Mitsubishi Electronics MR-J2S- A manual

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Table of contents for the manual

  • Page 1

    General-Purpose A C Serv o J2-Super Series General-Purpose Interface MR-J2S- A Serv o Amplifier Inst[...]

  • Page 2

    A - 1 Safety Instructions (Alwa ys read t hese instruct ions b efore us ing t he equipm ent.) Do not[...]

  • Page 3

    A - 2 1. To prevent electric shock, note the follow ing: WARNING Befor e wirin g or insp ection, s w[...]

  • Page 4

    A - 3 4. Additional instruct ions The fol lowing ins tructions sho uld als o be ful ly noted . Incor[...]

  • Page 5

    A - 4 CAUTION Secur ely att ach the ser vo m otor to th e mac hine. If at tach ins ecure ly, the ser[...]

  • Page 6

    A - 5 (4) Usa ge CAUTION Prov ide an extern al emergenc y stop c ircuit to ensure th at oper ation c[...]

  • Page 7

    A - 6 (6) Maintenance, inspection and parts replacement CAUTION W i th age, the el ectroly tic capac[...]

  • Page 8

    A - 7 COMPLIANCE WITH EC DIRECTIVES 1. WHAT AR E EC DI RE C TIVES ? The EC directives were issued to[...]

  • Page 9

    A - 8 (4) Power supply (a) Operate the servo amplifier t o meet th e requirements of the overvoltage[...]

  • Page 10

    A - 9 (7) Auxi liary equ ipment and op tions (a) T he no-fuse breaker and magnetic contactor used sh[...]

  • Page 11

    A - 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Ser vo am plifier s and s ervo m otors us ed Use the se[...]

  • Page 12

    1 CONTENTS 1. FUNCT IONS AND CO NFIGURATION 1- 1 to 1- 12 1.1 Intro duction.........................[...]

  • Page 13

    2 3.9 Servo motor w ith elec tromagnetic brake .....................................................[...]

  • Page 14

    3 7.1.2 Adj ustmen t using servo configur ation so ftware ..........................................[...]

  • Page 15

    4 12.3 Dyn amic bra ke characteri stics ............................................................[...]

  • Page 16

    5 14.12.8 Output signal pin O N/OFF (DO force d output) ............................................[...]

  • Page 17

    6 Optional Servo Motor Inst ruction Manual CONTE NTS The rough table of conten ts of the optional ME[...]

  • Page 18

    1 - 1 1. FUNCTIONS AND CONFIGURATI ON 1. FUNCTIONS A ND CONFIGURAT ION 1.1 Introduc tion The Mitsubi[...]

  • Page 19

    1 - 2 1. FUNCTIONS A ND CONFIGURAT ION 1.2 Func tion block diagram The function block diagram of thi[...]

  • Page 20

    1 - 3 1. FUNCTIONS A ND CONFIGURAT ION 1.3 Serv o amplif ier standard s pecif ications Servo Ampli f[...]

  • Page 21

    1 - 4 1. FUNCTIONS A ND CONFIGURAT ION 1.4 Func tion list The foll owing table l ists the functions [...]

  • Page 22

    1 - 5 1. FUNCTIONS A ND CONFIGURAT ION Function Description (Not e) Control m ode Refer to Alarm h i[...]

  • Page 23

    1 - 6 1. FUNCTIONS A ND CONFIGURAT ION (2) Model MR–J2S–100A or less MR –J2S –200A 350A Gene[...]

  • Page 24

    1 - 7 1. FUNCTIONS A ND CONFIGURAT ION 1.7 Parts ident if ic ati on (1) MR-J2S-100A or less Used to [...]

  • Page 25

    1 - 8 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A or more POINT The servo am plifier is s hown [...]

  • Page 26

    1 - 9 1. FUNCTIONS A ND CONFIGURAT ION Removal of the front c over Reinstal l ation of the front cov[...]

  • Page 27

    1 - 10 1. FUNCTIONS A ND CONFIGURAT ION 1.8 Servo system with auxiliar y equipm ent W ARNING To prev[...]

  • Page 28

    1 - 11 1. FUNCTIONS A ND CONFIGURAT ION (b) F or 1-p has e 10 0V t o 12 0VA C 1-phase 100V to 120VAC[...]

  • Page 29

    1 - 12 1. FUNCTIONS A ND CONFIGURAT ION (2) MR-J2S-200A or more 3-phase 200V to 230VAC power supply [...]

  • Page 30

    2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in ex cess of the l imited n umber of prod [...]

  • Page 31

    2 - 2 2. INSTALLATION 2.2 Instal lation dir ection and clearances CAUTION The equ ipment m ust be in[...]

  • Page 32

    2 - 3 2. INSTALLATION (2) I nstallat ion of two or m ore ser vo am plifiers Leave a large clearance [...]

  • Page 33

    2 - 4 2. INSTALLATION 2.4 Cable s tress (1) T he way of clampi ng the cable must be full y examined [...]

  • Page 34

    3 - 1 3. SIGNALS AND WIRI NG 3. SIGNALS AND W IRING W ARNING Any per son who is involv ed in wir ing[...]

  • Page 35

    3 - 2 3. SIGNALS AND WIRING 3.1 Standar d connect ion exam ple POINT For the connection of the p owe[...]

  • Page 36

    3 - 3 3. SIGNALS AND WIRING Note: 1 . To prevent an elect ric shock, always connect the protective e[...]

  • Page 37

    3 - 4 3. SIGNALS AND WIRING (2) AD75P (A1SD75P ) VDD RA1 RA2 RA3 18 15 5 14 8 9 16 17 1 11 EMG SON R[...]

  • Page 38

    3 - 5 3. SIGNALS AND WIRING Note: 1 . To prevent an elect ric shock, always connect the protective e[...]

  • Page 39

    3 - 6 3. SIGNALS AND WIRING 3.1.2 Speed control m ode RA1 RA2 RA3 18 10 SP1 SG CN1A 15 5 14 8 9 16 1[...]

  • Page 40

    3 - 7 3. SIGNALS AND WIRING Note: 1 . To prevent an elect ric shock, always connect the protective e[...]

  • Page 41

    3 - 8 3. SIGNALS AND WIRING 3.1.3 T orque control m ode RA1 RA2 RA3 18 10 SP1 SG 15 5 14 9 8 10 1 11[...]

  • Page 42

    3 - 9 3. SIGNALS AND WIRING Not e: 1 . To prevent an electri c shock, always connect t he protective[...]

  • Page 43

    3 - 10 3. SIGNALS AND WIRING 3.2 Interna l connect ion diagram of ser vo amplifier The foll owing is[...]

  • Page 44

    3 - 11 3. SIGNALS AND WIRING 3.3 I/O sign als 3.3.1 Connec tors and si gnal arrangem ents POINT The [...]

  • Page 45

    3 - 12 3. SIGNALS AND WIRING (2) C N1A and CN1B signal assig n men t The signal assi gnment of conne[...]

  • Page 46

    3 - 13 3. SIGNALS AND WIRING Note: 1. I : Input sig nal, O: Output signal 2. P : P o si tion control[...]

  • Page 47

    3 - 14 3. SIGNALS AND WIRING 3.3.2 Sign al explanat ions For the I/O in terfaces (symbo ls in I/O co[...]

  • Page 48

    3 - 15 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat i[...]

  • Page 49

    3 - 16 3. SIGNALS AND WIRING Control mode Signal Symbol Connec - tor pi n No. Functions /Applicat io[...]

  • Page 50

    3 - 17 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat i[...]

  • Page 51

    3 - 18 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat i[...]

  • Page 52

    3 - 19 3. SIGNALS AND WIRING (2) Output signals Control mode Signal S y m bol Connec- tor pi n No. F[...]

  • Page 53

    3 - 20 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat i[...]

  • Page 54

    3 - 21 3. SIGNALS AND WIRING Control mode Signal S y m bol Connec- tor pi n No. Functions/Applicat i[...]

  • Page 55

    3 - 22 3. SIGNALS AND WIRING (4) Power supply Control mode Signal S y m bol Connec- tor pi n No. Fun[...]

  • Page 56

    3 - 23 3. SIGNALS AND WIRING 3.4 Deta iled desc ription of th e signals 3.4.1 Pos ition control m od[...]

  • Page 57

    3 - 24 3. SIGNALS AND WIRING (b) Connections and waveforms 1) Open collect or system Connect as show[...]

  • Page 58

    3 - 25 3. SIGNALS AND WIRING 2) Diffe rentia l line dr iver sy stem Connect as shown below: PP NP Se[...]

  • Page 59

    3 - 26 3. SIGNALS AND WIRING (2) In-position (INP) PF-SG are connected when the number of droop puls[...]

  • Page 60

    3 - 27 3. SIGNALS AND WIRING (5) Torque limit (a) Torque limit and generated torque By sett ing para[...]

  • Page 61

    3 - 28 3. SIGNALS AND WIRING 3.4.2 Speed control m ode (1) Speed setting (a) Speed command and speed[...]

  • Page 62

    3 - 29 3. SIGNALS AND WIRING (b) Speed selecti on 1 (SP1), speed selection 2 (SP2 ) and speed comman[...]

  • Page 63

    3 - 30 3. SIGNALS AND WIRING 3.4.3 T orque control m ode (1) Torque control (a ) T o rq u e c omm a [...]

  • Page 64

    3 - 31 3. SIGNALS AND WIRING (b) Analog torq ue command offset Using pa rameter No. 30, the offset v[...]

  • Page 65

    3 - 32 3. SIGNALS AND WIRING (b) Speed selectio n 1(SP1) /speed selectio n 2(SP2)/ speed se lection [...]

  • Page 66

    3 - 33 3. SIGNALS AND WIRING 3.4.4 Pos ition/speed co ntrol chan ge mode Set "00 01" in pa[...]

  • Page 67

    3 - 34 3. SIGNALS AND WIRING (3) Sp ee d se tting i n sp eed co nt rol mod e (a) Speed command and s[...]

  • Page 68

    3 - 35 3. SIGNALS AND WIRING 3.4.5 Speed /torque con trol chang e mode Set "00 03" in par [...]

  • Page 69

    3 - 36 3. SIGNALS AND WIRING (4) Sp ee d li mit in t orq ue con trol mode (a) Speed limit valu e and[...]

  • Page 70

    3 - 37 3. SIGNALS AND WIRING 3.4.6 T orque/positi on control ch ange m ode Set " 0005" in [...]

  • Page 71

    3 - 38 3. SIGNALS AND WIRING 3.5 Alarm occur rence timing c hart CAUTION W hen an alarm has oc curre[...]

  • Page 72

    3 - 39 3. SIGNALS AND WIRING 3.6 Interf aces 3.6.1 Comm on line The foll owing diagram sh ows t he p[...]

  • Page 73

    3 - 40 3. SIGNALS AND WIRING 3.6.2 Detai led descript ion of the interfac es This s ection gives the[...]

  • Page 74

    3 - 41 3. SIGNALS AND WIRING (b) Lamp load For use of internal p ower suppl y For use of externa l p[...]

  • Page 75

    3 - 42 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface SD PG(NG) PP(NP) Max[...]

  • Page 76

    3 - 43 3. SIGNALS AND WIRING (b) Differential line driver syst em 1) Inte rface Max. output current:[...]

  • Page 77

    3 - 44 3. SIGNALS AND WIRING (7) Sourc e inpu t interfac e When u sing the inp ut inte rface of so u[...]

  • Page 78

    3 - 45 3. SIGNALS AND WIRING 3.7 Input power suppl y circuit CAUTION W hen the s ervo am plifier has[...]

  • Page 79

    3 - 46 3. SIGNALS AND WIRING 3.7.2 T erminals The posit ions and signal arrangements of the terminal[...]

  • Page 80

    3 - 47 3. SIGNALS AND WIRING 3.7.3 Power -on seque nce (1) Po wer-on proce dure 1) Alw ays wire the [...]

  • Page 81

    3 - 48 3. SIGNALS AND WIRING 3.8 Conn ection of s ervo am plifier and s ervo m otor 3.8.1 Connec tio[...]

  • Page 82

    3 - 49 3. SIGNALS AND WIRING Servo m otor Connection diagram HC-KFS053 (B) to 43 (B) HC-MFS053 (B) t[...]

  • Page 83

    3 - 50 3. SIGNALS AND WIRING 3.8.3 I/O term inals (1) HC-KFS HC-MF S HC-UFS300 0r/min s eries 24 13 [...]

  • Page 84

    3 - 51 3. SIGNALS AND WIRING (2) HC-SFS HC-RF S HC-UFS2000 r/m in series Servo motor side connectors[...]

  • Page 85

    3 - 52 3. SIGNALS AND WIRING 3.9 Serv o motor with electrom agnetic brak e CAUTION Configur e th e e[...]

  • Page 86

    3 - 53 3. SIGNALS AND WIRING (3) T i m ing charts (a) Servo-on signal comm and (from controller) ON/[...]

  • Page 87

    3 - 54 3. SIGNALS AND WIRING (c) Alarm occurrence Servo motor speed ON OFF Base cir cuit Electromagn[...]

  • Page 88

    3 - 55 3. SIGNALS AND WIRING 3.10 Gro unding W ARNING Ground th e serv o ampl ifier a nd ser vo moto[...]

  • Page 89

    3 - 56 3. SIGNALS AND WIRING 3.11 Ser vo amplif ier term inal block (TE2) wirin g method (1) T ermin[...]

  • Page 90

    3 - 57 3. SIGNALS AND WIRING (2) Connection Insert the core of the cable into the opening and tighte[...]

  • Page 91

    3 - 58 3. SIGNALS AND WIRING MEMO[...]

  • Page 92

    4 - 1 4. OPERATION 4. OPERATION 4.1 W hen switching po wer on f or the first tim e Before starti ng [...]

  • Page 93

    4 - 2 4. OPERATION 4.2 Startup W ARNING Do no t oper ate the switches with wet hands . You ma y get [...]

  • Page 94

    4 - 3 4. OPERATION (4) Servo-on Switch t he servo-on in t he followin g procedure: (a) Switch on m a[...]

  • Page 95

    4 - 4 4. OPERATION 4.2.3 Speed control m ode (1) Power on (a) Switch off the servo-on (SON) signal. [...]

  • Page 96

    4 - 5 4. OPERATION (6) Stop In any of the followin g statuses, the servo amplifi er interrupts and s[...]

  • Page 97

    4 - 6 4. OPERATION (4) Servo-on Switch t he servo-on in t he followin g procedure: (a) Switch on m a[...]

  • Page 98

    5 - 1 5. PARAMETERS 5. PARAME TERS CAUTION Ne ver adjust or change the par ameter values ex tremel y[...]

  • Page 99

    5 - 2 5. PARAMETERS 5.1.2 Lists POINT For any para meter whose symbol is preceded by *, set the para[...]

  • Page 100

    5 - 3 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 20 *OP2 Funct[...]

  • Page 101

    5 - 4 5. PARAMETERS No. Symbol Name Control mode Initial value Unit Cust omer setti ng 50 For manufa[...]

  • Page 102

    5 - 5 5. PARAMETERS (2) Details li st Class No. Sym bol Name and function Initia l value Unit Settin[...]

  • Page 103

    5 - 6 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mo[...]

  • Page 104

    5 - 7 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mo[...]

  • Page 105

    5 - 8 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mo[...]

  • Page 106

    5 - 9 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control mo[...]

  • Page 107

    5 - 10 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 108

    5 - 11 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 109

    5 - 12 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 110

    5 - 13 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 111

    5 - 14 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 112

    5 - 15 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 113

    5 - 16 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 114

    5 - 17 5. PARAMETERS Class No. Symbol Name and function In itial value Unit Setting range Control mo[...]

  • Page 115

    5 - 18 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 116

    5 - 19 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 117

    5 - 20 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 118

    5 - 21 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 119

    5 - 22 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 120

    5 - 23 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 121

    5 - 24 5. PARAMETERS Class No. Sym bol Name and function Initia l value Unit Setting range Control m[...]

  • Page 122

    5 - 25 5. PARAMETERS 5.2 Deta iled desc ription 5.2.1 Elec tronic gear CAUTION W rong sett ing ca n [...]

  • Page 123

    5 - 26 5. PARAMETERS (b) Conveyor setting exampl e For rotation in incremen ts of 0.01 per pulse Mac[...]

  • Page 124

    5 - 27 5. PARAMETERS (3) Set ting f or use of AD75 P The AD75P also has the following electronic gea[...]

  • Page 125

    5 - 28 5. PARAMETERS To rotate the servo motor at 3000r /min in the open co llector system ( 200kpul[...]

  • Page 126

    5 - 29 5. PARAMETERS 5.2.2 Anal og output The s ervo stat us can b e output to two channel s in term[...]

  • Page 127

    5 - 30 5. PARAMETERS Change the follow ing digits of parameter N o.17: Analog monitor c h1 output se[...]

  • Page 128

    5 - 31 5. PARAMETERS 5.2.5 Pos ition sm oothing By setting the po sition command acceleration/dece l[...]

  • Page 129

    5 - 32 5. PARAMETERS MEMO[...]

  • Page 130

    6 - 1 6. DISPLAY AND O PERATION 6. DISPLAY AND OPERATION 6.1 Displ ay flowchart Use the display (5-d[...]

  • Page 131

    6 - 2 6. DISPLAY AND OPER ATION 6.2 Status disp la y The servo s tatus during operation is s hown on[...]

  • Page 132

    6 - 3 6. DISPLAY AND OPER ATION 6.2.2 St atus displa y l ist The foll owing tabl e l ists the s ervo[...]

  • Page 133

    6 - 4 6. DISPLAY AND OPER ATION Name Symbol Uni t Descripti on Displa y range Within one-revoluti on[...]

  • Page 134

    6 - 5 6. DISPLAY AND OPER ATION 6.3 Diagnos tic mode Name Di splay D escrip tion Not r eady. Indicat[...]

  • Page 135

    6 - 6 6. DISPLAY AND OPER ATION Name Di splay D escrip tion Motor s eries Press the " SET"[...]

  • Page 136

    6 - 7 6. DISPLAY AND OPER ATION 6.4 Alarm mode The current alarm, past al arm history and parameter [...]

  • Page 137

    6 - 8 6. DISPLAY AND OPER ATION 6.5 Param eter m ode The parameters whose abbreviati ons are marked [...]

  • Page 138

    6 - 9 6. DISPLAY AND OPER ATION 6.6 Externa l I/O signa l displa y The ON/OFF states of the digi tal[...]

  • Page 139

    6 - 10 6. DISPLAY AND OPER ATION (a) Control modes and I/O signals (Note 2) Sym bols of I/O si gnals[...]

  • Page 140

    6 - 11 6. DISPLAY AND OPER ATION (3) De fa ul t si gn al indi ca tio n s (a) Position control mode L[...]

  • Page 141

    6 - 12 6. DISPLAY AND OPER ATION 6.7 Output s ignal for ced output (D O forced out put) POINT When t[...]

  • Page 142

    6 - 13 6. DISPLAY AND OPER ATION 6.8 Tes t operation m ode CAUTION The test operat io n mode is d es[...]

  • Page 143

    6 - 14 6. DISPLAY AND OPER ATION 6.8.2 Jog o peration Jog operation can be performed when there is n[...]

  • Page 144

    6 - 15 6. DISPLAY AND OPER ATION 6.8.3 Pos itioning oper ation POINT The servo configuration soft wa[...]

  • Page 145

    6 - 16 6. DISPLAY AND OPER ATION 6.8.4 Motor -less operati on Without connecting the servo motor, yo[...]

  • Page 146

    7 - 1 7. GENERAL GAI N ADJUSTMENT 7. GENERAL GAIN ADJUS TMENT POINT For use in t he torque control m[...]

  • Page 147

    7 - 2 7. GENERAL GAIN ADJUSTMENT (2) Adj ustment seque nce and mode us age Usage Used when you wa nt[...]

  • Page 148

    7 - 3 7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto t uning m ode The servo amplifier has a [...]

  • Page 149

    7 - 4 7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto t uning m ode operation The block dia gram of real-t ime[...]

  • Page 150

    7 - 5 7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjus tment proc edure b y auto tuning Since auto tuning is m[...]

  • Page 151

    7 - 6 7. GENERAL GAIN ADJUSTMENT 7.2.4 Respo nse level s etting in auto tuning m ode Set t h e respo[...]

  • Page 152

    7 - 7 7. GENERAL GAIN ADJUSTMENT 7.3 Manual m ode 1 ( simple m anual adj ustment) If you a re not sa[...]

  • Page 153

    7 - 8 7. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed contro l gain 2 ( VG2: par amete[...]

  • Page 154

    7 - 9 7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Position control g ain 1 (PG1: p aram[...]

  • Page 155

    7 - 10 7. GENERAL GAIN ADJUSTMENT 7.4 Interpo lation m ode The i nterpolation mode is used to match [...]

  • Page 156

    7 - 11 7. GENERAL GAIN ADJUSTMENT 7.5 Dif ferences in au to tuning between M ELSERVO- J2 and MEL SER[...]

  • Page 157

    7 - 12 7. GENERAL GAIN ADJUSTMENT MEMO[...]

  • Page 158

    8 - 1 8. SPECIA L ADJUSTMENT FUNCTI O NS 8. SPECIAL A DJUST MENT FUNCTIONS POINT The functions given[...]

  • Page 159

    8 - 2 8. SPECIAL ADJUSTMENT FUNCT IONS You can use the machine resonance suppression filter 1 (param[...]

  • Page 160

    8 - 3 8. SPECIAL ADJUSTMENT FUNCT IONS POINT If the frequency of machine res onance is unknown, decr[...]

  • Page 161

    8 - 4 8. SPECIAL ADJUSTMENT FUNCT IONS (2) Parameters Set the operation of adaptive vib ration suppr[...]

  • Page 162

    8 - 5 8. SPECIAL ADJUSTMENT FUNCT IONS 8.3 Gain c hanging f unction This function can ch ange the ga[...]

  • Page 163

    8 - 6 8. SPECIAL ADJUSTMENT FUNCT IONS 8.3.3 Par ameters When using the gain changing function, alwa[...]

  • Page 164

    8 - 7 8. SPECIAL ADJUSTMENT FUNCT IONS (1) Para meters No. 6, 34 to 38 These paramet ers are the sam[...]

  • Page 165

    8 - 8 8. SPECIAL ADJUSTMENT FUNCT IONS 8.3.4 Gai n changing o peration This op eratio n will be desc[...]

  • Page 166

    8 - 9 8. SPECIAL ADJUSTMENT FUNCT IONS (2) W hen you choose chan ging b y droop p ulses (a) Setting [...]

  • Page 167

    8 - 10 8. SPECIAL ADJUSTMENT FUNCT IONS MEMO[...]

  • Page 168

    9 - 1 9. INSPECTION 9. INSPECTION W ARNING Befor e starti ng maint enanc e and/ or inspec tion, m ak[...]

  • Page 169

    9 - 2 9. INSPECTION MEMO[...]

  • Page 170

    10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Troub le at start- up CAUTION Exc essive a djust[...]

  • Page 171

    10 - 2 10. TROUBLESHOOTING No. S tart-up sequence Fault Investigation Possibl e cause Refer to Rotat[...]

  • Page 172

    10 - 3 10. TROUBLESHOOTING (2) H ow to find the c ause of p ositio n shift Positioning unit (a) Outp[...]

  • Page 173

    10 - 4 10. TROUBLESHOOTING 10.1.2 Spee d control m ode No. S tart-up sequence Fault Investigation Po[...]

  • Page 174

    10 - 5 10. TROUBLESHOOTING 10.1.3 T orque contr ol mode No. S tart-up sequence Fault Investigation P[...]

  • Page 175

    10 - 6 10. TROUBLESHOOTING 10.2 W hen alarm or warning has oc curred POINT Configu re up a circuit w[...]

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    10 - 7 10. TROUBLESHOOTING 10.2.2 Rem edies for al arms CAUTION W hen any alar m has oc curred, elim[...]

  • Page 177

    10 - 8 10. TROUBLESHOOTING Display Name Definition Cause Action AL.17 Board erro r 2 CPU/par ts faul[...]

  • Page 178

    10 - 9 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Input co mm and pulse frequen c y[...]

  • Page 179

    10 - 10 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Pu lse f requ ency of th e com m[...]

  • Page 180

    10 - 11 10. TROUBLESHOOTING Display Name Definition Cause Action 1. Mac hine s truc k somet hing . 1[...]

  • Page 181

    10 - 12 10. TROUBLESHOOTING Display Name Definition Cause Action 88888 Watc hdog CPU, parts faulty F[...]

  • Page 182

    11 - 1 11. OUTLINE DIMENSION DRAWINGS 11. OUTLINE DIMENSION DRA W INGS 11.1 Servo am plifiers (1) MR[...]

  • Page 183

    11 - 2 11. OUTLINE DIMENSION DRAW INGS (2) MR-J2S -70A MR-J2S- 100A C N 1 A OPEN MIT SUBISH I C N 1 [...]

  • Page 184

    11 - 3 11. OUTLINE DIMENSION DRAW INGS (3) MR-J2S -200A MR-J2S-3 50A MITSUBIS HI MITSUBIS HI 70(2.76[...]

  • Page 185

    11 - 4 11. OUTLINE DIMENSION DRAW INGS 11.2 Connectors (1) Servo amplifie r side <Sum itomo 3 M m[...]

  • Page 186

    11 - 5 11. OUTLINE DIMENSION DRAW INGS (2) Co mmun i ca ti on cabl e co nn e cto r <Jap an Avia t[...]

  • Page 187

    11 - 6 11. OUTLINE DIMENSION DRAW INGS MEMO[...]

  • Page 188

    12 - 1 12. CHARACTERISTI CS 12. CHARA CTE RISTICS 12.1 Overl oad protec tion charac teristics An ele[...]

  • Page 189

    12 - 2 12. CHARA CTERISTICS 12.2 Power suppl y equipment c apacity and generated los s (1) Am ount o[...]

  • Page 190

    12 - 3 12. CHARA CTERISTICS (2) H eat diss ipation area for encl osed ser vo ampl ifier The encl ose[...]

  • Page 191

    12 - 4 12. CHARA CTERISTICS 12.3 D y nam ic brak e characteris tics When an a larm, emergency stop o[...]

  • Page 192

    12 - 5 12. CHARA CTERISTICS 0 0.002 0.004 0.006 0.008 0.0 1 0.012 0.014 0.016 0.018 0.0 2 0 500 1000[...]

  • Page 193

    12 - 6 12. CHARA CTERISTICS Use the dynamic brake at the l oad inertia moment indicated in the follo[...]

  • Page 194

    13 - 1 13. OPTIONS AND AU XILIARY EQUIPMENT 13. OPTIONS AND AUX ILIARY EQUIPM ENT W ARNING Before co[...]

  • Page 195

    13 - 2 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) To make selection according to regenera ti ve ene[...]

  • Page 196

    13 - 3 13. OPTIONS AND AU X I LIARY EQU IPMENT Subtract the capacitor charging from the result of mu[...]

  • Page 197

    13 - 4 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Outline drawing (a) MR-RB032 MR-R B12 LA 5 (0.20)[...]

  • Page 198

    13 - 5 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.2 Cabl es and conn ectors (1) Cable make-up The [...]

  • Page 199

    13 - 6 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description Applic a tion 1) Standa[...]

  • Page 200

    13 - 7 13. OPTIONS AND AU X I LIARY EQU IPMENT No. Product Model Description A pplication 9) Control[...]

  • Page 201

    13 - 8 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) Encode r cable CAUTION If you hav e fabric ated t[...]

  • Page 202

    13 - 9 13. OPTIONS AND AU X I LIARY EQU IPMENT MR-JCCBL2M-L MR-JCCBL5M-L MR-JCCBL2M-H MR-JCCBL5M-H 1[...]

  • Page 203

    13 - 10 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) MR-JHSCBL M- L MR-JH SCBL M-H MR-ENC BL M- H The[...]

  • Page 204

    13 - 11 13. OPTIONS AND AU X I LIARY EQU IPMENT MR-JHSCBL2M-L MR-JHSCBL5M-L MR-JHSCBL2M-H MR-JHSCBL5[...]

  • Page 205

    13 - 12 13. OPTIONS AND AU X I LIARY EQU IPMENT (3) Co mmun i ca ti on cabl e POINT This cab le may [...]

  • Page 206

    13 - 13 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.3 Junc tion term inal block (MR-T B20) POINT Wh[...]

  • Page 207

    13 - 14 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Ju nction t erminal block c able (M R-J2TBL M) M[...]

  • Page 208

    13 - 15 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.4 Main tenance junc tion card ( MR-J2CN3T M) (1[...]

  • Page 209

    13 - 16 13. OPTIONS AND AU X I LIARY EQU IPMENT (4) Bus cable (MR-J2HBUS M) 10120-6000EL (connector)[...]

  • Page 210

    13 - 17 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.1.6 Ser vo configur ations sof tware The servo co[...]

  • Page 211

    13 - 18 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Configuration diagram 1) Wh en using RS-23 2C CN[...]

  • Page 212

    13 - 19 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2 Auxil iar y equipm ent Alway s use the d evice [...]

  • Page 213

    13 - 20 13. OPTIONS AND AU X I LIARY EQU IPMENT Table 13. 2 Recom mended cr imping term inals Servo [...]

  • Page 214

    13 - 21 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.2 No-f use break ers, fus es, magnetic c ontact[...]

  • Page 215

    13 - 22 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.4 Re lays The followi ng relays should be used [...]

  • Page 216

    13 - 23 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Redu ction te chnique s for ex ternal noi ses th[...]

  • Page 217

    13 - 24 13. OPTIONS AND AU X I LIARY EQU IPMENT Noise transm issi on rout e Suppression t echniques [...]

  • Page 218

    13 - 25 13. OPTIONS AND AU X I LIARY EQU IPMENT (b) Surge suppressor The recommended surge suppresso[...]

  • Page 219

    13 - 26 13. OPTIONS AND AU X I LIARY EQU IPMENT Outline drawing Earth plate Clamp section diagram (N[...]

  • Page 220

    13 - 27 13. OPTIONS AND AU X I LIARY EQU IPMENT (d) Line noise filter (FR-BLF, FR-BSF01) This filter[...]

  • Page 221

    13 - 28 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.7 Leak age current breaker (1) Selecti on metho[...]

  • Page 222

    13 - 29 13. OPTIONS AND AU X I LIARY EQU IPMENT (2) S electio n exam ple Indicated below is an examp[...]

  • Page 223

    13 - 30 13. OPTIONS AND AU X I LIARY EQU IPMENT 13.2.8 EMC f ilter For compliance with the EMC Direc[...]

  • Page 224

    14 - 1 14. COMMUNICATION FUNCTI ONS 14. COMMUNICATION FUNCT IONS This servo amplifi er has the RS-42[...]

  • Page 225

    14 - 2 14. COMMUNICATION FUNCTIONS 14.1.2 R S-232C conf iguration (1) Outline A singl e axis of serv[...]

  • Page 226

    14 - 3 14. COMMUNICATION FUNCTIONS 14.2 Comm unication specif ications 14.2.1 Com municatio n overvi[...]

  • Page 227

    14 - 4 14. COMMUNICATION FUNCTIONS 14.2.2 Par ameter s etting When th e RS-422/RS-23 2C communicatio[...]

  • Page 228

    14 - 5 14. COMMUNICATION FUNCTIONS 14.3 Protoc ol POINT Whether st ation nu mber setting w ill be ma[...]

  • Page 229

    14 - 6 14. COMMUNICATION FUNCTIONS (2) T ransmis sion of d ata requ est from the co ntroller t o the[...]

  • Page 230

    14 - 7 14. COMMUNICATION FUNCTIONS 14.4 Charact er codes (1) C ontrol co des Code name H exadecimal [...]

  • Page 231

    14 - 8 14. COMMUNICATION FUNCTIONS 14.5 Error codes Error codes are u sed in the following cases and[...]

  • Page 232

    14 - 9 14. COMMUNICATION FUNCTIONS 14.7 Tim e-out operat ion The master stat ion transmits EOT when [...]

  • Page 233

    14 - 10 14. COMMUNICATION FUNCTIONS 14.9 Initia liza tion After th e slave st ation i s swi tched on[...]

  • Page 234

    14 - 11 14. COMMUNICATION FUNCTIONS 14.11 Comm and and dat a No. list 14.11.1 R ead comm ands (1) St[...]

  • Page 235

    14 - 12 14. COMMUNICATION FUNCTIONS (5) C urrent al arm (C ommand [0 ][2] [3][ 5]) Command Data No. [...]

  • Page 236

    14 - 13 14. COMMUNICATION FUNCTIONS (5) Op eration m ode se lection (Com mand [8][ B]) Command Data [...]

  • Page 237

    14 - 14 14. COMMUNICATION FUNCTIONS 14.12 Detai led explan ations of com mands 14.12.1 D ata process[...]

  • Page 238

    14 - 15 14. COMMUNICATION FUNCTIONS (2) Wr iting the proces sed data When th e data to be w ritten i[...]

  • Page 239

    14 - 16 14. COMMUNICATION FUNCTIONS 14.12.2 Stat us dis pla y (1) Stat us displa y data read When th[...]

  • Page 240

    14 - 17 14. COMMUNICATION FUNCTIONS 14.12.3 Param eter (1) Parameter read Read the parame ter settin[...]

  • Page 241

    14 - 18 14. COMMUNICATION FUNCTIONS (2) Parameter write POINT The number of parameter write times is[...]

  • Page 242

    14 - 19 14. COMMUNICATION FUNCTIONS 14.12.4 Ex ternal I/O pin statuses (D IO diagn osis) (1) Ex tern[...]

  • Page 243

    14 - 20 14. COMMUNICATION FUNCTIONS 14.12.5 D isable/enabl e of externa l I/O signals (DIO) Inputs c[...]

  • Page 244

    14 - 21 14. COMMUNICATION FUNCTIONS 14.12.6 Ex ternal inp ut signal O N/OFF (tes t operatio n) Each [...]

  • Page 245

    14 - 22 14. COMMUNICATION FUNCTIONS 14.12.7 T est operation m ode (1) I nstructio ns for test o pera[...]

  • Page 246

    14 - 23 14. COMMUNICATION FUNCTIONS (2) Jo g oper ation Transmit the following commun ication comman[...]

  • Page 247

    14 - 24 14. COMMUNICATION FUNCTIONS 14.12.8 Ou tput signal pin ON/OFF (DO forc ed output) In the tes[...]

  • Page 248

    14 - 25 14. COMMUNICATION FUNCTIONS 14.12.9 Alar m history (1) Alarm No. read Read the alarm No. whi[...]

  • Page 249

    14 - 26 14. COMMUNICATION FUNCTIONS 14.12.10 Cur rent alarm (1) Current alarm read Read the alarm No[...]

  • Page 250

    14 - 27 14. COMMUNICATION FUNCTIONS 14.12.11 O ther comm ands (1) S ervo m otor end puls e unit abs [...]

  • Page 251

    14 - 28 14. COMMUNICATION FUNCTIONS MEMO[...]

  • Page 252

    15 - 1 15. ABSOLUTE POS ITION DETECTION SYSTEM 15. ABSOLU TE POSITION DE TECTION SYSTEM 15.1 Outl in[...]

  • Page 253

    15 - 2 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.2 Specif ic ati ons (1) Spec ificat ion list Ite[...]

  • Page 254

    15 - 3 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.3 Batter y inst al lat ion proc ed ure W ARNING [...]

  • Page 255

    15 - 4 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.4 Standar d connec tion diagram CR SG RA2 CN1B-3[...]

  • Page 256

    15 - 5 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.5 Signal ex pla nat ion When the absolute posit [...]

  • Page 257

    15 - 6 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.6 Startup pr ocedur e (1) Battery in stalla tion[...]

  • Page 258

    15 - 7 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7 Absolut e pos ition data tr ans f er protoco l[...]

  • Page 259

    15 - 8 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.2 T ransfer m ethod The sequence in which the [...]

  • Page 260

    15 - 9 15. ABSOLUTE POSITION D ETEC TION SY STEM 1) The ready signal (R D) is turned ON when the ABS[...]

  • Page 261

    15 - 10 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Detail ed description of abs ol ute position d[...]

  • Page 262

    15 - 11 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) Checksum The check sum is the code which is us[...]

  • Page 263

    15 - 12 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Transmission erro r (a) Time-out warning(AL.E5[...]

  • Page 264

    15 - 13 15. ABSOLUTE POSITION D ETEC TION SY STEM 3) ABS transfer mode finish-time time-out check If[...]

  • Page 265

    15 - 14 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) At the time of alarm reset If an al arm occur [...]

  • Page 266

    15 - 15 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) At t he tim e of em ergency stop r eset (a) If[...]

  • Page 267

    15 - 16 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) If emergency stop is activated during servo-on[...]

  • Page 268

    15 - 17 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.3 Hom e positio n setting (1) D og t y pe hom[...]

  • Page 269

    15 - 18 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Data set type home position return Move the ma[...]

  • Page 270

    15 - 19 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.4 Use of servo m otor with elec tromagnetic b[...]

  • Page 271

    15 - 20 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.7.5 How to process the a bsolute position data [...]

  • Page 272

    15 - 21 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8 Exam ples of use 15.8.1 M ELSEC-A1S (A 1SD71)[...]

  • Page 273

    15 - 22 15. ABSOLUTE POSITION D ETEC TION SY STEM If the addres s of the mach ine hom e posi tion i [...]

  • Page 274

    15 - 23 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) Slot arrangement The sequence programs present[...]

  • Page 275

    15 - 24 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Connec tion diagram PULSE- R PULSE- F PGO DOG [...]

  • Page 276

    15 - 25 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program exam ple (a) Conditions This[...]

  • Page 277

    15 - 26 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X a xis This seq[...]

  • Page 278

    15 - 27 15. ABSOLUTE POSITION D ETEC TION SY STEM M8 M12 PLS M12 X34 M9 Y43 X35 Y43 X33 M0 D0 K16 MO[...]

  • Page 279

    15 - 28 15. ABSOLUTE POSITION D ETEC TION SY STEM C0 C1 Y41 D3 A0 DMOVP K1 D8 K7872 H0001 FROMP M13 [...]

  • Page 280

    15 - 29 15. ABSOLUTE POSITION D ETEC TION SY STEM M4 C0 D5 K1X30 MOV K2 DROR D2 D2 D5 C0 C1 C2 M6 M5[...]

  • Page 281

    15 - 30 15. ABSOLUTE POSITION D ETEC TION SY STEM M1 K1 D9 K7912 H0001 DFROP M1 Y4B D3 D3 D*P Y4B SE[...]

  • Page 282

    15 - 31 15. ABSOLUTE POSITION D ETEC TION SY STEM M2 M10 C2 M11 T2 M9039 END 5 5 M10 PLS M11 SET C2 [...]

  • Page 283

    15 - 32 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis control program This precludes executi [...]

  • Page 284

    15 - 33 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data t[...]

  • Page 285

    15 - 34 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) Seq uence program - 2-ax is con trol The follo[...]

  • Page 286

    15 - 35 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.2 MEL SEC FX (2N) -32MT (FX (2N) -1PG) (1) Co[...]

  • Page 287

    15 - 36 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) FX 2N -32MT (FX 2N -1PG) 3.3 k 3.3k 3.3k CN1B [...]

  • Page 288

    15 - 37 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) O[...]

  • Page 289

    15 - 38 15. ABSOLUTE POSITION D ETEC TION SY STEM (b) Device list X input contact Y output contact X[...]

  • Page 290

    15 - 39 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X-a xis M8002 D2[...]

  • Page 291

    15 - 40 15. ABSOLUTE POSITION D ETEC TION SY STEM X6 M6 M5 SET M5 Y12 X6 Y0 Y12 1 1 2 2 M64 M62 ZRST[...]

  • Page 292

    15 - 41 15. ABSOLUTE POSITION D ETEC TION SY STEM X4 M0 Y3 Y3 C1 RST M64 M0 ZRST X5 X3 M1 2 2 3 3 D3[...]

  • Page 293

    15 - 42 15. ABSOLUTE POSITION D ETEC TION SY STEM Y1 X2 M3 PLS M3 Y2 X2 C2 C2 C0 M64 3 3 4 4 D3 K2M5[...]

  • Page 294

    15 - 43 15. ABSOLUTE POSITION D ETEC TION SY STEM M63 D0 K8M20 DMOVP D0 D24 D0 DADDP K1 D0 K26 K0 DT[...]

  • Page 295

    15 - 44 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 M109 X7 X12 M9 9 M120 PLS X10 JOG X11 JOG X7[...]

  • Page 296

    15 - 45 15. ABSOLUTE POSITION D ETEC TION SY STEM M8000 K1 K4M 100 K25 K0 TO M200 K1 K3M200 K28 K0 F[...]

  • Page 297

    15 - 46 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) Data set t ype home position retur n After jog[...]

  • Page 298

    15 - 47 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Zero speed To create the sta tus information f[...]

  • Page 299

    15 - 48 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.8.3 M ELSEC A1SD 75(AD75) (1) Connection diagra[...]

  • Page 300

    15 - 49 15. ABSOLUTE POSITION D ETEC TION SY STEM Note 1: For the dog typ e home position r eturn. N[...]

  • Page 301

    15 - 50 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) Seq uence program exam ple (a) Conditions 1) W[...]

  • Page 302

    15 - 51 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) ABS data transfer program for X a xis This seq[...]

  • Page 303

    15 - 52 15. ABSOLUTE POSITION D ETEC TION SY STEM X26 M13 SET M23 K1 D11 K8 16 H0000 FRO M D11 H0 00[...]

  • Page 304

    15 - 53 15. ABSOLUTE POSITION D ETEC TION SY STEM M5 D0 K16 MOV M5 Y31 C1 2 2 3 3 D1 K3 MOV D2 K0 MO[...]

  • Page 305

    15 - 54 15. ABSOLUTE POSITION D ETEC TION SY STEM M9 C0 C1 3 3 4 4 D5 K1X20 MOV D5 H0003 WAND A0 D5 [...]

  • Page 306

    15 - 55 15. ABSOLUTE POSITION D ETEC TION SY STEM M11 M10 Y31 X2 2 M12 Y32 X2 2 Y32 X22 T200 4 4 5 5[...]

  • Page 307

    15 - 56 15. ABSOLUTE POSITION D ETEC TION SY STEM Y39 X26 Y31 T0 Y31 Y32 Y31 X22 T0 T1 T3 5 5 Y31 RS[...]

  • Page 308

    15 - 57 15. ABSOLUTE POSITION D ETEC TION SY STEM (d) X-axis program Do not execute the X-axis progr[...]

  • Page 309

    15 - 58 15. ABSOLUTE POSITION D ETEC TION SY STEM (f) Data set type home position ret urn After jogg[...]

  • Page 310

    15 - 59 15. ABSOLUTE POSITION D ETEC TION SY STEM (g) Electromagnetic brake output During ABS data t[...]

  • Page 311

    15 - 60 15. ABSOLUTE POSITION D ETEC TION SY STEM (3) Seq uence program - 2-ax is con trol The follo[...]

  • Page 312

    15 - 61 15. ABSOLUTE POSITION D ETEC TION SY STEM (4) D ifferenc es bet ween A1S D75 (A D75) and A1S[...]

  • Page 313

    15 - 62 15. ABSOLUTE POSITION D ETEC TION SY STEM 6) Wri ting a bsolute posi tion d ata to A1SD75 Th[...]

  • Page 314

    15 - 63 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.9 Confir mation of absolute p osition detect io[...]

  • Page 315

    15 - 64 15. ABSOLUTE POSITION D ETEC TION SY STEM 15.10 Abs olute posit ion data tra nsfer er rors 1[...]

  • Page 316

    15 - 65 15. ABSOLUTE POSITION D ETEC TION SY STEM (2) ABS communicati on error (a) The OFF period of[...]

  • Page 317

    15 - 66 15. ABSOLUTE POSITION D ETEC TION SY STEM (c) To detec t the AB S time- out wa rning ( AL.E [...]

  • Page 318

    App - 1 App endix App 1. Sig nal arr angement r ecording sheets (1) Positio n control mode 1 2 3 5 4[...]

  • Page 319

    App - 2 Appendix App 2. Analog monit or block diagr am PWM M Current control Speed control Current c[...]

  • Page 320

    App - 3 Appendix App 3. Stat us display block diag ram Effec tive load ratio Effec tive value calcul[...]

  • Page 321

    App - 4 Appendix MEMO[...]

  • Page 322

    REVISIONS *The manual numb er is given on the bottom left of t he b ack cover. Print data *Manual n [...]

  • Page 323

    Print data *Manual n umber Revision Sep.,2000 SH(N A)030006-B Section 10.2.2: Additi on of descripti[...]