Mitsubishi Electric MELSERVO-J4 series Bedienungsanleitung

SH(NA)030208ENG-E(1811)MEE Printed in Japan Specifications are subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

General-Purpose AC Servo

MR-J4-_TM_ SERVO AMPLIFIER INSTRUCTION MANUAL (EtherCAT)

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL

MR-J4-_TM_

Multi-network Interface AC Servo

SERVO AMPLIFIER

INSTRUCTION MANUAL

(EtherCAT)

A - 1

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until

you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not

use the equipment until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical

damage.

Note that the CAUTION level may lead to a serious consequence according to conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so

on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp

turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.

Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or

not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it

may cause an electric shock.

Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric

shock.

During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause

an electric shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging

area are exposed and you may get an electric shock.

Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the

power is off. The servo amplifier is charged and you may get an electric shock.

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo

amplifier to the protective earth (PE) of the cabinet.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing

them directly or close to combustibles will lead to smoke or a fire.

Always connect a magnetic contactor between the power supply and the main circuit power supply (L1,

L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the

side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a

large current may cause smoke or a fire when the servo amplifier malfunctions.

Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power

supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a

circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-

case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a

fire when the servo amplifier malfunctions.

When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative

transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible

matter from entering the servo amplifier and servo motor.

A - 3

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise,

it may cause an electric shock, fire, injury, etc.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc., may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc., may occur.

The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on

and for some time after power-off. Take safety measures such as providing covers to avoid accidentally

touching them by hands and parts such as cables.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,

electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of product packages is not allowed.

Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Otherwise, it may

drop.

Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction

Manual.

Do not get on or put heavy load on the product. Otherwise, it may cause injury.

The equipment must be installed in the specified direction.

Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet or

other equipment.

Do not install or operate the servo amplifier and servo motor which have been damaged or have any

parts missing.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

Do not drop or apply heavy impact on the servo amplifiers and the servo motors. Otherwise, it may cause

injury, malfunction, etc.

Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.

When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Operation 0 °C to 55 °C (non-freezing)

Storage -20 °C to 65 °C (non-freezing)

Ambient

humidity

Operation 5 %RH to 90 %RH (non-condensing)

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)

Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (X, Y, Z axes)

When the product has been stored for an extended period of time, contact your local sales office.

When handling the servo motor, be careful with the sharp edges of the servo motor.

The servo amplifier must be installed in a metal cabinet.

A - 4

CAUTION

When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used

for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering

our products. Please take necessary precautions to ensure that remaining materials from fumigant do not

enter our products, or treat packaging with methods other than fumigation, such as heat treatment.

Additionally, disinfect and protect wood from insects before packing the products.

To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and

wire the servo motor in accordance with the Instruction Manual.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.

Otherwise, the cables and connectors may be disconnected during operation.

Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo

amplifier output side.

To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier

and servo motor.

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do

not connect a magnetic contactor and others between them. Otherwise, it may cause a malfunction.

Servo motor

Servo amplifier Servo motorServo amplifier

The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated

otherwise.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified

direction. Otherwise, the converter unit and the drive unit will malfunction and will not output signals,

disabling the emergency stop and other protective circuits.

DOCOM

24 V DC

Servo amplifier

For sink output interface

Control output

signal

DOCOM

Control output

signal

24 V DC

Servo amplifier

For source output interface

When the wires are not tightened enough to the terminal block, the wires or terminal block may generate

heat because of the poor contact. Be sure to tighten the wires with specified torque.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a

malfunction.

Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an

unexpected restart of the servo amplifier.

To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running

them in parallel to each other. Separate the power lines from the signal cables.

A - 5

(3) Test run and adjustment

CAUTION

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may

cause a malfunction, damage to the machine, or injury.

Before operation, check and adjust the parameter settings. Improper settings may cause some machines

to operate unexpectedly.

Never make a drastic adjustment or change to the parameter values as doing so will make the operation

unstable.

Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to stop the operation and shut the power off immediately.

For equipment in which the moving part of the machine may collide against the load side, install a limit

switch or stopper to the end of the moving part. The machine may be damaged due to a collision.

Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury,

etc. Disassembled, repaired, and/or modified products are not covered under warranty.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a

sudden restart. Otherwise, it may cause an accident.

Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic

interference may affect the electronic equipment used near the servo amplifier.

Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.

Use the servo amplifier with the specified servo motor.

Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may

cause an electric shock, fire, injury, etc.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be

used for ordinary braking.

For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and

the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft.

To ensure safety, install a stopper on the machine side.

If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an

external force. Otherwise, it may cause a fire.

A - 6

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may

cause an accident.

If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous

situation, use a servo motor with an electromagnetic brake or provide an external brake system for

holding purpose to prevent such hazard.

Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Servo motor

Electromagnetic brake

Contacts must be opened with

the emergency stop switch.

Contacts must be opened when ALM

(Malfunction) or MBR (Electromagnetic

brake interlock) turns off.

24 V DC

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.

If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety

before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.

Otherwise, it may cause smoke, fire, or an electric shock.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

After an earthquake or other natural disasters, ensure safety by checking the conditions of the

installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock,

injury, or fire.

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch.

It is recommended that the servo amplifier be replaced every 10 years when it is used in general

environment.

When using the servo amplifier that has not been energized for an extended period of time, contact your

local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn

without covers and safety guards. When the equipment is operated, the covers and safety guards must

be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 7

DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and

regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If

the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the

EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

Write to the EEP-ROM due to point table setting changes

STO function of the servo amplifier

When using the STO function of the servo amplifier, refer to chapter 13 of "MR-J4-_TM_ Servo Amplifier

Instruction Manual".

For the MR-J3-D05 safety logic unit, refer to app. 5 of "MR-J4-_TM_ Servo Amplifier Instruction Manual".

Compliance with global standards

For the compliance with global standards, refer to app. 4 of "MR-J4-_TM_ Servo Amplifier Instruction

Manual".

«About the manuals»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare

them to use the servo safely.

Relevant manuals

Manual name Manual No.

MELSERVO MR-J4-_TM_ Servo Amplifier Instruction Manual SH(NA)030193ENG

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO MR-D30 Instruction Manual (Note 5) SH(NA)030132ENG

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG

MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG

MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using an MR-D30 functional safety unit.

A - 8

«Wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the

following table.

Quantity SI (metric) unit U.S. customary unit

Mass 1 [kg] 2.2046 [lb]

Length 1 [mm] 0.03937 [inch]

Torque 1 [N•m] 141.6 [oz•inch]

Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]

Load (thrust load/axial load) 1 [N] 0.2248 [lbf]

Temperature N [°C] × 9/5 + 32 N [°F]

CONTENTS

1. EtherCAT COMMUNICATION 1- 1 to 1-12

1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function list ....................................................................................................................................... 1- 4

1.3 Communication specifications .......................................................................................................... 1- 7

1.4 EtherCAT State Machine (ESM) ....................................................................................................... 1- 8

1.4.1 Communication status ................................................................................................................ 1- 8

1.4.2 EtherCAT state ........................................................................................................................... 1- 9

1.4.3 Startup ....................................................................................................................................... 1-10

1.4.4 Network disconnection procedure ............................................................................................. 1-11

1.5 Summary of object dictionary (OD).................................................................................................. 1-12

1.5.1 Section definition of object dictionary ........................................................................................ 1-12

1.5.2 Saving object dictionary data to EEP-ROM .............................................................................. 1-12

2. EtherCAT NETWORK MODULE (ABCC-M40-ECT) 2- 1 to 2- 4

2.1 Specifications .................................................................................................................................... 2- 1

2.2 Parts identification ............................................................................................................................. 2- 2

2.3 LED indication ................................................................................................................................... 2- 2

2.3.1 LED indication definition ............................................................................................................. 2- 2

2.3.2 LED indication list ....................................................................................................................... 2- 3

2.4 Connecting Ethernet cable ............................................................................................................... 2- 4

3. PDO (PROCESS DATA OBJECT) COMMUNICATION 3- 1 to 3- 6

3.1 PDO communication cycle ................................................................................................................ 3- 1

3.2 PDO setting-related object ................................................................................................................ 3- 1

3.3 PDO default mapping ....................................................................................................................... 3- 2

3.4 PDO variable mapping ...................................................................................................................... 3- 4

3.5 Mapping-necessary objects .............................................................................................................. 3- 5

4. SDO (SERVICE DATA OBJECT) COMMUNICATION 4- 1 to 4- 2

4.1 SDO communication-related service ................................................................................................ 4- 1

4.2 SDO Abort Code ............................................................................................................................... 4- 2

5. CiA 402 DRIVE PROFILE 5- 1 to 5-90

5.1 FSA state .......................................................................................................................................... 5- 1

5.2 Controlword/Control DI ..................................................................................................................... 5- 4

5.2.1 Bit definition of Controlword ....................................................................................................... 5- 4

5.2.2 Bit definition of Control DI .......................................................................................................... 5- 5

5.3 Statusword/Status DO ...................................................................................................................... 5- 7

5.3.1 Bit definition of Statusword ......................................................................................................... 5- 7

5.3.2 Bit definition of Status DO .......................................................................................................... 5- 8

5.4 Control mode ................................................................................................................................... 5-12

5.4.1 Selecting control mode (Modes of operation) ........................................................................... 5-12

5.4.2 Control switching ....................................................................................................................... 5-12

5.4.3 Cyclic synchronous position mode (csp) .................................................................................. 5-13

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