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 *
Revision Version Description Created Newly created -2-
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 -3-
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. Command pulse train CMX CDV + Dual f/b position signal + Servo motor Command pulse train electronic gear Parameter No. 3, 4 Full closed selection Parameter No. 86 Dual F/B filter Parameter No. 97 + + + ω S+ω S + FCM FCD OP9 FCT Linear scale ABZ phase pulse output selection Parameter No. 5 Full closed control error detection function selectio Full closed electronic gea Parameter No. 89, 90 INP CDV CMX Position deviation FCD FCM E Droop pulse disp Command pulse unit Encoder pulse unit Closed end pulse unit Droop pulse unit selec Parameter No. 49 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. -4-
1.3 Specification List (1) Servo amplifiers Servo Amplifier Model MR-J2S- Voltage/fre quency (Note 1) Permissible Power voltage supply fluctuation Permissible frequency fluctuation Control system 10A -PY091 20A -PY091 40A -PY091 60A -PY091 70A -PY091 Three-phase 200 to 230VAC/50, 60Hz or single-phase 230VAC/50, 60Hz (Note 2) Three-phase 170 to 253VAC/50, 60Hz or single-phase 207 to 253VAC/50, 60Hz 100A -PY091 200A -PY091 350A -PY091 500A -S091 700A -S091 Three-phase 200 to 230VAC/50, 60Hz (Note 2) Three-phase 170 to 253VAC/50, 60Hz Within ±5% Sine-wave PWM control/current control system 10A1 -PY091 20A1 -PY091 40A1 -PY091 Single-phase 100 to 120VAC/50, 60Hz Single-phase 85 to 127VAC/50, 60Hz Overcurrent shutoff, regenerative overvoltage shutoff, overload shutoff (electronic thermal relay), servo Protective motor overheat protection, encoder error protection, regeneration error protection, functions undervoltage/instantaneous power failure protection, overspeed protection, error excessive protection Structure Self-cooling, open (IP00) Forced cooling, open (IP00) Self-cooling, open (IP00) Enviro nment Ambient temperature Ambient humidity Ambience Altitude Vibration 0 to 55(C (non-freezing), storage: -20 to 65(C (non-freezing) 90%RH or less (non-condensing), storage: 90%RH or less (non-condensing) Indoors (no direct sunlight), without corrosive gas, flammable gas, oil mist, dust and dirt 1000m or less above sea level 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 -5-
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 ABZ differential input I/F unit Servo amplifier MR-CLP01 CN1A CN1A,CN1B CN1B Position command CN2 control signal CN2 General-purpose pulse output linear scale A,B,Z phase output (ALM output) Encoder signal Linear scale Servo motor System configuration example 2 (when ABZ phase pulse train-specified rotary encoder is used) ABZ differential input I/F unit Servo amplifier MR-CLP01 General-purpose pulse Controller output encoder CN1A CN1A,CN1B Position command control CN1B CN2 A,B,Z phase output signal CN2 Encoder signal Rotary encoder Servo motor -6-
(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 CN1A,CN1B Servo amplifier Serial I/F linear scale Position command control signal CN2 Serial communication signal cable Encoder signal Linear scale Servo motor -7-
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 Mitsubishi serial interface compatibility INC type Sony Precision Renishaw SL710 + PL101R + MJ830 SH13 +MJ830 0.2µm 0.005µm 6.4m/s 1.4m/s RGH26P 5.0µm 4.0m/s 2 wire type General-purpose pulse train output (MR-J2S-CLP01 used) INC type Not specified RGH26Q 1.0µm 3.2m/s RGH26R 0.5µm 1.6m/s Not specified Note: The linear scales of Heidenhain make cannot be used (including LC491M). 2 wire type 2 wire type 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. -8-
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 Power supply Three-phase 200VAC 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) NF When connecting an external regenerative brake option, always disconnect the link across P-D. Emergency stop Servo-on Alarm reset Proportion control Torque limit Forward rotation stroke end Reverse rotation stroke end Do not connect when using an external power supply. Trouble Zero speed Limiting torque MC RA1 RA2 RA3 RA4 RA5 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 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 Servo amplifier L1 TE1 U L2 V L3 W PE L11 PE L21 C TE2 D P CN2 CN3 CN2 2 RXD 12 TXD 1 LG 11 LG 9 SDP 19 SDN 5 RDP 15 RDN 1 LG 11 LG 10 TRE MR-J2S-CLP01 Set to CLOSE CN1B Standard encoder cable CN1A MR-J2HBUS M Use 1M or less. ABZ phase output Alarm output RS-232C SD RD GND GND RS-422 RDP RDN SDP SDN GND GND Servo motor U V SM W E Encoder External encoder 5V input for external encoder *Option unit For the wiring method of the MR-J2S-CLP01 part, refer to the attached Installation RS-422 and RS-232C are exclusive functions. Connect in the case of the last axis. Analog torque limit LG 1 TLA 12 SD Plate 4 MO1 3 LG 14 MO2 13 LG Plate SD A A Monitor output 1 Monitor output 2-9-
(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. NOTICE 4. CN1A, CN1B, CN2 and CN3 have the same shape. Incorrect connection of the connector can cause. 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) MEMO 7. The signals having the same name are connected inside the servo amplifier. 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. -10-
3.2 Signal/Terminal Explanation (1) Main circuit terminal block, control circuit terminal block Signal Name Main circuit power supply Servo motor output Control circuit power supply Regenerative brake option N Protective earth (2) CN1A Signal Name Digital I/F power supply input Open collector power supply input Digital I/F common 15VDC power supply output Control common Forward rotation pulse train Reverse rotation pulse train Encoder Abbreviation Terminal Block Function/Application 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. U, V, W TE1 Servo motor power output terminals. Connect to the servo motor power supply terminals (U, V, W). Control circuit power input terminals. L11, L21 TE2 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 connection terminals. P, C, D TE2 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. Keep open. PE Chassis Ground terminal. Connect to the earth terminal of the servo motor and the protective earth of the control box for grounding. Abbreviation Pin Connector No. Function/Application 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. OPC 11 When inputting a pulse train in the open collector system, supply 24VDC to this terminal. SG 10,20 24V common for VDD/COM and isolated from LG. P15R 4 Outputs 15VDC. The permissible current is 30mA. LG 1 15V, 5V common terminal. PP 3 PG 13 NP 2 NG 12 LA 6 A-phase pulse LAR 16 Encoder LB 7 B-phase pulse LBR 17 Encoder Z-phase pulse OP 14 Shield SD Plate Connect one end of the shield wire. 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). Reverse rotation pulse train input terminals. Compatible with the open collector system and differential system. 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. 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 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. -11-
(3) CN1B Signal Name I/F internal power supply output Digital I/F power supply input 15VDC power supply output Digital I/F common Control common Emergency stop Analog torque limit Abbreviation Pin Connector No. Function/Application 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. 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. P15R 11 Outputs 15VDC. The permissible current is 30mA. SG 10,20 24V common for VDD/COM and isolated from LG. LG 1 15V, 5V common terminal. 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. TLA 12 Analog torque command input terminal. Apply 0 to +10V across TLA-LG. Maximum torque is developed when 10V is applied. (4) CN3 Signal Name Abbreviation Pin Connector No. Monitor MO1 4 output MO2 14 RS-422I/F RS-422 termination RS-232C I/F Monitor common SDP 9 SDN 19 RDP 5 RDN 15 Function/Application 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). RS-422 communication terminals. The RS-422 function and RS-232C function are exclusive functions. Make selection using parameter No. 16 (BPS). TRE 10 RS-422 I/F terminating resistor terminal. Connect with RDN in the case of the last axis. TXD 2 RS-232C communication terminals. RXD 12 LG 1,11 Control common for monitor. 1,13 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. -12-
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 Parameter No. 89 Parameter No. 65 numerator Full closed electronic gear Parameter No. 90 Parameter No. 66 denominator 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. -13-
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 Allowed range: A home position return can be made when it is started 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. Dog Home position Limit 1 Limit 2 return direction Home position (reference mark) of linear scale 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). Z phase is output in the home position (reference mark) of the linear scale. 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. B A Home position signal 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. -14-
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 Test operation JOG operation Positioning operation Program operation DO forced output Motor-less operation Usable Usable Usable Usable Unusable Performed by the feedback of the motor encoder. It is irrelevant to the full closed encoder. 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. Same as the standard servo function. 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) (Semi closed control) (Full closed control) (Semi closed control) Within 15ms Droop pulse clearing and closed loop switching processing are executed. Within 15ms (Application example) When only the fixed-pitch stock feed section is full-closed controlled as in a roll feeder. -15-
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. 1) 3) 2) 4) 5) 6) 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. Command pulse frequency Position command inputs from the command controller are counted and 2) 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. Cumulative feedback pulse( read Feedback pulses from the full closed encoder are counted and displayed. 5) as Cumulative feedback pulse 2) The value is displayed in the pulse unit of the closed encoder. Caution: The name does not Click "Clear" to reset the value to 0. match what is monitored. 6) 7) Servo motor speed ( read as Within-full-one-revolution position) Caution: The name does not match what is monitored. Droop pulse( read as Full ABS counter) Caution: The name does not match what is monitored. 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. 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. -16-
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. -17-
[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 Cumulative feedback pulse Droop pulse Cumulative feedback pulse 2 Encoder data Polarity Full closed switching device Parameter Commands from the host controller are counted and displayed. Click "Clear" to reset the value to 0. Feedback pulses from the servo motor encoder are counted and displayed. Click "Clear" to reset the value to 0. 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. 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. 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. 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". 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. 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, 88-18-
CHAPTER 5 PARAMETERS 5.1 Parameter List Class No. Abbreviation Name Initial Value Unit Customer Setting Basic parameters 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) 4 CDV Electronic gear denominator (Command pulse multiplying factor denominator) 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) 8 SC1 9 SC2 10 SC3 1 1 3 ms Internal speed command 1 100 r/min Internal speed limit 1 100 r/min Internal speed command 2 500 r/min Internal speed limit 2 500 r/min Internal speed command 3 1000 r/min Internal speed limit 3 1000 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 19 BLK Parameter block 0000-19-
Class No. Abbreviation Name Initial Value Unit Customer Setting Expansion parameters 1 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 25 VCM Analog speed command maximum speed (Note 1)0 (r/min) 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 % 29 VCO Analog speed command offset (Note 2) mv Analog speed limit offset (Note 2) mv 30 TLO Analog torque command offset 0 mv 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 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. -20-
Class NO. Abbreviation Name Initial Value Unit Customer Setting Expansion parameters 2 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 % 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 72 SC4 Internal speed command 4 200 r/min Internal speed limit 4 73 SC5 Internal speed command 5 300 r/min Internal speed limit 5 74 SC6 Internal speed command 6 500 r/min Internal speed limit 6 75 SC7 Internal speed command 7 800 r/min Internal speed limit 7 76 TL2 Internal torque limit 2 100 % 77 100 78 10000 79 10 80 10 81 For manufacturer setting 100 82 100 83 100 84 0 85 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 For manufacturer setting 0000 95 0908 96 97 DUF Dual F/B filter 10 rad/sec 98 0000 For manufacturer setting 99 0000 Note 3. Depends on the setting of parameter No. 65. 0-21-
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. Class No. Abbre viation Name and Function 0 STY Control mode, regenerative brake option selection Select the control mode and regenerative brake option. Initial Value Unit Setting Range 0000 0000h 0A00h Control mode selection 0: Position Basic parameters 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. 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 CN1B-19 pin function selection 0: Zero speed detection signal 1: Electromagnetic brake interlock signal Note: After setting the values of the parameters marked completes the setting., switch power off once. Switching power on again -22-
Class No. Abbre viation Name and Function 17 MOD Analog monitor output Set the signals output to the analog monitor outputs. Initial Value Unit Setting Range 0100 0000h 4C4Ch Analog monitor ch1 output selection The settings and their definitions are as in analog monitor ch2. Basic parameters Multiplying factor of ch2 0: 1 time 1: 1/2 times 2: 2 times 3: 4 times 4: 8 times Multiplying factor of ch1 The set multiplying factor is the same as that of 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. 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 Note: After setting the values of the parameters marked completes the setting. -23-, switch power off once. Switching power on again
Class No. Abbre viation Name and Function 19 BLK Parameter block Select the reference and write ranges of the parameters. Basic parameters Initial Value Unit Setting Range 0000 0000h 100Fh Setting Reference Parameter Range Write Parameter Range Other than Basic parameters (0 to 19) Basic parameters (0 to 19) following 000A Parameter No. 19 only Parameter No. 19 only 000B Basic parameters (0 to 19) Basic parameters (0 to 19) Expansion parameters 1 (20 to 49) 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) Parameter No. 19 only Expansion parameters 1 (20 to 49) 100E Basic parameters (0 to 19) Parameter No. 19 only Expansion parameters 1, 2 (20 to 84) 100F Basic parameters (0 to 19) Expansion parameters 1, 2, 3 (20 to 99) Parameter No. 19 only 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. 1 1 65535 Expansion parameters 1 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 resolution Output 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. Output pulses = 100000(Number of linear scale pulses for 10mm movement) 20 = 5000(pulse) Note: After setting the values of the parameters marked completes the setting., switch power off once. Switching power on again -24-
Class No. Abbre viation Name and Function 43 DI2 Input signal selection 2 (CN1B-5) Assign a function to the input signal of the CN1B-5 pin. Initial Value Unit Setting Range 0111 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) 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 Expansion parameters 1 Select the input signal of the CN1B-14 pin. 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). Select the input signal of the CN1A-8 pin. 46 DI5 Input signal selection 5 (CN1B-7) Any input signal can be assigned to the CN1B-7 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 Select the input signal of the CN1B-7 pin. 47 DI6 Input signal selection 6 (CN1B-8) Any input signal can be assigned to the CN1B-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). 0883 0000h 0FFFh Select the input signal of the CN1B-8 pin. 48 DI7 Input signal selection 7 (CN1B-9) Any input signal can be assigned to the CN1B-9 pin. The signals that can be assigned and the setting method are the same as those of Input signal selection 2 (parameter No. 43). 0994 0000h 0FFFh Select the input signal of the CN1B-9 pin. Note: After setting the values of the parameters marked the setting., switch power off once. Switching power on again completes -25-
Class No. Abbre viation Name and Function 49 DO1 Output signal selection 1 Select the ones that will automatically turn on the function device signals. Initial Value Unit Setting Range 0000 0000h 1551h Alarm code output (CN1B-19, A-18, A-19) 0: Invalid 1: Valid Expansion parameters 1 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 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.) 54 OP9 Function selection 9 Select the command pulse rotation direction, encoder output pulse direction and encoder pulse output setting. 1000 0000h 1111h Command pulse rotation direction selection 0: CCW direction for forward rotation pulse 1: CW direction for forward rotation pulse Expansion parameters 2 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 direction selection 0: A phase leads by 90 when rotation is CCW 1: A phase leads by 90 when rotation is CW 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. Note: After setting the values of the parameters marked completes the setting. -26-, switch power off once. Switching power on again
Class No. Abbre viation Name and Function 86 FCT Full closed selection Select the full closed encoder rotation direction and full closed control error detection functions 1 2 Initial Value Unit Setting Range 1300 0000h 1312h Full closed function 0: Invalid 1: Always valid 2: Switching valid (semi/full switching by DI) Full closed encoder polarity 0: Address increasing direction for motor CCW 1: Address increasing direction for motor CW Expansion parameters 3 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 Full closed encoder error (AL-2A) selection 0: Invalid (when ALM signal is not connected in MR-J2S-CLP01) 1: Valid 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). 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). 89 FCM Full closed electronic gear numerator Set the numerator of the electronic gear relative to the full closed encoder pulse. 90 FCD Full closed electronic gear denominator Set the denominator of the electronic gear relative to the full closed encoder pulse. 400 r/min 1 to permissi ble speed 10 0.1rev 12000 1 1 65535 1 1 65535 Note: After setting the values of the parameters marked completes the setting., switch power off once. Switching power on again -27-
Class No. Abbrevia tion Name and Function 91 DIO Input/output signal selection 1 Select the function of the I/O signal. Initial Value Unit Setting Range 0000 0000h 0051h Expansion parameters 3 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 Note: When alarm code output has been selected, the alarm code is output at alarm occurrence independently of this setting. 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 01000 Note: After setting the values of the parameters marked completes the setting., switch power off once. Switching power on again -28-
CHAPTER 6 DISPLAY (1) Display flowchart MODE button Status display Diagnosis display Alarm Basic parameters Expansion parameters Special parameters 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] rd of Sequence External signal display do on Output signal forced output TEST1 JOG operation TEST2 Positioning operation TEST3 Motor-less operation (Invalid) 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 P 00 Parameter No. 00 P 01 Parameter No. 01 P 18 Parameter No. 18 P 20 Parameter No. 20 P 21 Parameter No. 21 P 43 Parameter No. 43 P 60 Parameter No. 60 P 61 Parameter No. 61 P 98 Parameter No. 98 UP button DOWN button 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] 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 E Parameter error No. P 19 P 44 Parameter No. 19 Parameter No. 44 Can be accessed by setting 000F in parameter No. 19. P 99 Parameter No. 99 dc Load inertia moment ratio [times] Pn Bus voltage [v] 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] -29-
(2) Status display Name Symbol Display Range Unit Description Cumulative feedback pulse Servo motor speed Droop pulse Cumulative command pulse Command pulse frequency Speed command voltage C r E 99999 99999 5400 5400 99999 99999 99999 P 99999 800 n 800 F 10.00 10.00 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. r/min The speed of the servo motor is displayed. The value rounded off is displayed in 0.1r/min 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. 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. 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. 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 Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one-revolution position low Within one-revolution position high U 10.00 10.00 0 L 100 0 J 300 0 b 400 0 T 400 0 CY1 99999 0 CY2 99999 ABS counter LS 32768 32767 Load inertia moment ratio dc 0.0 300.0 Bus voltage Pn 0 450 (Continued to the next page) V The forward rotation torque limit voltage is displayed. The value rounded off is displayed in 0.1r/min. % The ratio of regenerative power to permissible regenerative power is displayed in %. % 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. % 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. % The instantaneously generated torque is displayed. The value is 100% when the rated torque is developed. pulse The position within one revolution is displayed in the pulse unit of the encoder. When the value exceeds 99999, it starts with 0. 100 pulse rev The position within one revolution is displayed in the 100 pulse unit of the encoder. When the value exceeds 9999, it starts with 0. 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. times The estimated ratio of the load inertia moment to the servo motor inertia moment is displayed. V The bus voltage is displayed. The value rounded off is displayed in 0.1r/min. 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. -30-
(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 Full-C within one-revolution position high Full-C ABS counter FY 1 0 99999 FY2 0 99999 FLS 32768 32767 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. 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. 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. -31-
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 AL28 Full closed Linear scale operating The linear scale temperature is high. Check the linear scale temperature encoder error 2 environment was abnormal. (Mitutoyo make linear scale) and contact the scale maker. Reduction of linear scale signal level Check the mounting state of the linear scale. AL2A Full closed Full closed encoder (linear Full closed encoder fault Change the full closed encoder. encoder error 1 scale) is faulty. 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 Connect it correctly. is disconnected. ALM output of the full closed Change the full closed encoder. encoder (when ALM output detection is valid in parameter No. 86) AL42 Full closed Full closed encoder failure Change the full closed encoder. control error The polarity of the full closed detection encoder is set oppositely. AL70 AL71 Full closed encoder communication error 1 Full closed encoder communication error 2 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. Check the mounting orientation of the full closed encoder. Reexamine the setting of parameter No. 86. Reexamine the settings of parameter No. 89, 90. Check the mounting state of the full closed encoder. Error occurred in The connector CN2 is disconnected. Connect it correctly. communication between the MR-J2S-CLP01 unit failure Change the unit. full closed encoder and servo amplifier. Full closed encoder cable failure Correct or change the cable. Error occurred in MR-J2S-CLP01 unit failure Change the unit. communication between the full closed encoder and servo Full closed encoder cable failure Correct or change the cable. amplifier. Full closed encoder cable wiring Reexamine the 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.) Note: The above alarms are cleared by powering off the servo amplifier. They are not cleared by performing an alarm reset. -32-
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. AL-28. 2A. 42. 70. 71 1 1 0 Alarm reset (RES) signal 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. Detail Scale Error (Alarm 2A) Details 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 4-33-