dictionary
  248
- Standard Acquisition Waveform List [G] [WG]
  261
- Standard Acquisition Waveform List [A]
  263
- Waveform Recording Inapplicable Alarm List
  265
- List of Auxiliary Recording Data
  266
- Software Reset
  267
- Software Reset in MR Configurator2
  267
- Software Reset Via Network Communication [G] [WG]
  267
- Software Position Limit [G] [WG]
  268
- Setting Method
  268
- Torque Limit [G] [WG]
  271
- Setting Method
  271
- Checking "Limiting Torque" Status
  273
- Torque Limit [A]
  274
- Setting Method
  275
- Checking "Limiting Torque" Status
  276
- Speed Limit [G] [WG]
  277
- Setting Method
  277
- Checking "Limiting Speed" Status
  277
- Speed Limit [A]
  278
- Setting Method
  278
- Checking "Limiting Speed" Status
  280
- A/B/Z-Phase Pulse Output Function
  281
- Setting Method [G] [WG]
  282
- Setting Method [A]
  285
- Z-Phase Pulse Output
  288
- Degree Unit [G] [WG]
  289
- Summary
  289
- Position-Related Data When the Unit Is Set to "Degree
  290
- Setting Method
  291
- Sequence
  292
- Infinite Feed Function [G] [WG]
  293
- Outline
  293
- Setting Method
  293
- When the Servo Motor Rotates 32768 Rev or more
  293
- When Using the Infinite Feed Function with a Controller
  293
- Servo Amplifier Life Diagnosis Function
  294
- Cumulative Energization Time Function
  294
- Relay Usage Count Display Function
  295
- Encoder Communication Diagnosis Function
  296
- Usage [G] [WG]
  296
- Usage [A]
  297
- Diagnostic Procedure
  297
- Disconnection/Incorrect Wiring Detection Function
  298
- Input Open-Phase Detection Function
  298
- Output Open Phase Detection Function
  301
- Servo Motor Incorrect Wiring Detection Function [WG]
  303
- Overload Protection (Electronic Thermal) Function
  305
- Command Offset [G] [WG]
  306
Chapter 5 Monitoring

308
- Explanation of Monitor Signals
  308
- Name and Description of the Monitor Signals
  308
- Signal Block Diagram
  320
- Checking with MR Configurator2
  323
- Display All" Function
  323
- Graph Function
  323
- I/O Monitor Display
  324
- System Configuration Display
  325
- Analog Monitor [G] [WG]
  326
- Setting Method
  326
- Setting Details
  327
- Analog Monitor [A]
  331
- Setting Method
  331
- Setting Details
  332
Chapter 6 Functional Safety

336
- Functions and Configuration
  336
- Outline
  336
- Outline of Safety Sub-Functions
  336
- Risk Assessments
  337
- Signal
  338
- Explanation of Signals
  338
- Power-On Sequence
  340
- Setting Method
  341
- Setting Functional Safety Parameters
  341
- Functional Safety Parameters that Must be Set
  342
- Test Operation
  343
- Safety Sub-Function
  344
- Achievable Safety Level
  344
- I/O Function
  346
- STO Function
  356
- SS1 Function
  359
- SS2/SOS Function
  366
- SLS Function
  372
- SSM Function
  376
- SBC Function
  377
- SDI Function
  378
- SLI Function
  381
- SLT Function
  383
- Status Monitor (SM) Function
  387
- Multiple Operation Commands for Safety Sub-Functions
  387
- Simultaneous Operation of STO and SS1 Functions
  388
- At Alarm Occurrence
  389
- Troubleshooting
  391
- Parameter Combinations that Trigger [AL. 537.2 Parameter Combination Error a (Safety Sub-Function)]
  391
Chapter 7 Network Function

393
- IP Address Setting
  393
- Setting an IP Address [G] [WG]
  393
- Setting an IP Address [A]
  393
- Managing Accounts
  393
- Setting an Account
  394
- Precautions
  394
- FTP Server Function
  395
- Restrictions
  395
- Precautions
  395
- Directory Structure
  396
- Steps of Accessing the FTP Server
  396
- Firmware Update
  397
Chapter 8 Communication Function (Mitsubishi Electric Ac Servo Pro- Tocol) [A]

398
- Structure
  398
- System Architecture
  398
- Precautions for Using the RS-422/USB Communication Function
  400
- Communication Specifications
  401
- Outline of Communication Specifications
  401
- Setting Servo Parameters
  401
- Protocol
  402
- Transmission Data Configuration
  402
- Character Codes
  404
- Error Codes
  405
- Checksum
  405
- Time-Out Processing
  406
- Retry Processing
  406
- Initialization
  406
- Communication Procedure Example
  407
- Command and Data No. List
  408
- Reading Command
  408
- Writing Commands
  415
- Detailed Explanations of Commands
  417
- Data Processing
  417
- Status Display
  419
- Servo Parameter
  420
- External I/O Signal Status (DIO Diagnosis)
  423
- Input Device On/Off
  425
- Disabling/Enabling I/O Devices (DIO)
  426
- Input Device On/Off (Test Operation)
  426
- Test Operation Mode
  427
- Output Signal Pin On/Off (Output Signal (DO) Forced Output)
  431
- Alarm History
  432
- Current Alarm
  434
- Version
  435
- Absolute Position Monitoring
  436
- Revisions
  438
- Warranty
  439
- Trademarks
  440

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Mitsubishi Electric MELSERVO MR-J5 A Series Manuals

Mitsubishi Electric MELSERVO MR-J5 A Series User Manual (624 pages)

Table of Contents

Chapter 1 Introduction

Wiring Procedure

Servo Amplifier/Motor Combinations

Wiring Check

Surrounding Environment

Chapter 2 Installation

Mounting Direction and Clearances

Keeping out Foreign Materials

Cable Stress

SSCNET III Cable Laying [B]

Fan Unit Replacement Procedure

Restrictions When Using this Product at an Altitude Exceeding 1000 M and up to 2000 M

Chapter 3 Signals and Wiring

Example Power Circuit Connections

Example I/O Signal Connections

Explanation of Power Supply System

Connectors and Pin Assignments

Signal (Device) Explanation

Interface

Servo Motor with an Electromagnetic Brake

SSCNET III Cable Connection [B]

Grounding

Chapter 4 Dimensions

Mr-J5-_G

Mr-J5W_-_G

Mr-J5-_B

Mr-J5W_-_B

Mr-J5-_A

Connector

Chapter 5 Characteristics

Overload Protection Characteristics

Power Supply Capacity and Generated Loss

Dynamic Brake Characteristics

Cable Flex Life

Inrush Currents at Power-On of Main Circuit and Control Circuit

Chapter 6 Options and Peripheral Equipment

Cables/Connector Sets

Regenerative Option

MR-CM Simple Converter

Multifunction Regeneration Converter (FR-XC-(H))

PS7DW-20V14B-F Junction Terminal Block (Recommended) (1-Axis Servo Amplifier) [G] [B]

MR-TB26A Junction Terminal Block (Multi-Axis Servo Amplifier) [G] [B]

MR-TB50 Junction Terminal Block [A]

MR Configurator2

Battery

Selection Example of Wires

Molded-Case Circuit Breakers, Fuses, Magnetic Contactors

Power Factor Improving DC Reactor

Power Factor Improving AC Reactor

Relay (Recommended)

Noise Reduction Techniques

Earth-Leakage Current Breaker

EMC Filter (Recommended)

MR-J3-D05 Safety Logic Unit

J5-CHP07-10P Cabinet-Mounting Attachment

J5-CHP08 Grounding Terminal Attachment

MR-ASCHP06 Shield Clamp Attachment

Cables Manufactured by Mitsubishi Electric System & Service Co., Ltd

SCC 15-F Shield Connection Clamp

Chapter 7 Absolute Position Detection System

Outline

Configuration and Specifications

Absolute Position Detection System by DIO [A]

Absolute Position Detection System Via Communication [A]

Chapter 8 Using Sto Function

Introduction

Functional Safety I/O Signal Connector (CN8) and Pin Assignments

Connection Example

Detailed Explanation of Interfaces

Chapter 9 Using Functional Safety [G] (Exculuding Mr-J5-_G_-Hs_)

Introduction

Function Block Diagram

System Configuration

Specifications

Connectors and Pin Assignments

Example I/O Signal Connections

Connecting I/O Interfaces