Mitsubishi MELSERVO MR-J2S-A-PY091 Series Manual de usuario

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

BCN-B32110-011-2-

Revision

Version Description Created

・Newly created

BCN-B32110-011-3-

∼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

BCN-B32110-011-4-

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.

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 ge

Parameter No. 89, 90

Droop pulse dis

Servo motor

Linear scale

Closed end pulse unit

Position deviation

Encoder pulse unit

−

Full closed selection

Parameter No. 86

+−

−

OP9 ABZ phase pulse output

selection Parameter No.

FCT Full closed control error

detection function selectio

Dual f/b position signal

Droop pulse unit selec

Parameter 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.

BCN-B32110-011-5-

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

Voltage/fre

quency

(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

Permissible

voltage

fluctuation

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%

Control system Sine-wave PWM control/current control system

Protective

functions

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

Structure 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

humidity 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

Altitude 1000m or less above sea level

Enviro

nment

Vibration 5.9m/s2 or less

Weight (kg) 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.

MR−J2S−A −PY091

Indicates that the servo amplifier software

conforms to this specification.

PY091: 0.05kW to 3.5kW type

S091: 5.0kW to 7.0kW type

BCN-B32110-011-6-

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

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)

Controller Servo amplifier

Position

command

control

signal

CN1A

CN1B

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

BCN-B32110-011-7-

(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)

Controller Servo amplifier

Position

command

control

signal CN2

CN1A,CN1B

Encoder signal Linear scale

Serial communication signal cable

Servo motor

Serial I/F linear scale

BCN-B32110-011-8-

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.

BCN-B32110-011-9-

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

GND

RS-422

RDP

RDN

SDP

SDN

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

RA2

When connecting an external

regenerative brake option,

always disconnect the link

across P-D.

L1 TE1 U

L2 V

L3 W

L11 PE

L21

C TE2

V SM

Do not connect when using

an external

ower su

Connect in the case

of the last axis.

RS-422

and

RS-232C

are

exclusive

functions.

CN2

Encoder

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

BCN-B32110-011-10-

(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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