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2 3.13 Control axis selec tion ................................................................................................... ......................... 3 -52 4. STARTUP 4 - 1 to 4 -10 4.1 Switching power on for the …

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CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28
1.1 Introduction ............................................................................................................................................... 1 - 1
1.2 Function block diagram ............................................................................................................................ 1 - 2
1.3 Servo amplifier standard specifica tions ................................................................................................... 1 - 5
1.4 Function list .............................................................................................................................................. 1 - 7
1.5 Model code definition ............................................................................................................................... 1 - 8
1.6 Combination with servo motor ................................................................................................................ 1 -10
1.7 Structure .................................................................................................................................................. 1 -11
1.7.1 Parts identification ............................................................................................................................ 1 -11
1.7.2 Removal and reinstallation of the front cover .................................................................................. 1 -18
1.8 Configuration including auxiliary equipment .......................................................................................... 1 -21
2. INSTALLATION 2 - 1 to 2 - 6
2.1 Installation direction and clearances ....................................................................................................... 2 - 1
2.2 Keep out foreign materials ....................................................................................................................... 2 - 3
2.3 Cable stress ............................................................................................................................................. 2 - 3
2.4 SSCNET
cable laying............................................................................................................................ 2 - 4
2.5 Inspection items ....................................................................................................................................... 2 - 6
2.6 Parts having service lives ........................................................................................................................ 2 - 6
3. SIGNALS AND WIRING 3 - 1 to 3 -52
3.1 Input power supply circuit ........................................................................................................................ 3 - 2
3.2 I/O signal connection example ............................................................................................................... 3 -10
3.3 Explanation of power supply system ...................................................................................................... 3 -12
3.3.1 Signal explanations .......................................................................................................................... 3 -12
3.3.2 Power-on sequence ......................................................................................................................... 3 -13
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -14
3.4 Connectors and signal arrangements .................................................................................................... 3 -23
3.5 Signal (device) explanations ................................................................................................................... 3 -24
3.6 Alarm occurrence timing chart ................................................................................................................ 3 -27
3.7 Interfaces ................................................................................................................................................. 3 -28
3.7.1 Internal connection diagram ............................................................................................................ 3 -28
3.7.2 Detailed description of interfaces ..................................................................................................... 3 -29
3.7.3 Source I/O interfaces ....................................................................................................................... 3 -31
3.8 Treatment of cable shield external conductor ........................................................................................ 3 -32
3.9 SSCNET
cable connection .................................................................................................................. 3 -33
3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -35
3.10.1 Connection instructions .................................................................................................................. 3 -35
3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -36
3.11 Servo motor with an electromagnetic brake ......................................................................................... 3 -46
3.11.1 Safety precautions ......................................................................................................................... 3 -46
3.11.2 Timing charts .................................................................................................................................. 3 -47
3.11.3 Wiring diagrams (HF-MP series
HF-KP series servo motor)...................................................... 3 -50
3.12 Grounding .............................................................................................................................................. 3 -51
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3.13 Control axis selection ............................................................................................................................ 3 -52
4. STARTUP 4 - 1 to 4 -10
4.1 Switching power on for the first time ....................................................................................................... 4 - 1
4.1.1 Startup procedure .............................................................................................................................. 4 - 1
4.1.2 Wiring check ...................................................................................................................................... 4 - 2
4.1.3 Surrounding environment .................................................................................................................. 4 - 3
4.2 Start up ..................................................................................................................................................... 4 - 4
4.3 Servo amplifier display ............................................................................................................................. 4 - 5
4.4 Test operation .......................................................................................................................................... 4 - 7
4.5 Test operation mode ................................................................................................................................ 4 - 8
4.5.1 Test operation mode in MR Configurator ......................................................................................... 4 - 8
4.5.2 Motorless operation in controller ...................................................................................................... 4 -10
5. PARAMETERS 5 - 1 to 5 -28
5.1 Basic setting parameters (No.PA ) .................................................................................................... 5 - 1
5.1.1 Parameter list .................................................................................................................................... 5 - 2
5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3
5.1.3 Selection of regenerative option ....................................................................................................... 5 - 4
5.1.4 Using absolute position detection system ........................................................................................ 5 - 5
5.1.5 Forced stop input selection ............................................................................................................... 5 - 5
5.1.6 Auto tuning ........................................................................................................................................ 5 - 6
5.1.7 In-position range ................................................................................................................................ 5 - 7
5.1.8 Selection of servo motor rotation direction ....................................................................................... 5 - 8
5.1.9 Encoder output pulse ........................................................................................................................ 5 - 8
5.2 Gain/filter parameters (No.PB
) ........................................................................................................ 5 - 10
5.2.1 Parameter list .................................................................................................................................. 5 - 10
5.2.2 Detail list ........................................................................................................................................... 5 -11
5.3 Extension setting parameters (No.PC
) ............................................................................................ 5 -18
5.3.1 Parameter list ................................................................................................................................... 5 -18
5.3.2 List of details ..................................................................................................................................... 5 -19
5.3.3 Analog monitor ................................................................................................................................. 5 -22
5.3.4 Alarm history clear ............................................................................................................................ 5 -24
5.4 I/O setting parameters (No.PD
) ....................................................................................................... 5 -25
5.4.1 Parameter list ................................................................................................................................... 5 -25
5.4.2 List of details ..................................................................................................................................... 5 -26
6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12
6.1 Different adjustment methods .................................................................................................................. 6 - 1
6.1.1 Adjustment on a single servo a mplifier ............................................................................................. 6 - 1
6.1.2 Adjustment using MR Configurator ................................................................................................... 6 - 2
6.2 Auto tuning ............................................................................................................................................... 6 - 3
6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3
6.2.2 Auto tuning mode operation .............................................................................................................. 6 - 4
6.2.3 Adjustment procedure by auto tunin g ............................................................................................... 6 - 5
6.2.4 Response level setting in auto tuning mode .................................................................................... 6 - 6
6.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 6 - 7
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6.4 Interpolation mode .................................................................................................................................. 6 -11
6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning ................................ 6 -12
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -16
7.1 Function block diagram ............................................................................................................................ 7 - 1
7.2 Adaptive filter
......................................................................................................................................... 7 - 1
7.3 Machine resonance suppression filter ..................................................................................................... 7 - 4
7.4 Advanced vibration suppression control ................................................................................................. 7 - 6
7.5 Low-pass filter ......................................................................................................................................... 7 -10
7.6 Gain changing function ........................................................................................................................... 7 -10
7.6.1 Applications ...................................................................................................................................... 7 -10
7.6.2 Function block diagram .................................................................................................................... 7 -11
7.6.3 Parameters ....................................................................................................................................... 7 -12
7.6.4 Gain changing operation .................................................................................................................. 7 -14
8. TROUBLESHOOTING 8 - 1 to 8 -10
8.1 Alarms and warning list ............................................................................................................................ 8 - 1
8.2 Remedies for alarms ................................................................................................................................ 8 - 2
8.3 Remedies for warnings ............................................................................................................................ 8 - 8
9. OUTLINE DRAWINGS 9 - 1 to 9 -12
9.1 Servo amplifier ......................................................................................................................................... 9 - 1
9.2 Connector ................................................................................................................................................ 9 -10
10. CHARACTERISTICS 10- 1 to 10-10
10.1 Overload protection characteristics ...................................................................................................... 10- 1
10.2 Power supply equipment capacity and generated loss ....................................................................... 10- 3
10.3 Dynamic brake characteristics .............................................................................................................. 10- 6
10.3.1 Dynamic brake operation ............................................................................................................... 10- 6
10.3.2 The dynamic brake at the load inertia moment ............................................................................. 10- 9
10.4 Cable flexing life ................................................................................................................................... 10-10
10.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 10-10
11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-90
11.1 Cable/connector sets ............................................................................................................................ 11- 1
11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 2
11.1.2 Encoder cable/connector sets ....................................................................................................... 11- 8
11.1.3 Motor power supply cables ........................................................................................................... 11-17
11.1.4 Motor brake cables ........................................................................................................................ 11-18
11.1.5 SSCNET
cable ........................................................................................................................... 11-19
11.2 Regenerative options ........................................................................................................................... 11-21
11.3 FR-BU2-(H) Brake unit ........................................................................................................................ 11-34
11.3.1 Selection ........................................................................................................................................ 11-35
11.3.2 Brake unit parameter setting ......................................................................................................... 11-35
11.3.3 Connection example ..................................................................................................................... 11-36