Mitsubishi Electric Melservo-J5 MR-J5 Series User Manual Download | Manualshive

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12 USING A FULLY CLOSED LOOP SYSTEM

12.1 Precautions

413

12

12

USING A FULLY CLOSED LOOP SYSTEM

12.1

Precautions

• A fully closed loop system cannot be used for a 3-axis servo amplifier. If the fully closed loop system is enabled for a 3-axis

servo amplifier, [AL. 037 Parameter error] occurs.

• Fully closed loop systems can be used with servo amplifiers running firmware version A5 or later.
• A fully closed loop system can be used in the position mode.
• When a fully closed loop system is configured with equipment other than the MR-J5-_-RJ servo amplifier, the following

restrictions apply.

A/B/Z-phase differential output type encoders cannot be used.
Only the load-side encoders and servo motor encoders with the two-wire type communication method can be used. The load-
side encoders and servo motor encoders with the four-wire type communication method cannot be used.
When HK series rotary servo motors are used for drive and load-side encoders, four-wire type encoder cables cannot be
used.
• Select a load-side encoder of which the number of load-side encoder pulses per servo motor revolution satisfies the

following conditions.

4096 (2

12

)

≤

Number of load-side encoder pulses per servo motor revolution

≤

67108864 (2

26

)

• Load-side encoders support HK series servo motors and linear scale and A/B/Z-phase differential output type encoders.

For load-side encoders that can be used with the MR-J5 series, contact your local sales office.

• When a fully closed loop system is used for a 1-axis servo amplifier, if a communication cycle shorter than 125 µs is set,

[AL. 09E.A Communication cycle setting warning] occurs.

• When a fully closed loop system is used for a 2-axis servo amplifier, if a communication cycle shorter than 250 µs is set,

[AL. 09E.A] occurs.

• A/B/Z-phase differential output rotary encoders cannot be connected to the servo motor side.

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Summary of Contents for Melservo-J5 MR-J5 Series

Page 1: ...MR J5 User s Manual Hardware MR J5 _G_ MR J5W_ _G_ MR J5 _A_ Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ... Please follow the instructions of both levels because they are important to personnel safety Forbidden actions and required actions are indicated by the following diagrammatic symbols In this manual precautions for hazards that can lead to property damage instructions for other functions and other information are shown separately in the POINT area After reading this manual keep it accessible to t...

Page 4: ...efore wiring To prevent an electric shock connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the cabinet then connect the grounding lead wire to the ground To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the sw...

Page 5: ...nterface of the servo amplifier For details refer to the User s Manual Introduction This manual covers the following servo amplifiers MR J5 _G_ MR J5W_ _G_ MR J5 _A_ In this manual the servo amplifier names are abbreviated as shown below Symbol Servo amplifier G MR J5 _G_ WG MR J5W_ _G_ A MR J5 _A_ Rotary Servo Motor Linear Servo Motor Direct Drive Motor Partner Encoder Function Adjustment Object ...

Page 6: ...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 ...

Page 7: ...ure 30 Fan unit installation procedure 31 2 5 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m 31 CHAPTER 3 SIGNALS AND WIRING 32 3 1 Example power circuit connections 33 200 V class 34 Using servo amplifier with DC power supply input 38 3 2 Example I O signal connections 40 MR J5 _G_ 40 MR J5 _A_ 43 MR J5W_ _G_ 51 3 3 Explanation of power supply system 54 Expl...

Page 8: ... 200A_ MR J5 350A_ 106 MR J5 500A_ 107 MR J5 700A_ 107 4 3 MR J5W_ _G_ 108 MR J5W2 22G_ MR J5W2 44G_ 108 MR J5W2 77G_ MR J5W2 1010G_ 108 MR J5W3 222G_ MR J5W3 444G_ 109 4 4 Connector 110 CN3 connector G 110 CN3 connector A 111 CN3_connector WG 112 SCR connector system 3M 113 CHAPTER 5 CHARACTERISTICS 114 5 1 Overload protection characteristics 114 5 2 Power supply capacity and generated loss 117 P...

Page 9: ...minal block recommended G 190 6 6 MR TB50 junction terminal block A 192 6 7 MR TB26A junction terminal block WG 194 6 8 MR Configurator2 196 Engineering tool 196 Precautions for using USB communication function and Ethernet communication function 196 6 9 Selection example of wires 197 6 10 Molded case circuit breakers fuses magnetic contactors 199 Main circuit wiring connecting multiple servo ampl...

Page 10: ... G WG 263 Restrictions A 263 Precautions 263 System architecture 264 Servo parameter setting G WG 264 Servo parameter setting A 264 Homing 264 Checking the detected absolute position data 265 Procedure of replacing a servo motor with battery less absolute position encoder 265 7 2 Battery less battery 266 Connecting the battery less encoder 266 Connecting the battery backup type absolute position e...

Page 11: ...ol by network 301 9 2 System Architecture 302 Safety sub function control by input device 302 Safety sub function control by network 303 9 3 Specifications 304 9 4 Connectors and pin assignments 304 9 5 Example I O signal connections 305 Input signal 305 Output signal 305 9 6 Connecting I O interfaces 306 Source input 306 Sink input 306 9 7 Wiring the SBC output 307 9 8 Noise reduction techniques ...

Page 12: ...ure 365 Magnetic pole detection 366 11 3 Startup A 374 Startup procedure 375 Magnetic pole detection 376 11 4 Basic functions 385 Operation from controller 385 Servo control error detection function 385 11 5 Characteristics 388 Overload protection characteristics 388 Power supply capacity and generated loss 391 Power supply capacity and generated loss WG 392 Dynamic brake characteristics 394 Permi...

Page 13: ... parameter setting 422 Checking position data of the load side encoder 429 12 5 Basic functions 430 Homing 430 Operation from controller 433 Fully closed loop control error detection function 433 About MR Configurator2 435 12 6 Options and peripheral equipment 437 MR J4FCCBL03M branch cable 437 12 7 Absolute position detection system 438 REVISIONS 440 WARRANTY 441 TRADEMARKS 442 ...

Page 14: ...tary encoder Rotary Servo Motor User s Manual HK series Page 311 USING A LINEAR SERVO MOTOR Page 363 USING A DIRECT DRIVE MOTOR Page 413 USING A FULLY CLOSED LOOP SYSTEM 5 Connecting options Connect options Page 152 OPTIONS AND PERIPHERAL EQUIPMENT 6 Other precautions If using the absolute position detection system and the STO function perform wiring and settings as necessary Page 263 ABSOLUTE POS...

Page 15: ...o motors the maximum torque does not increase even when they are combined with a servo amplifier whose combination allows for increased torque as specified in the following tables 1 axis servo amplifier Standard torque Increased torque Rotary servo motor Servo amplifier MR J5 _ 10_ 20_ 40_ 60_ 70_ 100_ 200_ 350_ HK KT_W 40 HK KT053W HK KT13W HK KT1M3W 60 HK KT13UW HK KT23W HK KT43W HK KT63W 80 HK ...

Page 16: ...y servo motor linear servo motor and direct drive motor Standard torque Increased torque Rotary servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ 22G 44G 77G 1010G 222G 444G HK KT_W 40 HK KT053W HK KT13W HK KT1M3W 60 HK KT13UW HK KT23W HK KT43W HK KT63W 80 HK KT23UW HK KT43UW HK KT7M3W HK KT103W 90 HK KT7M3UW HK KT103UW HK KT_4_W 60 HK KT434W HK KT634W 80 HK KT7M34W HK KT1034W 90 HK ...

Page 17: ...2W Multi axis servo amplifier As long as the servo motor is compatible with the servo amplifier any combination of the following is possible servo motor series capacity rotary servo motor linear servo motor and direct drive motor Standard torque Increased torque Rotary servo motor Servo amplifier MR J5 _ 40_ 60_ 70_ 100_ 200_ 350_ 500_ 700_ HK ST_W 1 130 HK ST52W HK ST102W HK ST172W HK ST202AW HK ...

Page 18: ... BSS0 LM H3P3A 12P CSS0 LM H3S30 288 CSS0 LM H3S30 384 CSS0 LM H3S30 480 CSS0 LM H3S30 768 CSS0 LM H3P3B 24P CSS0 LM H3P3C 36P CSS0 LM H3P3D 48P CSS0 LM H3P7A 24P ASS0 LM H3S70 288 ASS0 LM H3S70 384 ASS0 LM H3S70 480 ASS0 LM H3S70 768 ASS0 LM H3P7B 48P ASS0 LM H3P7C 72P ASS0 LM H3P7D 96P ASS0 Linear servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ Primary side coil Secondary side ma...

Page 19: ...0 0SS0 LM U2SA0 420 0SS0 LM U2PAD 10M 0SS0 LM U2PAF 15M 0SS0 LM U2PBB 07M 1SS0 LM U2SB0 240 1SS1 LM U2SB0 300 1SS1 LM U2SB0 420 1SS1 LM U2PBD 15M 1SS0 LM U2PBF 22M 1SS0 LM U2P2B 40M 2SS0 LM U2S20 300 2SS1 LM U2S20 480 2SS1 LM U2P2C 60M 2SS0 LM U2P2D 80M 2SS0 Linear servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ Primary side coil Secondary side magnet 22G 44G 77G 1010G 222G 444G LM...

Page 20: ... FS40 480 1SS0 LM FS40 576 1SS0 LM FP4D 24M 1SS0 Linear servo motor Servo amplifier MR J5 _ Primary side coil Secondary side magnet 40_ 70_ 200_ 350_ 500_ LM K2P1A 01M 2SS1 LM K2S10 288 2SS1 LM K2S10 384 2SS1 LM K2S10 480 2SS1 LM K2S10 768 2SS1 LM K2P1C 03M 2SS1 LM K2P2A 02M 1SS1 LM K2S20 288 1SS1 LM K2S20 384 1SS1 LM K2S20 480 1SS1 LM K2S20 768 1SS1 LM K2P2C 07M 1SS1 LM K2P2E 12M 1SS1 LM K2P3C 14...

Page 21: ... AJS20 080 JSS0 LM AJS20 200 JSS0 LM AJS20 400 JSS0 LM AJP2D 23T JSS0 LM AJP3B 17N JSS0 LM AJS30 080 JSS0 LM AJS30 200 JSS0 LM AJS30 400 JSS0 LM AJP3D 35R JSS0 LM AJP4B 22M JSS0 LM AJS40 080 JSS0 LM AJS40 200 JSS0 LM AJS40 400 JSS0 LM AJP4D 45N JSS0 Linear servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ Primary side coil Secondary side magnet 40_ 77_ 1010_ 444_ LM AJP1B 07K JSS0 LM...

Page 22: ... servo motor linear servo motor and direct drive motor Standard torque Direct drive motor Servo amplifier MR J5 _ 20_ 40_ 60_ 70_ 100_ 350_ 500_ TM RFM002C20 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM048G20 TM RFM072G20 TM RFM040J10 TM RFM120J10 TM RFM240J10 Direct drive motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ 22G 44G 77G 1010G 222G 444G ...

Page 23: ...he following is possible servo motor series capacity rotary servo motor linear servo motor and direct drive motor Standard torque Increased torque Direct drive motor Servo amplifier MR J5 _ 20_ 40_ TM RG2M002C30 TM RU2M002C30 TM RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 Direct drive motor Servo amplifier MR J5W2 Servo amplifier MR J5W3 22G 44G 77G 1010G 222G 444G TM RG2M002C30 TM RU2M00...

Page 24: ...r supply system wiring Check that the power supplied to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier satisfies the defined specifications For the power supply specifications refer to Servo amplifier standard specifications in User s Manual Introduction If the power factor improving DC reactor is not used check that P3 and P4 are connected P3 P4 Servo amplifier ...

Page 25: ...l cause the servo amplifier and the servo motor to malfunction Check that the grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier Check that the CN2 connector of the servo amplifier is securely connected to the encoder of the servo motor using a motor cable or encoder cable U M V W U V W Servo amplifier Servo motor CNP3A CNP3B CNP3C U V W M U V W M U V E E ...

Page 26: ... DC reactor Check that a power factor improving DC reactor is connected between P3 and P4 Page 209 Power factor improving DC reactor 1 Remove the wire between P3 and P4 I O signal wiring Check that I O signals are connected correctly If the DO forced output mode is used the pins of the CN3 connector can be forcibly switched on off This mode is used to check the wiring In this case switch on the co...

Page 27: ...and servo motor Handling cables Check that the wiring cables have not been stressed Check that the encoder cable has been used within its flex life Page 150 Cable flex life Check that the connector of the servo motor has not been stressed Environment Check that signal cables and power cables have not been shorted primarily by wire offcuts and metallic dust ...

Page 28: ...For the environment refer to Servo amplifier standard specifications in the User s Manual Introduction To prevent a fire or injury from occurring in the event of an earthquake or other natural disaster securely install mount and wire the servo amplifier as stated in the user s manual When the product has been stored for an extended period of time contact your local sales office When handling the s...

Page 29: ...a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances When mounting servo amplifiers in this manner keep the ambient temperature within 0 C to 45 C or use the servo amplifiers with 75 or less of the effective load ratio 1 Leave a clearance of 100 mm or more above the fan units Cabinet Cabinet 40 mm or more Wiring allowance Servo amplifier 80 mm or more 1...

Page 30: ...nt the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions When closely mounting the servo amplifiers leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances When mounting servo amplifiers in this manner keep the ambient temperature within 0 C to 45 C or use the servo amplifiers with 75 or less of t...

Page 31: ...nection When used for applications where the servo motor moves fix the cable encoder power supply brake with gentle slack from the connecting part of the connector to prevent stress from being applied to the connecting part of the servo motor connector Use the optional motor cable encoder cable within the flex life range Prevent the cable insulator from being cut by sharp chips or from touching an...

Page 32: ... procedure Fan unit removal procedure 1 Remove the screws that fixed the fan unit Keep the removed screws for installation of the new fan unit 2 Pull up the cover of the fan unit using a precision screwdriver 3 Pull out the fan unit vertically ...

Page 33: ...ers close together while using them in environments comparable to those within the diagonal lines in the figure above use them at an effective load ratio of 75 or less Input voltage Generally withstand voltage decreases as altitude increases however there is no restriction on the withstand voltage Use in the same manner as when the altitude is 1000 m or less Parts with a service life Smoothing cap...

Page 34: ...n the correct direction Failing to do so may cause the amplifier to malfunction and not to output signals disabling protective circuits such as the emergency stop If the wires are not properly secured to the terminal block the poor contact may cause the wires and terminal block to generate heat Be sure to secure the wires with the specified torque Connecting the servo motor for an incorrect axis t...

Page 35: ...mmunication will be interrupted In the torque mode EM2 functions the same as EM1 If using the MR J5 servo amplifier with the DC power supply input refer to the following Page 38 Using servo amplifier with DC power supply input To prevent malfunction avoid bundling the servo amplifier s power lines input output and signal cables together or running them parallel to each other Separate the power lin...

Page 36: ...C to 240 V AC power supply G A MC 6 L1 L2 L3 P3 P4 P L11 L21 N D C U V W CNP1 12 CNP3 8 CNP2 U V E W CN2 8 MC MCCB MC SK M RA1 RA2 5 3 7 2 1 10 Malfunction 4 OFF ON Emergency stop switch Servo amplifier Servo motor 3 phase 200 V AC to 240 V AC 9 Motor Encoder Servo motor overheat protection 11 ...

Page 37: ...and operation pattern causing a dynamic brake deceleration during a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 199 Molded case circuit breakers fuses magnetic contactors 8 Connecting the servo motor for an ...

Page 38: ...CNP1 CNP3A 9 CNP2 U V W CN2A MC MCCB MC SK M N RA1 4 7 U V W CNP3B 9 U V W CN2B M 4 U V W CNP3C 9 U V E E E W CN2C M 4 PE 1 2 2 2 10 RA2 AND malfunction 3 OFF ON Emergency stop switch Servo amplifier A axis servo motor Power supply 6 Motor Encoder B axis servo motor Motor Encoder C axis servo motor 8 Motor Encoder Servo motor overheat protection 11 ...

Page 39: ...top deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 6 For 1 phase 200 V AC to 240 V AC power supply connect the power supply to L1 and L3 Leave L2 open 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 199 Molded case circuit breakers fuses magnetic contactors 8 This is fo...

Page 40: ...ng a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 3 Operating the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 4 Do not share the 24 V DC power supply for interface with a magnetic contactor Use the power supply designed exclusively for the magnetic contactor 5 If wires used for L11 a...

Page 41: ... is not required delay the time to turn off the magnetic contactor 3 Operating the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 4 Do not share the 24 V DC power supply for interface with a magnetic contactor Use the power supply designed exclusively for the magnetic contactor 5 If wires used for L11 and L21 are thinner than wires used for L1 L2 L3 and N use a...

Page 42: ...M 5 CN1A CN1B RA1 RA2 RA3 CN8 DC 10 V DC 10 V MR J3USBCBL3M 1 CN6 MR Configurator2 5 Servo amplifier 10 m or less 10 m or less 24 V DC 9 Main circuit power supply 7 Forced stop 2 3 Forward rotation stroke end Electromagnetic brake interlock 13 Reverse rotation stroke end In position Proximity dog 16 Malfunction 10 24 V DC 9 Encoder A phase pulse differential line driver Encoder B phase pulse diffe...

Page 43: ...rcuit connector that came with the servo amplifier 9 Supply 24 V DC 10 to interfaces from outside The total current capacity of these power supplies is 300 mA maximum The amperage will not exceed 300 mA when all I O signals are used Reducing the number of I O points decreases the current capacity For the amperage required for interfaces refer to the following Page 93 Digital input interface DI 1 A...

Page 44: ...tor2 5 Servo amplifier 10 m or less 10 m or less 24 V DC 9 14 Main circuit power supply 7 Forced stop 2 3 Forward rotation stroke end Electromagnetic brake interlock 13 Reverse rotation stroke end In position Proximity dog 16 Malfunction 10 24 V DC 9 14 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse differential line driver Contr...

Page 45: ... Servo amplifier 4 10 m or less 24 V DC 4 Positioning module 24 V DC 4 Malfunction 6 Zero speed detection Limiting torque In position Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Plate Control common 10 m or less 8 Control common Encoder Z phase pulse open collector Plate 2 m or less Upper limit setting Analog torque limit 10 V maximum torque Plate ...

Page 46: ...rotation stroke end normally closed contact 6 If no alarm is occurring ALM Malfunction is on normally closed contact If an alarm occurs stop programmable controller s signals with a sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies when the command pulse train input is the differential line driver type In the case of the open collector...

Page 47: ... CN1 CN8 1 MR Configurator2 9 Servo amplifier 10 m or less 24 V DC 4 14 Positioning module 24 V DC 4 14 Malfunction 6 Zero speed detection Limiting torque In position Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Plate Control common 10 m or less 8 Control common Encoder Z phase pulse open collector Plate 2 m or less Upper limit setting Analog torque...

Page 48: ...d selection 1 Malfunction 6 Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque Forward rotation stroke end Speed reached Reverse rotation stroke end Ready 24 V DC 4 Upper limit setting Encoder Z phase pulse differential line driver Analog speed command 10 V rated speed Encoder A phase pulse differential line driver Upper limit setting Analog torque...

Page 49: ...though the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 5 When starting operation turn on EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end normally closed contact 6 If no alarm is occurring ALM Malfunction is on normally...

Page 50: ... Forced stop 2 3 5 Servo on Reset Speed selection 1 Malfunction 6 Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque Forward rotation stroke end Speed reached Reverse rotation stroke end Ready 24 V DC 4 12 Upper limit setting Encoder Z phase pulse differential line driver Analog speed command 10 V rated speed Encoder A phase pulse differential line...

Page 51: ...ng the STO function attach the short circuit connector that came with the servo amplifier 9 To prevent an unexpected restart of the servo amplifier configure a circuit that turns off EM2 when the main circuit power supply is turned off 10 For source interfaces the positive and negative outputs of the power supply are reversed as compared with sink interfaces 46 DOCOM 48 ALM 23 ZSP 25 VLC 49 RD 4 L...

Page 52: ...ply 9 24 V DC 4 10 Forced stop 2 3 Servo on Reset Speed selection 1 Malfunction 5 Speed selection 2 Zero speed detection Forward rotation selection Reverse rotation selection Limiting speed Ready 24 V DC 4 10 Upper limit setting Encoder Z phase pulse differential line driver Analog torque command 8 V maximum torque Encoder A phase pulse differential line driver Upper limit setting Analog speed lim...

Page 53: ...ion stroke end for A axis Electromagnetic brake interlock for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Electromagnetic brake interlock for B axis Forward rotation stroke end for B axis Electromagnetic brake interlock for C axis 13 Reverse rotation stroke end for B axis Proximity dog for B axis Forward rotation stroke end for C axis Reverse rotation stroke end for C ax...

Page 54: ...I O signals are used Reducing the number of I O points decreases the current capacity For the amperage required for interfaces refer to the following Page 93 Digital input interface DI 1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 7 If no alar...

Page 55: ...d rotation stroke end for A axis Electromagnetic brake interlock for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Electromagnetic brake interlock for B axis Forward rotation stroke end for B axis Electromagnetic brake interlock for C axis 13 Reverse rotation stroke end for B axis Proximity dog for B axis Forward rotation stroke end for C axis Reverse rotation stroke end f...

Page 56: ... are connected from the factory If using the power factor improving DC reactor disconnect P3 and P4 and connect the power factor improving DC reactor between P3 and P4 P C D Connection destination Regenerative option If using a servo amplifier built in regenerative resistor connect P and D P and D are connected from the factory If using a regenerative option disconnect P and D and connect the rege...

Page 57: ...amplifier as this will lead to abnormal operation or malfunction N Connects to Simple converters and multifunction regeneration converters This terminal is used to connect a simple converter or a multifunction regeneration converter Page 173 MR CM simple converter Page 183 FR XC multifunction regeneration converter Connection destination Protective earth PE Connect a servo amplifier to the groundi...

Page 58: ...the main circuit power supply is off AL 0E9 Main circuit off warning will occur Turning on the main circuit power supply stops the warning and starts the operation properly 3 When the main circuit power supply is switched on the servo amplifier will receive the servo on command after startup and initial network communication The startup time for 1 axis servo amplifiers is 2 5 s to 3 5 s and the st...

Page 59: ...it power supply is not on the display shows the corresponding warning However the warning will disappear and the servo amplifier will operate properly if the main circuit is powered on 3 The servo amplifier receives the SON Servo on 2 5 s to 3 5 s after the main circuit power supply is powered on 4 Once RES Reset is turned on the base circuit is shut off and the servo motor shaft coasts Timing cha...

Page 60: ...er Connector MR J5 10_ to MR J5 100_ MR J5 200_ MR J5 350_ Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK K7 5 LA AWG 18 to 14 3 9 mm or less 9 J FAT OT K JST CNP2 05JFAT SAXGDK K5 0 LA CNP3 03JFAT SAXGDK K7 5 LA Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP...

Page 61: ...XGDK P15 LA AWG 18 to 8 7 6 mm or less 12 J FAT OT P JST CNP1B 03JFAT SAYGDK P15 LB CNP2 05JFAT SAXGDK H5 0 LA AWG 18 to 14 3 9 mm or less 9 J FAT OT N CNP3 03JFAT SAZGDK P15 LC AWG 18 to 8 7 6 mm or less 12 J FAT OT P Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK K7 5 LB AWG 18 to 14 3 9 mm or less 9 J FAT OT K JST CNP...

Page 62: ...eptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGFK XL LB AWG 16 to 10 4 7 mm or less 11 5 J FAT OT EXL JST CNP2 05JFAT SAXGDK H5 0 LA AWG 18 to 14 3 9 mm or less 9 CNP3A CNP3B 04JFAT SAGG G KK AWG 18 to 14 3 9 mm or less 9 CNP1 CNP2 CNP3A CNP3B ...

Page 63: ... Check the wire insertion depth so that the wire insulator is not caught by the spring and that the conductive part of the stripped wire is not exposed Release the open tool to fix the wire Pull the wire lightly to confirm that the wire is surely connected In addition confirm that the ends of the core wires do not stick out of the connector Servo amplifier Wire size Ferrule model Phoenix Contact C...

Page 64: ...wed from the cable connector wiring section For information on the functional safety I O signal connector CN8 refer to the following page Page 287 USING STO FUNCTION For wiring to the I O signal connector CN3 securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Screw Cable Screw Ground plate ...

Page 65: ...protective earth grounding terminal in the servo amplifier 1 The MR J5 _G_ servo amplifier does not have the CN2L connector 2 Refer to the following for CN8 Page 290 Functional safety I O signal connector CN8 and pin assignments CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 LSP ADIN0 DOCOM DICOM LZ LSN ADIN1 EM2 TPR1 LG TPR2 MBR LBR LA LB LZR LAR ALM DOG INP 4 MRR 2 LG 8 6 1 P5 5 10 3 MR ...

Page 66: ... to the following for CN8 Page 290 Functional safety I O signal connector CN8 and pin assignments The device assignment of the CN3 connector pins changes depending on the control mode The device of each pin which has servo parameters stated in the related servo parameter column can be changed using the stated servo parameters 2 LG 3 MO2 1 MO1 CN6 CN3 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT CN2 MXR M...

Page 67: ...S1 TL Pr PD09 Pr PD10 19 I RES RES RES RES RES RES Pr PD11 Pr PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP SA SA SA INP Pr PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr PD24 24 O INP INP SA SA SA INP Pr PD25 25 O TLC TLC TLC TLC VLC VLC VLC TLC Pr PD26 26 27 I TLA TLA TLA TLA TC TC TC TLA 28 LG LG LG LG LG LG 29 30 LG LG LG LG LG LG 31 32 33 O OP OP OP OP ...

Page 68: ...switching mode 3 Output devices are not assigned by default Assign the output devices with Pr PD47 as necessary This pin can be used only on the MR J5 _A_ RJ_ 4 This is available as an input device of a sink interface If using it assign the input device with Pr PD43 to Pr PD46 as necessary In addition supply of 24 V DC to the CN3 12 pin 5 This is available as an input device of a source interface ...

Page 69: ...h grounding terminal in the servo amplifier 1 This is for the MR J5W3 _G_ servo amplifier 2 Refer to the following for CN8 Page 290 Functional safety I O signal connector CN8 and pin assignments 14 LG LA A 1 15 2 16 3 17 4 18 5 19 6 20 7 21 8 22 9 23 10 24 11 25 12 26 13 LBR A LAR A LB A LA B LBR B LAR B LB B DI1 A DI2 B DI1 B DI2 A DI3 A DICOM DI3 B EM2 CALM MBR B CINP MBR A DOCOM 2 LG 4 MRR 3 MR...

Page 70: ... J5 _G_ RJ_ MR J5W2 _G_ Connector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 2 Pr PD03 LSP Impossible DI 1 CN3 12 Pr PD04 LSN CN3 19 Pr PD05 DOG CN3 20 EM2 Connector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 1 Pr PD39 TPR2 Possible DI 1 CN3 2 Pr PD03 LSP Impossible CN3 10 Pr PD38 TPR1 Possible CN...

Page 71: ...nector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 1 Pr PD03 C axis LSP C Impossible DI 1 CN3 2 Pr PD04 C axis LSN C CN3 7 Pr PD03 A axis LSP A CN3 8 Pr PD04 A axis LSN A CN3 9 Pr PD05 A axis DOG A Possible CN3 10 EM2 Impossible CN3 15 Pr PD05 C axis DOG C Possible CN3 20 Pr PD03 B axis LSP B Impossible CN3 21 Pr PD04 B axis LSN B CN3 22 Pr PD05 B ...

Page 72: ...ternal torque limit selection TL DI 1 Page 73 TL External torque limit selection Internal torque limit selection TL1 DI 1 Page 73 TL1 Internal torque limit selection Forward rotation start ST1 DI 1 Page 73 ST1 Forward rotation start ST2 Reverse rotation start Reverse rotation start ST2 DI 1 Forward rotation selection RS1 DI 1 Page 74 RS1 Forward rotation selection RS2 Reverse rotation selection Re...

Page 73: ... switch the speed amplifier from the proportional integral type to the proportional type If a servo motor is rotated even for a pulse due to any external factor while it is at a stop it generates torque to compensate for a position mismatch If locking the servo motor shaft mechanically after positioning completes turn on PC Proportional control upon completion of positioning to suppress the unnece...

Page 74: ...ifiers with firmware version A5 or later Input device explanation G WG DOG Proximity dog Turning off DOG will detect a proximity dog The polarity for the proximity dog can be changed with Pr PT29 0 TPR1 touch probe 1 TPR2 touch probe 2 TPR3 touch probe 3 These devices can be used only on the MR J5 _G_ RJ_ or multi axis servo amplifiers Refer to the following table for servo amplifiers on which TPR...

Page 75: ... shut off This device is not designed to make a stop Do not turn it on during operation TL External torque limit selection When TL is off Pr PA11 and Pr PA12 are enabled When TL is on TLA Analog torque limit is enabled MR J5 User s Manual Function TL1 Internal torque limit selection When TL1 is on Pr PC35 is enabled When TL1 is off the TL condition is enabled MR J5 User s Manual Function ST1 Forwa...

Page 76: ...enables to select four different electronic gear numerators set in the parameters CM1 and CM2 cannot be used in the absolute position detection system Input device Torque generation direction RS2 RS1 0 off 0 off Torque is not generated 0 off 1 on Forward rotation in power running mode reverse rotation in regenerative mode 1 on 0 off Reverse rotation in power running mode forward rotation in regene...

Page 77: ...quest device If Pr PA03 0 is set to 1 and the absolute position detection system by DIO is selected ABSR will be assigned to the CN3 18 pin Page 263 ABSOLUTE POSITION DETECTION SYSTEM PEN command input permission signal If PEN is selected as an input device command pulse trains are accepted while PEN is on Available on servo amplifiers with firmware version A5 or later MECR motor side load side de...

Page 78: ...r PD07 C axis MBR C CN3 24 Pr PD08 common CINP CN3 11 Pr PD09 common CALM Device name Symbol Model I O signal interface type Detailed explanation G A P S T Malfunction ALM DO 1 Page 77 ALM Malfunction In position INP DO 1 Page 77 INP In position Ready RD DO 1 Page 77 RD Ready Speed reached SA DO 1 Page 77 SA Speed reached Warning WNG DO 1 Page 78 WNG Warning Battery warning BWNG DO 1 Page 78 BWNG ...

Page 79: ...en the set speed is 20 r min or less SA is always on The device cannot be used in the position mode and torque mode For the MR J5 _A_ servo amplifier SA does not turn ON even when the servo motor speed reaches the set speed by external force when both ST1 forward rotation start and ST2 reverse rotation start are off Zero speed detection ZSP DO 1 G WG Page 79 ZSP Zero speed detection A Page 80 ZSP ...

Page 80: ... warning WNGSTOP will turn on if a warning that the motor cannot be driven occurs If a motor stop warning is not occurring WNGSTOP will turn off in 2 5 s to 3 5 s after power on or in 3 5 s to 4 0 s for a multi axis servo amplifier CDPS Variable gain enabled When the gain of Gain switching is enabled CDPS is on CDPS2 Variable gain enabled 2 If the gain of Gain switching 2 is enabled CDPS2 will tur...

Page 81: ... when the servo motor speed is reduced to 50 r min at 1 and will turn off when the servo motor is increased to 70 r min again at 2 ZSP will turn on when the servo motor is decelerated again to 50 r min at 3 and will turn off when the servo motor speed reaches 70 r min at 4 The range from the point when the servo motor speed has reached the on level and ZSP turns on to the point when the speed has ...

Page 82: ...evel is called a hysteresis width The hysteresis width is 20 r min for this servo amplifier If using a linear servo motor replace r min with mm s TLC Limiting torque When torque is generated TLC will turn on if the torque reaches the torque limit value set with any of Pr PA11 Pr PA12 or TLA Analog torque limit ABSB0 ABS transmission data bit 0 This is used to output ABS transmission data bit 0 If ...

Page 83: ...ning is occurring ALMWNG will turn on in 2 5 s to 3 5 s after power on BW9F AL9F warning When AL 9F Battery warning occurs BW9F turns on In the absolute position detection system with a battery less ABS encoder BW9F is always off PENS command pulse train input permitted While the command pulse train input can be received PENS is on In addition if PEN has not been assigned to the input device PENS ...

Page 84: ... to TC the value is clamped at the maximum torque VC Analog speed command Apply 0 V DC to 10 V DC between VC and LG At 10 V the servo motor speed is the value set in Pr PC12 MR J5 User s Manual Function If a value equal to or larger than the maximum speed is input to VC the value is clamped at the maximum speed When changing the speed to the permissible speed change the setting value in Pr PA28 4 ...

Page 85: ...ase pulse trains 200 kpulses s will be the frequency after multiplication by four Input the forward rotation pulse train between PP and DOCOM Input the reverse rotation pulse train between NP and DOCOM For open collector type source input interface The maximum input frequency is 200 kpulses s For A phase and B phase pulse trains 200 kpulses s will be the frequency after multiplication by four Inpu...

Page 86: ... encoder zero point signal is output in the differential line driver type One pulse is output per servo motor revolution LZ LZR are on at the zero point position The minimum pulse width is about 400 μs For homing using this pulse set the creep speed to 100 r min or less Multi axis servo amplifiers do not support this output signal MO1 Analog monitor 1 This signal outputs the data set in the servo ...

Page 87: ...or source interfaces connect the positive terminal of the 24 V DC external power supply LG Monitor common LG is a common terminal of MO1 and MO2 SD Shield Connect the external conductor of a shielded wire to SD Power supply explanation A OPC Open collector Sink interface power supply input Position control mode When inputting a pulse train in the open collector type with sink interface supply the ...

Page 88: ... LG 11 CN3 3 13 9 15 DOCOM INP 2 ALM USB D GND D 2 3 5 CN5 MBR MR2 MRR2 MX2 MXR2 CN2L 4 RA RA RA 3 3 2 4 7 8 LG CN6 MO1 MO2 LG 3 2 1 DC 10 V DC 10 V EM2 CN3 20 LSP 2 LSN 12 DOG 6 19 TPR1 5 10 1 5 TPR2 5 DICOM 3 Servo amplifier 24 V DC 1 Isolated Differential line driver output 35 mA or less Servo motor Encoder External encoder Encoder Analog monitor Forced stop Approx 6 2 kΩ Approx 6 2 kΩ 7 Approx...

Page 89: ...I O interface For the source I O interface refer to the following Page 97 Source I O interface 4 Refer to Parts identification in User s Manual Introduction for connecting an external encoder 5 This device can be used only on the MR J5 _G_ RJ_ 6 If the MR J5 _G_ RJ_ is used the device has the same circuit configuration as TPR1 and TPR2 In addition the touch probe function can be selected 7 Approxi...

Page 90: ... P T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG 28 LG 30 LG SD RS 422 RS 485 9 CN2 2 4 7 8 MR MRR MX MXR LG 3 1 1 DC 10 V DC 10 V P S T 1 PP 10 PG 11 NP 35 PP2 37 NP2 38 NG 36 2 1 8 8 S 29 32 39 40 28 P S T 1 P S T 1 P S T 1 E M USB D GND D 2 3 5 CN5 MR2 MRR2 MX2 MXR2 CN2L 4 6 3 2 4 7 8 LG P S T P S T 1 RA RA 3 Servo amplifier Approx 6 2 kΩ 24 V DC 5 Approx 6 2 kΩ Approx 4 3 kΩ 24 V DC 5 Approx 1 2 kΩ App...

Page 91: ...signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 6 Refer to Parts identification in User s Manual Introduction for connecting an external encoder 7 Output devices are not assigned by default Assign the output devices with Pr PD47 as necessary 8 If the MR J5 _A_ RJ_ is used the values ...

Page 92: ...90 3 SIGNALS AND WIRING 3 6 Interface Internal connection diagram WG Refer to the following for the CN8 connector Page 287 USING STO FUNCTION ...

Page 93: ... A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2A 6 19 LAR A LB A LBR A LA B LAR B LB B LBR B 14 LG CNP3A 2A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2B CNP3B 2A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2C CNP3C 2A CN6 MO1 MO2 LG 3 2 1 DC 10 V DC 10 V Servo amplifier 24 V DC 6 24 V DC 6 Approx 5 6 kΩ Approx 5 6 kΩ Differential line driver output 35 mA or less 5 Isolated A axis servo motor Encoder B axis servo motor Encod...

Page 94: ...nterface 3 The diagram is for 3 axis servo amplifiers 4 In the initial setting CINP AND in position is assigned to this pin The device of the pin can be changed with Pr PD08 0 5 This signal cannot be used on 3 axis servo amplifiers 6 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to...

Page 95: ... interfaces of the CN3 1 pin CN3 10 pin and CN3 19 pin of the MR J5 _G_ RJ_ approximately 4 3 kΩ For interfaces of the CN3 16 pin CN3 45 pin and CN3 50 pin of the MR J5 _A_ RJ_ approximately 4 3 kΩ For interfaces of the CN3 7 pin CN3 9 pin CN3 15 pin and CN3 22 pin of the MR J5W_ _G_ approximately 4 3 kΩ 2 It is 500 mA for the MR J5 _A_ The following diagram is for when the CN3 10 pin and the CN3 ...

Page 96: ... V from an external source 2 It is 500 mA for the MR J5 _A_ Refer to the following for the source output Page 97 Source I O interface Pulse train input interface DI 2 A Give a pulse train signal in the differential line driver type or open collector type Differential line driver type Interface 1 A photocoupler is used as the pulse train input interface Therefore this circuit may not operate proper...

Page 97: ...ncoder output pulse DO 2 Differential line driver type Interface Maximum output current 35 mA Output pulse OPC SD DOCOM 1 PP NP Servo amplifier Max input pulse frequency 200 kpulses s 24 V DC Approx 1 2 kΩ 2 m or less 0 9 0 1 tc tLH tc tHL tF PP NP tLH tHL 0 2 μs tc 2 μs tF 3 μs 150 Ω LA LB LZ LAR LBR LZR SD LG 100 Ω LAR LBR LZR SD LA LB LZ Servo amplifier Servo amplifier Am26LS32 or equivalent Hi...

Page 98: ...og output AO 1 1 The output voltage varies depending on the output contents SD LG OP SD LG OP Servo amplifier Servo amplifier Photocoupler 5 V DC to 24 V SD LG P15R DC 15 V 2 kΩ Servo amplifier Upper limit setting 2 kΩ VC etc Approx 10 kΩ LG MO1 MO2 Servo amplifier Output voltage 10 V 1 Maximum output current 1 mA Resolution 10 bits or its equivalent ...

Page 99: ... pin CN3 9 pin CN3 15 pin and CN3 22 pin of the MR J5W_ _G_ approximately 4 3 kΩ 2 It is 500 mA for the MR J5 _A_ Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current flows from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier 1 If the volta...

Page 100: ...ore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line Input pulse condition PG SD NP2 NG PP2 500 mA 10 1 1 VCES 1 0 V ICEO 100 μA VCES 1 0 V ICEO 100 μA Servo amplifier Max input pulse frequency 200 kpulses s Approx 20 mA Approx 1 2 kΩ Approx 20 mA Approx 1 2 kΩ 24 V DC 0 9 0 1 tc tLH tc tHL tF PP2 NP2 tLH tHL 0 2 μs tc 2 μs...

Page 101: ...ccurs 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 that interlocks with the external emergency stop switch Before operating the servo motor confirm that the electromagnetic brake operates properly For the power supply of the electromagnetic brake use the power supply designe...

Page 102: ...3 _G_ servo amplifier 4 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply CALM DOCOM MBR A EM2 DICOM RA1 RA2 B RA5 2 B2 U B1 EM2 RA3 RA4 MBR B MBR C B B2 U B1 CALM RA1 MBR A RA2 MBR B RA3 B B2 U B1 MBR C RA4 3 Servo amplifier 24 V DC 4 24 V DC for e...

Page 103: ...owing diagram and ground it For information on how to comply with the EMC Directive refer to EMC Installation Guidelines V U U E V W W CN2 L11 L1 L2 L3 L21 MC MCCB M Cabinet Servo amplifier Servo motor Line filter Encoder Power supply Outer box Protective earth PE To ground the servo motor connect the grounding lead wire to the servo amplifier then connect the wire from the servo amplifier to the ...

Page 104: ... 168 Approx 6 2 M5 screw Locking tab Terminal assignment Screw size M4 Tightening torque 1 2 N m Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m 6 156 10 6 172 165 40 6 6 170 168 CNP2 CNP1 CNP3 156 0 5 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE CN6 CN5 CN8 CN3 CN2 CN1A CN1B CN2L CN4 φ6 mounting hole Grounding terminal Approx 80 Approx 6 Approx 6 A...

Page 105: ...ation diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab 6 6 10 156 90 6 6 6 78 6 172 165 195 168 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE CN2 CN2L CN6 CN5 CN8 CN3 CN1A CN1B CN4 CNP1 CNP2 CNP3 156 0 5 78 0 3 Screw size M4 Tightening torque 1 2 N m Terminal assignment Mounting hole location diagram Mo...

Page 106: ...M5 screw Approx 7 5 Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab Grounding terminal φ6 mounting hole 200 6 170 160 5 5 5 7 5 285 7 5 300 5 CNP1A CNP1B CNP2 CNP3 CN1A CN1B CN5 CN6 CN8 CN3 CN2 CN2L CN4 285 0 5 160 0 5 PE P4 P3 N CNP1B L1 L3 L2 CNP1A CNP2 CNP3 P D L21 C L11 U W V φ6 mounting hole Grounding terminal Approx 80 Exhaust Cooling fan Intake Approx 5 Approx 5 Appr...

Page 107: ...gram Mounting screw Screw size M5 Tightening torque 3 24 N m φ6 mounting hole Grounding terminal Approx 80 Approx 40 Approx 6 Approx 6 2 M5 screw Approx 168 Approx 6 Locking tab 156 10 6 172 165 40 6 6 170 6 168 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE CNP2 CNP1 CNP3 CN5 CN6 CN8 CN3 CN2 CN1 CN2L CN4 156 0 5 Terminal assignment Screw size M4 Tightening torque 1 2 N m Mounting hole loc...

Page 108: ...ng hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment 6 6 10 156 90 6 6 6 78 6 172 165 195 168 CNP2 CNP1 CNP3 CN8 CN6 CN3 CN2 CN1 CN5 CN2L CN4 156 0 5 78 0 3 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE Locking tab φ6 mounting hole Grounding terminal Approx 80 Exhaust Cooling fan Intake Approx 6 Approx...

Page 109: ...rew size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Intake Locking tab Approx 7 5 200 6 170 160 5 5 5 7 5 285 7 5 300 5 CNP1A CNP1B CNP2 CNP3 CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 285 0 5 160 0 5 PE P4 P3 N CNP1B L1 L3 L2 CNP1A CNP2 CNP3 P D L21 C L11 U W V φ6 mounting hole Locking tab Grounding terminal Exhaust Cooling fan Approx 80 Intake Approx 300 Appr...

Page 110: ...ounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab Locking tab Exhaust 6 6 10 156 85 6 6 6 73 6 172 195 168 CNP1 CNP2 CNP3A CNP3B CN8 CN5 CN3 CN1A CN1B CN2B CN2A CN4 CN6 156 0 5 73 0 3 PE P4 L1 L3 L2 N CNP1 CNP2 P D L21 C L11 W V U 2 1 A B CNP3A CNP3B W V U 2 1 A B Grounding terminal φ6 mount...

Page 111: ...1 L3 L2 N CNP1 CNP2 P D L21 C L11 W V U 2 1 A B CNP3A CNP3B W V U 2 1 A B CNP3C W V U 2 1 A B φ6 mounting hole Grounding terminal Locking tab Locking tab Approx 80 Exhaust Cooling fan Intake Approx 75 Approx 6 Approx 168 Approx 6 Approx 6 3 M5 screw Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment ...

Page 112: ...Jack screw M2 6 type This connector is not available as an option Connector Shell kit Variable dimensions A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 Connector Shell kit Variable dimensions A B C D E F 10120 3000PE 10320 52A0 008 22 0 33 3 14 0 10 0 12 0 27 4 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others ...

Page 113: ... an option Connector Shell kit Variable dimensions A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 Connector Shell kit Variable dimensions A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others are indicated here ...

Page 114: ...an option Connector Shell kit Variable dimensions A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 Connector Shell kit Variable dimensions A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 31 3 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others are indicated here ...

Page 115: ...4 DIMENSIONS 4 4 Connector 113 4 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 Unit mm ...

Page 116: ... amplifier and servo motor power wires from overloads In this section overload protection characteristics refer to the overload protection characteristics of servo amplifiers and servo motors AL 050 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve shown below AL 051 Overload 2 occurs if the maximum current is applied continuously for several second...

Page 117: ...d protection characteristics depend on the servo motor Rotary servo motor Graph of overload protection characteristics HK KT HK ST 053W 13W 13UW Page 116 Characteristic a 1M3W 23W 43W 63W 7M3W 103W 153W 203W 202W 434W 634W 7M34W 1034W 1534W 2034W 2024W 23UW 43UW 7M3UW 103UW 52W 102W 172W 302W 202W 352W 524W 1024W 1724W 3024W 2024W 3524W 5024W 202AW 2024AW Page 116 Characteristic b 502W 702W 7024W ...

Page 118: ...me s Load ratio rated current ratio of rotary servo motor In servo lock In operation 100 200 300 400 500 600 0 10 1 100 1000 0 1 Operating time s Load ratio rated current ratio of rotary servo motor In servo lock In operation 100 200 300 400 500 600 0 10 1 100 1000 0 1 Operating time s Load ratio rated current ratio of rotary servo motor In servo lock In operation ...

Page 119: ...3 MR J5 40_ 0 3 HK KT13W MR J5 10_ 0 3 MR J5 20_ 0 3 MR J5 40_ 0 3 HK KT1M3W MR J5 20_ 0 5 MR J5 40_ 0 5 MR J5 60_ 0 5 HK KT13UW MR J5 10_ 0 3 MR J5 20_ 0 3 MR J5 40_ 0 3 HK KT23W MR J5 20_ 0 5 MR J5 40_ 0 5 MR J5 60_ 0 5 HK KT43W MR J5 40_ 0 9 MR J5 60_ 0 9 MR J5 70_ 0 9 HK KT63W MR J5 70_ 1 3 MR J5 100_ 1 3 MR J5 200_ 1 3 HK KT23UW MR J5 20_ 0 5 MR J5 40_ 0 5 MR J5 60_ 0 5 HK KT43UW MR J5 40_ 0 ...

Page 120: ... MR J5 100_ 1 1 HK KT1534W MR J5 70_ 1 5 MR J5 100_ 1 5 MR J5 200_ 1 5 HK KT2034W MR J5 100_ 1 9 MR J5 200_ 1 9 MR J5 350_ 2 HK KT2024W MR J5 100_ 1 9 MR J5 200_ 1 9 MR J5 350_ 2 1 HK ST series Standard voltage 200 V HK ST52W MR J5 60_ 1 MR J5 70_ 1 MR J5 100_ 1 HK ST102W MR J5 100_ 1 7 MR J5 200_ 1 7 MR J5 350_ 1 8 HK ST172W 2 MR J5 200_ 3 MR J5 350_ 3 2 HK ST202AW MR J5 200_ 3 5 MR J5 350_ 3 5 H...

Page 121: ... 7 MR J5 70_ 0 7 HK ST1024W MR J5 60_ 1 3 MR J5 70_ 1 3 MR J5 100_ 1 3 HK ST1724W MR J5 100_ 1 7 MR J5 200_ 1 7 MR J5 350_ 1 8 HK ST2024AW MR J5 100_ 1 9 MR J5 200_ 1 9 MR J5 350_ 2 HK ST series Standard voltage 400 V HK ST3024W MR J5 200_ 2 6 MR J5 350_ 2 8 HK ST2024W MR J5 200_ 2 1 MR J5 350_ 2 2 HK ST3524W MR J5 200_ 3 2 MR J5 350_ 3 5 HK ST5024W MR J5 350_ 4 9 HK ST7024W MR J5 500_ 6 6 MR J5 7...

Page 122: ... HK KT13UW MR J5W2 22G_ 0 3 MR J5W2 44G_ 0 3 MR J5W3 222G_ 0 3 MR J5W3 444G_ 0 3 HK KT series Standard voltage 200 V HK KT23W MR J5W2 22G_ 0 5 MR J5W2 44G_ 0 5 MR J5W3 222G_ 0 5 MR J5W3 444G_ 0 5 HK KT43W MR J5W2 44G_ 0 9 MR J5W2 77G_ 0 9 MR J5W2 1010G_ 0 9 MR J5W3 444G_ 0 9 HK KT63W MR J5W2 77G_ 1 3 MR J5W2 1010G_ 1 3 HK KT23UW MR J5W2 22G_ 0 5 MR J5W2 44G_ 0 5 MR J5W3 222G_ 0 5 MR J5W3 444G_ 0 5...

Page 123: ...R J5W3 444G_ 0 6 HK KT634W MR J5W2 44G_ 0 8 MR J5W2 77G_ 0 8 MR J5W2 1010G_ 0 8 MR J5W3 444G_ 0 8 HK KT7M34W MR J5W2 44G_ 0 9 MR J5W2 77G_ 0 9 MR J5W2 1010G_ 0 9 MR J5W3 444G_ 0 9 HK KT1034W MR J5W2 77G_ 1 1 MR J5W2 1010G_ 1 1 HK KT1534W MR J5W2 77G_ 1 5 MR J5W2 1010G_ 1 5 HK KT2034W MR J5W2 1010G_ 1 9 HK KT2024W MR J5W2 1010G_ 1 9 HK ST series Standard voltage 200 V HK ST52W MR J5W2 77G_ 1 MR J5W...

Page 124: ...to the following Page 160 Regenerative option Servo amplifier Servo amplifier generated heat W 1 Area required for heat dissipation m2 At rated output At servo off MR J5 10_ 25 15 0 5 MR J5 20_ 25 15 0 5 MR J5 40_ 35 15 0 7 MR J5 60_ 40 15 0 8 MR J5 70_ 50 15 1 0 MR J5 100_ 50 15 1 0 MR J5 200_ 90 20 1 8 MR J5 350_ 130 20 2 6 MR J5 500_ 195 25 3 9 MR J5 700_ 300 25 6 0 Servo amplifier Servo amplif...

Page 125: ...ed heat A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equ...

Page 126: ... the motor from the rated speed once every 10 minutes If using EM1 Forced stop 1 frequently in non emergency situations enable EM1 Forced stop 1 after the servo motor has come to a complete stop Servo motors for MR J5 may have the different coasting distance from that of the previous model The time constant for the electronic dynamic brake will be shorter than that of the normal dynamic brake Ther...

Page 127: ...e constant A working part generally has a friction force Therefore the actual coasting distance will be shorter than the maximum coasting distance calculated with the following equation Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 4 kg m2 JL Load moment of inertia converted into equivalent value on servo motor shaft 10 4 kg m2 τ D...

Page 128: ...5W3 444G_ HK KT1M3W MR J5 20_ MR J5 40_ MR J5 60_ MR J5W2 22G_ MR J5W2 44G_ MR J5W3 222G_ MR J5W3 444G_ HK KT13UW MR J5 10_ MR J5 20_ MR J5 40_ MR J5W2 22G_ MR J5W2 44G_ MR J5W3 222G_ MR J5W3 444G_ 0 2 4 6 8 10 12 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 ...

Page 129: ...MR J5W2 1010G_ Motor Amplifier Waveform 0 5 10 15 20 25 0 2000 4000 6000 8000 Servo motor speed r min Dynamic brake time constant τ ms 0 5 10 15 20 25 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time consta...

Page 130: ... Amplifier Waveform 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 19 5 20 20 5 21 21 5 22 22 5 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 20 40 60 80 100 120 0 2000 4000 6000 8000 Dynamic brake time constant τ ...

Page 131: ...5W2 44G_ MR J5W3 444G_ MR J5 70_ MR J5W2 77G_ MR J5W2 1010G_ Motor Amplifier Waveform 0 10 20 30 40 50 60 70 80 90 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 132: ...fier Waveform 0 5 10 15 20 25 30 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 29 5 30 30 5 31 31 5 32 32 5 33 33 5 34 34 5 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 133: ...2 1010G_ MR J5 200_ MR J5 350_ Motor Amplifier Waveform 0 1000 2000 3000 4000 5000 6000 7000 23 24 25 26 27 28 29 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 134: ... Motor Amplifier Waveform 0 5 10 15 20 25 30 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 40 45 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 135: ...39 39 5 40 40 5 41 41 5 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 14 12 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 14 12 0 2000 4000 6000 8000 Dynamic brake time const...

Page 136: ..._ MR J5 40_ MR J5 60_ MR J5W2 22G_ MR J5W2 44G_ MR J5W3 222G_ MR J5W3 444G_ Motor Amplifier Waveform 0 1 2 3 4 5 6 7 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 9 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 137: ... J5W2 1010G_ Motor Amplifier Waveform 0 1 2 3 4 5 6 7 8 9 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 138: ... 77G_ MR J5W2 1010G_ Motor Amplifier Waveform 0 5 10 15 20 25 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 139: ... Waveform 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 140: ...plifier Waveform 22 22 5 23 23 5 24 24 5 25 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 32 4 32 6 32 8 33 33 2 33 6 33 8 33 4 34 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 6 5 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 141: ...34 4 34 6 34 2 34 8 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 6 5 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 11 5 11 6 11 7 11 8 11 9 12 12 1 12 2 12 3 12 4 12 5 0 500 1000 1500 2000 Dynamic brake time constant τ ms Servo motor speed r min 0 0 5 1 1 5 2 2 5 3 3 5 0 500 1000 1500 2000 Dynamic brake time constant τ ...

Page 142: ...ifier Waveform 0 50 100 150 200 250 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 70 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 70 80 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 143: ...40 50 60 70 80 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 40 45 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Serv...

Page 144: ...r Amplifier Waveform 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 145: ...Waveform 0 10 20 30 40 50 60 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 0 5 10 15 20 25 30 35 40 45 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 0 5 10 15 20 25 30 35 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 146: ...0_ MR J5W2 44G_ MR J5W3 444G_ MR J5 70_ MR J5W2 77G_ Motor Amplifier Waveform 0 10 20 30 40 50 60 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 147: ...tor Amplifier Waveform 0 10 20 30 40 50 60 70 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 148: ...0 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 18 20 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 30 31 32 33 34 35 36 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo moto...

Page 149: ... 4 5 6 7 8 9 0 200 400 600 800 1000 1200 1400 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 18 20 0 500 1000 1500 2000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor...

Page 150: ...stics HK ST7024W MR J5 500_ MR J5 700_ Motor Amplifier Waveform 0 500 1000 1500 2000 0 5 10 15 20 25 Dynamic brake time constant τ ms Servo motor speed r min 0 500 1000 1500 2000 0 5 10 15 20 25 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 151: ...d to motor inertia ratio multiplier HK KT HK KT053W 34 HK KT13W 34 HK KT13UW 10 HK KT1M3W 25 HK KT23W 23 when less than 6000 r min 28 HK KT23UW 10 HK KT43W 23 HK KT43UW 10 HK KT63W 30 HK KT7M3W 20 HK KT7M3UW 10 HK KT103W 20 HK KT103UW 20 HK KT153W 30 HK KT203W 30 HK KT202W 30 HK KT434W 30 HK KT634W 30 HK KT7M34W 20 HK KT1034W 30 HK KT1534W 30 HK KT2034W 30 HK KT2024W 30 HK ST HK ST52W 15 when 3000...

Page 152: ...kage The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics sheath abrasion or insulation deterioration Allow for a slight deviation in these values a 1 108 5 107 1 107 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 4 7 10 20 40 70 100 200 b a b Number of bending times time Bend radius mm High flex life cable for moving parts Sta...

Page 153: ...e inrush currents reference data that will flow when 240 V AC is applied Servo amplifier Inrush currents A0 P Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ 17 A attenuated to approx 3 A in 20 ms 20 A to 30 A attenuated to approx 1 A in 20 ms MR J5 70_ MR J5 100_ 17 A attenuated to approx 7 A in 20 ms MR J5 200_ 24 A attenuated to ap...

Page 154: ...lowest IP rating of all the components Purchase the cable and connector options indicated in this section for this servo amplifier If using cables other than the cables described in this manual comply with the standards and directives applicable to each country For example NFPA 79 in North America demands the use of a listed certified product that has a thermoset insulator and is compliant with th...

Page 155: ...5 CN6 CN3 CN8 CN1A CN1B CN2 CN2L CN4 CNP3 PS7DW 20V14B F MR J3 D05 5 5 CN9 CN10 1 Junction terminal block Ethernet cable 2 To servo motor power supply Setup software MR Configurator2 To servo motor encoder To load side encoder Battery MR BAT6V1SET or MR BAT6V1SET A Servo amplifier Servo amplifier Toho Technology Controller Battery case MR BT6VCASE Battery MR BAT6V1 5 pcs Network Safety logic unit ...

Page 156: ...NP2 CNP1 CN5 CN3 CN8 CN1A CN1B CN2B CN2A CN2C CN4 CNP3A CNP3B CNP3C 4 3 2 MR J3 D05 5 5 CN9 CN10 Ethernet cable 1 To C axis servo motor power supply To B axis servo motor power supply To A axis servo motor power supply Setup software MR Configurator2 To C axis servo motor encoder To B axis servo motor encoder To A axis servo motor encoder Servo amplifier Controller Junction terminal block Servo am...

Page 157: ...mm CNP2 connector 05JFAT SAXGDK H5 0 LA JST Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm CNP3 connector 03JFAT SAXGFK XL LA JST Applicable wire size 1 25 mm2 to 5 5 mm2 AWG 16 to 10 Insulator OD Up to 4 7 mm Supplied with 1 axis servo amplifiers of 2 kW and 3 5 kW Open tool J FAT OT EXL JST CNP1A connector 03JFAT SAXGDK P15 LA JST Applicable wire size 0 8 mm2 to 8...

Page 158: ...T Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm CNP3 connector 04JFAT SAGG G KK JST Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm Supplied with multi axis servo amplifiers of 750 W or more Open tool J FAT OT EXL JST 2 USB cable MR J3USBCBL3M cable length 3 m a CN5 connector mini B connector 5 pins b Personal computer connector Conne...

Page 159: ...ector 10126 6000EL Shell kit 10326 3210 000 3M or equivalent b CN1 connector Connector 10126 6000EL Shell kit 10326 3210 000 3M or equivalent For MR J5W_ _G_ 5 STO cable MR D05UDL3M B a Connector set 2069250 1 TE Connectivity Connection cable for the CN8 connector 6 Short circuit connector Supplied with servo amplifiers 7 Battery cable MR BT6V1CBL_M Cable length 0 3 m 1 m a Housing PAP 02V O Conta...

Page 160: ...G 18 to 14 Insulator OD Up to 3 9 mm Used for connecting the simple converter when a 1 axis servo amplifier of 1 kW or less or a multi axis servo amplifier of 400 W or less is used Page 173 MR CM simple converter MR J5CNP12 J2 CNP1 connector 06JFAT SAXGFK XLC LA JST Applicable wire size 1 25 mm2 to 5 5 mm2 AWG 16 to 10 Insulator OD Up to 4 7 mm CNP2 connector 05JFAT SAXGDK HC5 0 LA JST Applicable ...

Page 161: ...nk Partner Association website https www cc link org en Precautions When branching the CC Link IE TSN network using a switching hub use a switching hub Class B that is recommended by the CC Link Partner Association Although a switching hub Class A can also be used there are restrictions on the type of topology that can be used For further information refer to MELSEC iQ R Motion Module User s Manua...

Page 162: ...of regenerative option Servo amplifier Regenerative power W Built in regenerative resistor MR RB032 40 Ω MR RB12 40 Ω MR RB14 26 Ω MR RB30 13 Ω 2 MR RB3N 9 Ω 2 MR RB31 6 7 Ω 2 MR RB34 26 Ω 2 MR RB50 13 Ω 1 MR RB5N 9 Ω 1 MR RB51 6 7 Ω 1 MR J5 10_ 30 MR J5 20_ 10 30 100 MR J5 40_ 10 30 100 MR J5 60_ 10 20 100 MR J5 70_ 30 100 300 MR J5 100_ 30 100 300 MR J5 200_ 100 300 500 MR J5 350_ 100 300 500 MR...

Page 163: ...istance per servo motor revolution ΔS PB mm rev PB Ball screw lead mm LB Ball screw length mm DB Ball screw diameter mm WL Moving part mass kg FC Load antidrag setting N TL Load torque converted into equivalent value on servo motor shaft N m η Drive system efficiency μ Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of...

Page 164: ...he servo motor speed and generated torque Because the characteristics of the electrolytic capacitor change with time allow inverse efficiency of approximately 10 higher than those shown above Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Multiply the sum total of regenerative energies by the inverse efficiency and subtract the capacitor charging from t...

Page 165: ...he total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf Select a regenerative option based on the PR value The regenerative option is not required when the energy consumption is equal to or less than the regenerative powe...

Page 166: ...stance per servo motor revolution ΔS PB mm rev PB Ball screw lead mm LB Ball screw length mm DB Ball screw diameter mm WL Moving part mass kg FC Load antidrag setting N TL Load torque converted into equivalent value on servo motor shaft N m η Drive system efficiency μ Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of ...

Page 167: ...servo amplifier in the regenerative mode Inverse efficiency ηm Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Efficiency varies with the speed and generated torque Because the characteristics of the electrolytic capacitor change with time allow inverse efficiency of approximately 10 higher than those shown ab...

Page 168: ...o be Es ER J ηm Es Ec If ER values are negative at all timings the regenerative option is not needed If the values of ER include positive values from the total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf The regenerati...

Page 169: ...he total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf Select a regenerative option based on the PR value The regenerative option is not required when the energy consumption is equal to or less than the regenerative powe...

Page 170: ...f 7 kW or less Remove the wiring between P and D and install the regenerative option between P and C G3 and G4 are terminals for the thermal sensor Between G3 and G4 opens if the regenerative option overheats abnormally 1 When using the MR RB50 MR RB51 or MR RB5N forcibly cool it with a cooling fan 1 0 m3 min or more 92 mm 92 mm 2 When using the MR RB30 MR RB31 MR RB34 or MR RB3N forcibly cool it ...

Page 171: ... RB032 Unit mm Mass 0 5 kg Terminal TE1 Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m TE1 30 15 99 1 6 119 6 5 6 156 168 144 12 φ6 mounting hole Approx 20 Approx 12 Approx 6 G3 G4 P C ...

Page 172: ...MR RB14 Unit mm Mass 1 1 kg Terminal TE1 Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 5 144 169 6 36 40 TE1 15 149 2 156 168 6 12 φ6 mounting hole Approx 20 Approx 6 G3 G4 P C ...

Page 173: ...crew size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Regenerative option Variable dimensions Mass kg A B MR RB30 17 335 2 9 MR RB31 MR RB34 MR RB3N 8 5 125 8 5 7 10 90 100 B A 318 142 150 79 30 30 101 5 82 5 82 5 G4 G3 C P Screw for mounting cooling fan 2 M4 screw Intake P C G3 G4 ...

Page 174: ...torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Regenerative option Variable dimensions Mass kg A B MR RB50 17 217 5 6 MR RB5N MR RB51 G4 G3 C P 2 3 49 82 5 200 A B 8 120 108 12 7 350 162 5 12 5 12 5 82 5 133 162 5 Screw for mounting cooling fan 2 M3 screw opposite side 7 14 slotted hole Intake Approx 30 P C G3 G4 ...

Page 175: ...To use an external regenerative option set Pr PA02 0 1 Note that the simple converter does not have a regenerative function Also an external regenerative option cannot be connected to the simple converter Simple converter standard specifications 1 The value when a 3 phase power supply input is used Model MR CM3K Converter output Rated voltage 270 V DC to 324 V DC Rated current 20 A 1 Main circuit ...

Page 176: ...m or less Transportation conditions Must be transported by ground sea or air at an atmospheric pressure of 700 hPa or more Atmospheric pressure 700 hPa to 1060 hPa equivalent to the altitude of 400 m to 3000 m Vibration resistance When there is continuous vibration 10 Hz to 57 Hz displacement amplitude 0 075 mm 57 Hz to 150 Hz acceleration amplitude 9 8 m s2 Class 3M1 IEC 60721 3 3 When there is c...

Page 177: ...ve at least 15 mm of clearance between the servo amplifiers 1 Do not remove dummy pins or wires attached to CNP2 connectors 2 To detach a CNP2 connector when servo amplifiers are closely mounted detach the CN3 connector of the servo amplifier on the left side before detaching the CNP2 connector 3 For the wires between the simple converter and a servo amplifier and between each servo amplifier twis...

Page 178: ...of next axis servo amplifier 3 Overheat detection connector CN10 If overheating is detected between terminals changes to OPEN 4 Protective earth PE terminal Pin No Signal name Description 1 L1 L1 phase 2 L2 L2 phase 3 L3 L3 phase Pin No Signal name Description 1 N Bus voltage reference potential 2 Unassigned 3 P4 Bus voltage plus potential 1 L1 L2 L3 N P4 T1 T2 2 3 4 1 2 3 Pin number diagram viewe...

Page 179: ...ssigned 3 TH2 Main circuit overheat protection contact 2 Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 03JFAT SAYGFK XL LB AWG 16 to 10 4 7 mm or less 11 5 mm J FAT OT EXL JST CNP2 02 16 0 JFAT SAZGFKXL LA AWG 16 to 10 4 7 mm or less 11 5 mm CN10 02 3 2 JFAT SAYDFK K7 5 AWG 18 to 14 3 9 mm or less 9 mm 1 2 3 Pin number diagram viewed...

Page 180: ...L2 L3 CN10 TH1 TH2 CNP2 N P4 CNP1 4 RA2 CN3 DOCOM ALM 7 RA1 9 9 DICOM EM2 MC SK MC RA1 RA2 3 RA3 Simple converter Malfunction 24 V DC 24 V DC OFF ON Emergency stop switch 3 phase 200 V AC to 240 V AC To next axis servo amplifier Main circuit power supply 6 24 V DC 100 V AC compatible Servo amplifier To next axis servo amplifier Servo motor overheat protection 10 ...

Page 181: ...ing an I O module or equivalent equipment Alternatively connect an alarm output contact relay for each servo amplifier in sequence on the coil side of the magnetic contactor to shut off the magnetic contactor In addition stop commands from the controller simultaneously with the main circuit power supply shutting off 8 Install an overcurrent protection device molded case circuit breaker fuse etc to...

Page 182: ...56 10 6 CNP2 CNP1 CN10 172 165 40 6 135 6 PE L1 L2 L3 N P4 T1 T2 168 2 M5 screw Unit mm Mounting hole location diagram φ6 mounting hole Approx 80 Approx 6 Approx 168 Approx 6 Approx 6 Approx 40 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m ...

Page 183: ...o the following and the EMC Installation Guidelines Page 228 EMC filter recommended Model Molded case circuit breaker Fuse Magnetic contactor Frame rated current Voltage AC V Class Current A Voltage AC V Power factor improving reactor is not used Power factor improving reactor is used MR CM3K 30 A frame 30A 30 A frame 30A 240 T 40 300 S T21 Model Capacity Molded case circuit breaker Semiconductor ...

Page 184: ...R BIF When using the radio noise filter FR BIF to ensure EMC with a servo amplifier connected to a simple converter install the radio noise filter on the primary input side of the simple converter Line noise filter FR BSF01 FR BLF When using a line noise filter FR BSF01 FR BLF as an EMC measure for the servo amplifier connected to the simple converter install the line noise filter on the primary i...

Page 185: ...he FR XC Pr PA02 0 1 01 Pr PA02 4 0 Pr PA04 2 0 Pr PA04 3 0 Capacity selection Selection conditions The FR XC multifunction regeneration converter can be used with 200 V class 100 W to 7 kW servo amplifiers Use the following conditions to select a multifunction regeneration converter 10 servo amplifiers or less per FR XC unit Total capacity of the servo amplifiers kW Total capacity of FR XC connec...

Page 186: ...r to connect to the servo amplifiers listed below Multifunction regeneration converter Dedicated stand alone reactor FR XC 7 5K FR XCL 7 5K FR XC 11K FR XCL 11K FR XC 15K FR XCL 15K FR XC 22K FR XCL 22K FR XC 30K FR XCL 30K FR XC 37K FR XCL 37K FR XC 55K FR XCL 55K FR XC H7 5K FR XCL H7 5K FR XC H11K FR XCL H11K FR XC H15K FR XCL H15K FR XC H22K FR XCL H22K FR XC H30K FR XCL H30K FR XC H37K FR XCL...

Page 187: ...pacity kW 5 kW 3 5 kW 7 kW 7 kW 22 5 kW FR XC 30K or more The effective value of the total servo motor output power kW FR XC 30K or more Maximum value of the total servo motor output power kW 40 kW FR XC 30K or more Therefore the multifunction regeneration converter selected should be the FR XC 30K 15 kW 15 kW 15 kW 0 1 s 0 1 s 5 kW 0 1 s 40 kW 0 5 s 0 7 s 0 6 s 0 2 s 0 3 s 0 1 s 0 1 s 0 2 s 0 1 s...

Page 188: ...ing a dedicated power supply for the control circuit 9 Do not connect anything to the P4 terminal of the FR XC 10 Install a fuse on each wire between the FR XC and servo amplifier 11 Wire the built in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less factory wired 12 The inputs outputs main circuit of the FR XC and servo amplifier contain high frequency components w...

Page 189: ... possible Total capacity of servo amplifiers kW Wire size mm2 200 V class 1 or less 2 AWG 14 2 3 5 AWG 12 3 5 5 5 AWG 10 5 5 5 AWG 10 7 8 AWG 8 11 14 AWG 6 15 22 AWG 4 18 5 38 AWG 2 22 50 AWG 1 0 27 5 50 AWG 1 0 30 60 AWG 2 0 37 80 AWG 3 0 45 100 AWG 4 0 55 100 AWG 4 0 Multifunction regeneration converter Wire size mm2 Rated capacity of multifunction regeneration converter Total capacity of connec...

Page 190: ...mm2 8 mm2 8 mm2 5 5 mm2 5 5 mm2 3 5 mm2 FR XC 30K Overall wiring length 5 m or less Junction terminals Wire as short as possible Third unit 8 mm2 assuming that the total of servo amplifier capacities is 7 kW since 3 5 kW 2 0 kW 5 5 kW Fourth unit 3 5 mm2 assuming that the total of servo amplifier capacities is 2 kW since 2 0 kW 2 0 kW Servo amplifier 7 kW Servo amplifier 5 kW Servo amplifier 3 5 k...

Page 191: ...pacity of multifunction regeneration converter total capacity of connected servo amplifiers 2 Servo amplifier capacity kW 200 V class Fuse rating A Model 1 0 1 20 6 900CPGR10 38 0020 0 2 20 6 900CPGR10 38 0020 0 4 25 6 900CPGR10 38 0025 0 6 25 6 900CPGR10 38 0025 0 75 30 6 900CPGR10 38 0030 1 32 6 900CPGR10 38 0032 2 63 6 9URD30TTF 0063 3 5 80 6 9URD30TTF 0080 5 160 6 9URD30TTF 0160 7 200 6 9URD30...

Page 192: ...te the cable length 05 0 5 m 1 1 m 5 5 m 2 This signal can be used only on the MR J5 _G_ RJ_ PS7DW 20V14B F CN3 MR J2HBUS_M AERSBAN ESET Servo amplifier Junction terminal block Cable clamp LSP 1 2 DOCOM MO1 3 4 LZ 8 LB 7 9 SD MR J2HBUS_M 1 INP 5 6 10 DICOM LA LG LSN 11 12 MBR MO2 13 14 LZR 18 LBR 17 19 DOG 15 16 20 EM2 ALM LAR 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10...

Page 193: ...PERIPHERAL EQUIPMENT 6 5 PS7DW 20V14B F junction terminal block recommended G 191 6 Dimensions of junction terminal block Unit mm M3 6L M3 5L 36 5 27 8 18 8 7 62 44 11 54 63 φ4 5 4 5 5 4 60 50 9 3 27 TB E φ6 1 42 6 2 ...

Page 194: ...D DICOM LG DOCOM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Position control mode SON P15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD LA VC LB LZ ST2 SA SA SP2 LG LG EMG LSN ALM SD DICOM LG DOCOM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 ...

Page 195: ...PTIONS AND PERIPHERAL EQUIPMENT 6 6 MR TB50 junction terminal block A 193 6 Junction terminal block cable MR J2M CN1TBL_M Model explanations 05 1 0 5 1 M M M R C N T L J B 1 2 _ Model Symbol Cable length m ...

Page 196: ...s on the CN3 connector of a servo amplifier The terminal symbol S is for the shield Ground the junction terminal block cable using the S terminal of the junction terminal block Specifications Item MR TB26A Rating AC DC 32 V 0 5 A Usable wires Stranded wire 0 08 mm2 to 1 5 mm2 AWG 28 to 14 Solid wire φ0 32 mm to 1 2 mm Wire insulator OD φ3 4 mm or less Tool 210 619 WAGO or equivalent 210 119SB WAGO...

Page 197: ...AL EQUIPMENT 6 7 MR TB26A junction terminal block WG 195 6 Dimensions Unit mm 1 Values in parentheses are the sizes when installed with a 35 mm DIN rail 23 6 14 1 14 1 26 6 26 27 55 57 Approx 35 1 Approx 7 5 1 Approx 31 1 1 ...

Page 198: ... the servo amplifier with the following procedure 1 Disconnect the power plug of the personal computer from the AC power socket 2 Check that the power plug has been disconnected from the AC power socket then connect the computer to the servo amplifier 3 Connect the power plug of the personal computer to the AC power socket When using a personal computer with battery The computer can be used as it ...

Page 199: ...ith each standard Selection conditions of wire size are as follows Construction requirements Single wire set in midair Wiring length 30 m or less The following shows the wires used for wiring Use the wires given in this section or equivalent wires N C P L1 L2 L3 L11 L21 U V W M 1 Main circuit power supply lead Servo amplifier Power supply 2 Control circuit power supply lead 4 Servo motor power lea...

Page 200: ...upply input Selection example of crimp terminals 200 V class Precautions Crimp terminals are used only for ground wiring Servo amplifier Wire mm2 1 L1 L2 L3 2 L11 L21 3 P C 4 U V W E MR J5 10_ 2 AWG 14 a 1 25 to 2 AWG 16 to 14 1 2 AWG 14 AWG 18 to 14 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ 3 phase power supply input AWG 18 to 10 MR J5 200_ 1 phase power supply input 3 5 AWG 1...

Page 201: ... characteristics equal to or higher than Mitsubishi Electric general purpose products Servo amplifier Molded case circuit breaker 1 3 Fuse Magnetic contactor 2 Frame rated current Voltage AC V Class Current A Voltage AC V Power factor improving reactor is not used Power factor improving reactor is used MR J5 10_ 30 to 125 A frame 5 A 30 to 125 A frame 5 A 240 T 10 300 S T10 MR J5 20_ 30 to 125 A f...

Page 202: ...cator unit UT TU and the line side terminal adapter UT CV3 1 The values of the SCCR vary depending on the combination with the servo amplifier 2 1 phase input is not supported Servo amplifier Rated input voltage AC V Input phase 2 Motor circuit breaker Type E combination motor controller SCCR kA 1 Model Rated voltage AC V Rated current A heater design MR J5 10_ 200 to 240 3 phase MMP T32 240 1 6 5...

Page 203: ...lso be used instead of a molded case circuit breaker Use the motor circuit breaker Type E combination motor controller with the line side terminal adapter UT CV3 and the short circuit indicator unit UT TU Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker 1 3 4 Fuse Magnetic contactor 2 Frame rated curr...

Page 204: ...coil until closure of contacts of 80 ms or less Servo amplifier Molded case circuit breaker 1 Fuse Class T Fuse Class K5 Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J5 10_ 30 A frame 5 A 240 1 300 1 250 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ MR J5 350_ MR J5 500_ MR J5 700_ MR J5W2 22G_ MR J5W2 44G_ MR J5W2 77G_ MR J5W2 1010G_ MR J5W3 22...

Page 205: ...ervo motors Total continuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker 2 Fuse Magnetic contactor 1 Frame rated current Voltage AC V Class Current A Voltage AC V 300 W or less 30 A frame 5 A 240 T 15 400 DUD N30 Over 300 W 600 W or less 150 N or less 100 W or less 30 A frame 10 A 20 Over 600 W 1 kW or less Over 150 N 300 N or less Over 100 W 252 W...

Page 206: ...ntactor MR J5 10_ to MR J5 100_ SD T12 MR J5 200_ MR J5 350_ SD T21 MR J5 500_ SD T35 MR J5 700_ SD T50 Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Magnetic contactor 300 W or less SD T11 From over 300 W to 600 W 150 N or less 100 W or less From over 600 W to 1 kW From over 150 N to 300 N From over 100 W to 252 W From over ...

Page 207: ...andards The permissible current for the wire insulated conductor varies depending on the usage conditions ambient temperature number of wires bundled and so on If the selection result is a wire that is too thick to be wired to the servo amplifier multiple servo amplifiers cannot be connected to one molded case circuit breaker Reduce the number of servo amplifiers until the wire size is acceptable ...

Page 208: ...tors List of rated currents for molded case circuit breakers MCCB 1 For molded case circuit breakers that support the current values enclosed in brackets in the rated current column contact your local sales office List of rated currents for magnetic contactors MC Wire size 60 C 140 F 75 C 167 F AWG Actual cross sectional area mm2 Nominal cross sectional area mm2 A A 14 2 1 2 15 15 12 3 3 3 5 20 20...

Page 209: ...A 170M1408 10 A MR J5 20_ MR J5 40_ MR J5 60_ 3 phase power supply input MR J5 70_ 3 phase power supply input MR J5W2 22G_ 3 phase power supply input MR J5 60_ 1 phase power supply input NF125 SVU 15A 125 A frame 15 A 170M1409 16 A MR J5 70_ 1 phase power supply input MR J5 100_ 3 phase power supply input MR J5W2 22G_ 1 phase power supply input MR J5W2 44G_ 3 phase power supply input MR J5W3 222G_...

Page 210: ...C Stranded wire AWG L1 L2 L3 L11 L21 P C U V W E 1 MR J5 10_ 14 14 14 14 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ 3 phase power supply input MR J5 200_ 1 phase power supply input 12 MR J5 350_ 12 MR J5 500_ 10 8 MR J5 700_ 8 MR J5W2 22G_ 14 14 MR J5W2 44G_ MR J5W2 1010G_ MR J5W2 77G_ MR J5W3 222G_ MR J5W3 444G_ Simple converter Total servo amplifier capacity Molded case circui...

Page 211: ...h at the top and bottom and 5 cm at the sides 200 V class 1 Use this for grounding 2 When using the power factor improving DC reactor remove the short circuit bar between P3 and P4 3 Maximum dimensions The dimensions vary depending on the curvature of the input output lines 4 Selection conditions of wire size are as follows Wire type 600 V Grade heat resistant polyvinyl chloride insulated wire HIV...

Page 212: ...lated wire HIV wire Construction requirements Single wire set in midair Servo amplifier Powerfactor improving DC reactor Dimensions mm Terminal size Mass kg Wire mm2 4 W W1 H D 3 D1 D2 D3 d MR J5 200_ FR HEL 3 7K 77 55 92 82 66 57 37 M4 M4 1 5 2 AWG 14 MR J5 350_ FR HEL 7 5K 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 MR J5 500_ FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J5 700_ FR ...

Page 213: ...rent It decreases the power supply capacity The input power factor is improved to about 80 Restrictions When using power factor improving AC reactors for two servo amplifiers or more connect a power factor improving AC reactor to each servo amplifier If one unit of power factor improving reactor is used for multiple servo amplifiers the power factor cannot be improved sufficiently unless all servo...

Page 214: ... 40_ FR HAL 0 75K 104 84 99 74 56 44 M5 M4 0 8 MR J5 60_ MR J5 70_ FR HAL 1 5K 104 84 99 77 61 50 M5 M4 1 1 MR J5 100_ 3 phase power supply input FR HAL 2 2K 115 4 40 115 77 71 57 M6 M4 1 5 MR J5 100_ 1 phase power supply input MR J5 200_ 3 phase power supply input FR HAL 3 7K 115 4 40 115 83 81 67 M6 M4 2 2 MR J5 200_ 1 phase power supply input FR HAL 5 5K 115 4 40 115 83 81 67 M6 M4 2 3 R X Z S ...

Page 215: ...6 7 0 Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Power factor improving AC reactor 450 W or less 150 N or less 100 W or less FR HAL 0 75K From over 450 W to 600 W From over 150 N to 240 N From over 100 W to 377 W FR HAL 1 5K From over 600 W to 1 kW From over 240 N to 300 N From over 377 W to 545 W FR HAL 2 2K From over 1 k...

Page 216: ...r control signal transmission and connect the external conductor of the cable to the SD terminal For grounding refer to the following Page 101 Grounding Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays that make a large amount of noise near the servo amplifier and ...

Page 217: ...t located near the main circuit cables and those transmitted through the power supply cables Noise generated by servo amplifier Noise radiated directly from servo amplifier Route 1 Noises transmitted in the air Noise radiated from the power cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction noise Routes 4 and 5 Static induction noise Route 6 Noise transmitted through el...

Page 218: ... side by side or bundled together magnetic induction noise and static induction noise are transmitted through the signal cables and malfunctions may occur The following techniques are required Provide maximum clearance between easily affected devices and the servo amplifier Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier Avoid bundling powe...

Page 219: ...mm or less from the servo amplifier When connecting the network cable from outside the cabinet connect it to the ground plate at a place 5 mm to 10 mm away from the cabinet entrance To reinforce noise reduction techniques installing a data line filter TDK ZCAT1730 0730 to the network cable is recommended Install the data line filter to a place 80 mm or less from the servo amplifier Inside the cabi...

Page 220: ...M563218 by SEIWA ELECTRIC are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below These impedances are reference values and not guaranteed values Unit mm Impedance Ω 10 MHz to 100 MHz 100 MHz to 500 MHz 80 150 Inside the cabinet Outside the cabinet Servo amplifier Cable clamp fitting Locate 5 mm to 10 mm away from the cabi...

Page 221: ...when the shielded wire is connected directly to the ground plate as shown below Install the ground plate near the servo amplifier for the encoder cable Peel part of the cable insulator to expose the external conductor and press that part against the ground plate with the cable clamp If the cable is thin clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Unit mm...

Page 222: ...ble type has no shield on the outermost circumference Therefore to ground the motor cable with a cable clamp use a motor cable dual cable type Model A B C Accessory fittings AERSBAN DSET 100 86 30 Clamp A 2 pcs AERSBAN ESET 70 56 Clamp B 1 pc Clamp fitting L A 70 B 45 11 24 0 3 7 35 C A 17 5 6 35 22 6 B 0 3 30 10 24 0 3 0 0 2 Grounding plate Clamp fitting 2 φ5 hole Mounting hole L or less M4 screw...

Page 223: ...ses must be four times or less Do not pass the grounding wire through the filter Otherwise the effect of the filter will drop Wind the wires through the line noise filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more line noise filters to have the required number of passes as shown in Example 2 Place the line noise filters as clos...

Page 224: ...of the varistors refer to the manufacturer catalog Unit mm 1 For special purpose items for lead length L contact the manufacturer Power supply voltage Varistor Maximum rating Maximum limit voltage Static capacity reference value Varistor voltage rating range V1 mA Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power A V AC Vrms DC V 8 20 μs A 2 ms J W pF V 200 V cla...

Page 225: ...arger than those of the motor which runs on AC power Select an earth leakage current breaker according to the following formula and ground the servo amplifier servo motor etc securely To minimize leakage currents make the input and output wires as short as possible and keep a distance of 30 cm or longer between the wires and ground MR J5 _G_ or MR J5 _A_ Rated sensitivity current 10 Ig1 Ign Iga K ...

Page 226: ...he servo amplifier to the servo motor Page 225 Example of leakage current Ig1 Ig2 per km of CV cable run in metal conduit Ign Leakage current when a filter is connected to the input side 4 4 mA per one FR BIF H Iga Servo amplifier leakage current Page 225 Servo amplifier leakage current example Iga Igm Servo motor leakage current Page 225 Servo motor leakage current example Igm Earth leakage curre...

Page 227: ...1 1 2 to 2 0 2 3 to 3 5 0 3 4 2 to 5 0 5 6 to 7 0 7 Servo amplifier Leakage current mA MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ 0 16 MR J5 200_ MR J5 350_ 0 22 MR J5 500_ MR J5 700_ 2 MR J5W2 22G_ MR J5W2 44G_ 0 1 MR J5W2 77G_ MR J5W2 1010G_ MR J5W3 222G_ MR J5W3 444G_ 0 15 Servo amplifier Rated sensitivity current of earth leakage current breaker mA MR J5 10_ to MR J5 350_ 15 ...

Page 228: ...nd each term of formula 6 1 from the diagram Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in formula 6 1 Ig 10 0 1 0 0 1 1 0 1 0 1 Ig 4 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more Use an earth leakage current breaker having Ig of 15 mA for the NV SP SW CP CW HW series HK KT43 2 mm2 5 m 2 mm2 5 ...

Page 229: ... 0 0 15 1 0 1 0 1 0 1 0 1 0 1 0 1 Ig 8 5 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 8 5 mA or more Use an earth leakage current breaker having Ig of 15 mA for the NV SP SW CP CW HW series 2 mm2 5 m NV Ig1 Iga MR J5W3 222G Ig2 Igm M Ig2 Igm M HK KT23 HK KT23 Ig2 Igm M HK KT23 2 mm2 5 m Cable A axis servo motor Cable Serv...

Page 230: ...rcial light industrial and industrial environments Application environment Total length of servo motor power cable EMC filter Model Rated current A Rated voltage VAC Operating temperature C Mass kg Manufacturer IEC EN 61800 3 Category C2 C3 1 50 m or less FSB 10 254 HU 10 250 40 to 85 1 8 COSEL Co Ltd FSB 20 254 HU 20 FSB 30 254 HU 30 FSB 40 324 HU 40 250 3 3 IEC EN 61800 3 Category C3 1 HF3010C S...

Page 231: ...For 1 phase 200 V AC to 240 V AC power supply 1 Connect the power supply to L1 and L3 Leave L2 open 2 When a surge protector is used MCCB 1 2 3 1 2 3 4 5 6 MC L1 L2 L3 L11 L21 Servo amplifier Surge protector 1 EMC filter 200 V AC to 240 V AC 3 phase MCCB 1 2 3 1 2 3 4 5 6 MC L1 L2 L3 L11 L21 Servo amplifier Surge protector 2 EMC filter 1 phase 1 200 V AC to 240 V AC ...

Page 232: ... Unit mm FSB 40 324 HU Unit mm 3 M4 3 M4 2 φ5 5 9 7 5 5 5 5 2 11 5 2 5 240 19 87 5 55 66 208 230 100 4 1 Terminal block cover Protective earth PE Mounting hole Output Input Protective earth PE Mounting plate M4 M4 3 90 1 80 21 5 4 290 1 17 1 0 5 1 5 125 1 4 11 5 259 275 2 φ5 5 7 M4 3 M5 2 φ5 5 3 M5 114 1 2 1 2 3 4 5 6 M4 Protective earth Input Protective earth Mounting hole Terminal cover Mounting...

Page 233: ...er recommended 231 6 HF3010C SZB HF3020C SZB HF3030C SZB Unit mm HF3030C SZL HF3060C SZL Unit mm φ4 5 R2 2 5 6 220 4 210 2 66 4 55 2 78 4 Approx 10 5 Approx 12 5 Approx 12 5 φ4 5 66 4 55 2 78 4 220 4 210 2 R2 2 5 6 Approx 10 5 Approx 12 5 Approx 12 5 ...

Page 234: ...etails on surge protectors refer to EMC Installation Guidelines RSPD series Okaya Electric Industries Unit mm LT CS WS series Soshin Electric 41 1 28 5 1 28 1 φ4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Resin Lead Case 19 38 28 250 22 5 8 5 25 4 φ4 3 4 Operation status display Vinyl wire Grounding wire ...

Page 235: ... The delay time can be set with the MR J3 D05 The purpose of this function is as follows This function is available when the MR J3 D05 and an MR J5 series servo amplifier are combined Controlled stop according to stop category 1 of IEC EN 60204 1 Emergency operation for IEC EN 60204 1 Emergency stop Refer to IEC EN 60204 1 2016 9 2 5 4 2 Emergency Stop In every operation mode this must take preced...

Page 236: ...ition certification regarding safety standards over the whole system is required The servo motor stops with a dynamic brake or by coasting in any of the following cases when the SS1 delay time is shorter than the servo motor deceleration time when the forced stop function has a problem or when STO EMG is enabled during servo motor rotation For proper installation wiring and adjustment thoroughly r...

Page 237: ...ntry region SDI1A SDI2A SDI1B SDI2B STO1A STO2A SDO1A SDO2A SRESA SRESA TOF1A TOF2A STO1A STO2A TOFA 0V 24V TIMER1 TIMER2 SW1 SW2 SDO1A SDO2A DC DC power supply Safety logic A axis circuit B axis circuit SDI SRES STO A axis shut off 1 and 2 Energization closed Shut off open Release closed Normal open Normal closed Shut off open A axis shut off release B axis shut off release B axis shut off 1 and ...

Page 238: ... x 2 systems SDO_ Source sink supported 3 Output method Photocoupler insulation open collector type Permissible current 40 mA or less per point inrush current 100 mA or less per point Delay setting time A axis Select from 0 s 1 4 s 2 8 s 5 6 s 9 8 s and 30 8 s B axis Select from 0 s 1 4 s 2 8 s 9 8 s and 30 8 s Accuracy 2 Safety sub function STO SS1 IEC EN 61800 5 2 EMG STOP EMG OFF IEC EN 60204 1...

Page 239: ...figuration example The connection destinations of the STO switch and STO release switch are shown in the following figure MR D05UDL_M STO cable cannot be used MR J3 D05 FG MCCB CN9 CN10 CN8 L1 L2 L3 U V W CN3 STO switch STO release switch Magnetic contactor Power supply Servo motor STO cable MR D05UDL3M B EM2 Forced stop 2 Servo amplifier ...

Page 240: ...7 8 CN3 CN8 SDO1A 4A 4B SDO1A SDI1A 1A 1B SDI1A SDI2A SRESA SDO2A TOFA 3A 3B 1A 1B 6A 6B 8A SDI2A SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 SW1 1 FG 4 5 3 6 7 8 CN3 CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24V 7A 0V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 1 MR J3 D05 S1 24 V 0 V STOA S3 STOB MC M MC M CN8A CN8B RESA...

Page 241: ...drive system Outputs the same signal as B axis STO1 STO state base circuit shut off Between STO2B and STO2B becomes open STO release state driving Between STO2B and STO2B becomes closed O B axis STO state TOF2B TOF1B 7 8 Inputs the STO state of the B axis drive system STO state base circuit shut off Open between TOF2B and TOF1B STO release state driving Close between TOF2B and TOF1B I Device name ...

Page 242: ...e A axis drive system DI 1 B axis shut off release SRESB SRESB 2A 2B Releases the STO state base circuit shut off of the B axis drive system Turning the state between SRESB and SRESB from on connected to off released releases the STO state base circuit shut off of the B axis drive system DI 1 A axis SDO2 SDO2A SDO2A 6A 6B Outputs STO2 to the A axis drive system Outputs the same signal as A axis SD...

Page 243: ...r is turned on the current flows to the collector terminal A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or less maximum current 50 mA or less inrush current 100 mA or less A maximum of 2 6 V voltage drop occurs internally 1 If the voltage drop maximum of 2 6 V interferes wi...

Page 244: ... recommended wire UL 1007 recommended and process it so that its stripped length is 7 0 mm 0 3 mm Before using be sure to check the length of the stripped section with a gage or other tool If the stripped wire is bent frayed or wound too thick correct it by lightly twisting the wire or manipulating it as necessary and check the length of the stripped section before using it In addition do not use ...

Page 245: ...n relation to the terminal block 3 Insert the tool until it touches the surface of the terminal block The tool becomes perpendicular to the terminal block at this point 4 Insert the wire until it reaches the stop When doing so slightly twist the core wire so that it does not fray It is easier to insert the wire by inserting it diagonally while twisting the tool a little 5 Pull out the tool ...

Page 246: ...y connected 4 To remove the wire as when connecting the wire push the spring down with a screwdriver and pull the wire out Inserting the connector Ensure the connector is straight then insert it into the socket until you hear and feel it click into place When removing the connector press down the locking part completely then pull out the connector If the connector is pulled out while the locking p...

Page 247: ... or more from the connector end surface Prevent the wire from being pulled excessively after the connecter is inserted in the servo amplifier Wiring FG Usable wire range Solid wire φ0 4 mm to 1 2 mm AWG 26 to 16 Stranded wire 0 2 mm2 to 1 25 mm2 AWG 24 to 16 wire strand diameter 0 18 mm or more A A 1 5 or more Bottom face Lead wire ...

Page 248: ...tor LED Off Shut off release is off The switch contact is open On Shut off release is on The switch contact is closed A axis B axis SDI1 Shut off 1 monitor LED Off Shut off 1 is off The switch contact is closed On Shut off 1 is on The switch contact is open SDI2 Shut off 2 monitor LED Off Shut off 2 is off The switch contact is closed On Shut off 2 is on The switch contact is open TOF STO status m...

Page 249: ... Replace the 24 V DC power supply 2 The wiring between the MR J3 D05 and the 24 V DC power supply is disconnected or is in contact with other wiring Check the wiring 3 The MR J3 D05 has malfunctioned Replace the MR J3 D05 The FAULT LED is on The FAULT 3 digit 7 segment LED for A axis or B axis remains on and does not turn off 1 Delay time setting mismatch Check the settings of the rotary switches ...

Page 250: ...pprox 192 Approx 5 Approx 5 Approx 80 7 8 7 8 TOF2A TOF1A TOF2B TOF1B 5 6 5 6 STO2A STO2A STO2B STO2B 3 4 3 4 STO1A STO1B 1 2 1 2 STO1A STO1B 1A 1B 1A 1B SDI1A SDI1A SRESA SRESA 2A 2B 2A 2B SDI1B SDI1B SRESB SRESB 3A 3B 3A 3B SDO1B SDO1B SDI2A SDI2A 4A 4B 4A 4B SDO1A SDO1A SDI2B SDI2B 5A 5B SDO2B SDO2B 6A 6B SDO2A SDO2A 7A 7B 24V 0V 8A 8B TOFA TOFB CN8A CN8B CN9 CN10 Pin assignment Mounting screw ...

Page 251: ...entation Leave clearance between the MR J3 D05 and the cabinet or other equipment MR J3 D05 MR J3 D05 MR J3 D05 Cabinet 10 mm or longer 80 mm or longer for wiring 30 mm or longer 10 mm or longer Top Bottom 40 mm or longer 40 mm or longer 40 mm or longer 30 mm or longer 100 mm or longer 10 mm or longer Cabinet Cabinet Other device ...

Page 252: ... used No Product name Model Description 1 Connector Supplied with the MR J3 D05 CN9 connector 1 1871940 4 TE Connectivity CN10 connector 1 1871940 8 TE Connectivity 2 STO cable MR D05UDL3M B Cable length 3 m Connector set 2069250 1 TE Connectivity CN9 CN10 MR J3 D05 2 2 CN8 1 CN8 MR J3 D05 attachment connector Servo amplifier Servo amplifier ...

Page 253: ...install the servo amplifier into a cabinet enables you to tighten the installation screw with the screwdriver held horizontally Compatible models MR J5 10_ to MR J5 350_ MR J5W2 22G_ to MR J5W2 1010G_ MR J5W3 222G_ and MR J5W3 444G_ MR CM3K Dimensions Unit mm Plating Trivalent chrome plated View when installed 2 3 2 3 2 3 11 5 0 2 3 7 12 7 26 5 15 5 5 5 10 φ6 hole Approx 6 ...

Page 254: ...sure that the attachment is installed perfectly straight so that it does not protrude beyond the side of the module If the attachment is not straight the hole in the bracket may not alight with the screw hole The attachment may come loose if it is installed at an angle and then forcibly moved into position Loosen the screw before adjusting the position of the attachment 1 Cabinet mounting attachme...

Page 255: ...d in the following table Installation dimensions Exterior dimensions at installation The following are examples of the MR J5 10A servo amplifiers Unit mm 1 12 mm for the MR J5 70_ and MR J5 100_ Packed articles Quantity Cabinet mounting attachment 10 Flat head screw M4 10 156 6 6 1 14 3 14 3 10 182 3 6 φ6 mounting hole ...

Page 256: ...tachment Installation hole dimensions MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ MR CM3K Unit mm MR J5 70_ MR J5 100_ Unit mm 171 0 5 0 2 M5 SCREW Approx 6 Approx 6 Approx 40 Approx 6 Approx 183 42 0 3 171 0 5 0 Approx 6 Approx 6 Approx 183 3 M5 screw Approx 6 Approx 12 Approx 60 ...

Page 257: ...P cabinet mounting attachment 255 6 MR J5 200_ MR J5 350_ Unit mm MR J5W2 22G_ MR J5W2 44G_ Unit mm 171 0 5 0 78 0 3 Approx 6 Approx 6 3 M5 screw Approx 183 Approx 6 Approx 6 Approx 90 171 0 5 0 Approx 6 Approx 6 Approx 183 Approx 6 Approx 60 2 M5 SCREW ...

Page 258: ...10P cabinet mounting attachment MR J5W2 77G_ MR J5W2 1010G_ Unit mm MR J5W3 222G_ MR J5W3 444G_ Unit mm 171 0 5 0 73 0 3 Approx 6 Approx 6 3 M5 screw Approx 183 Approx 6 Approx 85 171 0 5 0 63 0 5 Approx 6 Approx 6 3 M5 screw Approx 183 Approx 6 Approx 75 ...

Page 259: ...ier Precautions Ensure that the cable does not apply excessive stress to the attachment Compatible models MR J5 10_ to MR J5 350_ Restrictions The grounding terminal attachment cannot be installed when the MR BAT6V1SET or MR BAT6V1SET A batteries are used Remove the cable clamp before removing the CN2L connector Appearance and dimensions Appearance Without cable clamp With cable clamp Material SPH...

Page 260: ...grounding terminal attachment Dimensions Unit mm View when installed 1 The recommended screw tightening torque is 1 5 0 1 N m PE 40 10 5 5 19 5 31 9 109 3 12 6 22 5 φ6 mounting hole 1 1 Protective earth PE Motor power cable clamp Main circuit cable clamp ...

Page 261: ...uchi Industry Co Ltd can also be used Installation dimensions Exterior dimensions at installation MR J5 10_ MR J5 20_ MR J5 40_ Unit mm Packed articles Quantity Grounding terminal attachment 1 Cable clamp manufactured by Takeuchi Industry Co Ltd ALC 7 bundle diameter φ6 5 mm to 7 5 mm 2 Flat head screw M4 4 32 6 40 10 156 6 172 6 40 6 PE CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 CNP1 CNP2 CNP3 135 19 3 41 ...

Page 262: ...ONS AND PERIPHERAL EQUIPMENT 6 19 J5 CHP08 grounding terminal attachment MR J5 60_ Unit mm 170 19 3 76 109 3 168 165 32 6 40 10 156 6 172 6 40 6 PE CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 CNP1 CNP2 CNP3 φ6 mounting hole ...

Page 263: ...L EQUIPMENT 6 19 J5 CHP08 grounding terminal attachment 261 6 MR J5 70_ MR J5 100_ Unit mm 165 32 6 40 10 156 6 172 12 60 12 42 6 9 5 PE CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 CNP1 CNP2 CNP3 6 185 19 3 91 109 3 168 φ6 mounting hole ...

Page 264: ...IPHERAL EQUIPMENT 6 19 J5 CHP08 grounding terminal attachment MR J5 200_ MR J5 350_ Unit mm 10 156 6 6 90 CNP1 CNP2 CNP3 6 78 6 6 40 9 5 165 32 6 172 CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 195 19 3 109 3 168 101 φ6 mounting hole ...

Page 265: ...e positioning and the like in combination with a controller other than a Mitsubishi Electric motion module Restrictions A The absolute position detection system cannot be configured in the following conditions When an incremental type encoder is being used Speed control mode and torque control mode Infinite long positioning and the like stroke less coordinate system Changing electronic gear after ...

Page 266: ...ion detection system to 1 enabled absolute position detection system Servo parameter setting A Set Pr PA03 Absolute position detection system to 1 enabled absolute position detection system by DIO Homing After the absolute position detection system is enabled AL 025 Absolute position erased occurs at the initial startup Then ABSV Absolute position undetermined turns on Refer to CONTROL MODE in the...

Page 267: ...ays values in the unit of the servo motor machine side pulses from the servo amplifier of the specified axis 2 Command pulse unit value Acquires and displays the command pulse unit value from the servo amplifier for the specified axis 3 CYC G WG Acquires and displays the position within one revolution in the unit of the servo motor machine side pulses from the servo amplifier of the specified axis...

Page 268: ...er position mismatch may occur Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Rotary servo motor manufactured by Mitsubishi Electric 8000 only when the acceleration deceleration time until 8000 r min is 0 2 s or longer LSO 1XO Controller Servo amplifier Home position data Command position Current positi...

Page 269: ...and power off on weekends Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Direct drive motor manufactured by Mitsubishi Electric 500 only when acceleration deceleration time until 500 r min is 0 1 s or longer Battery backup time 2 Direct drive motor manufactured by Mitsubishi Electric Approximately 5000 ...

Page 270: ...off on weekends Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Direct drive motor manufactured by Mitsubishi Electric 500 only when acceleration deceleration time until 500 r min is 0 1 s or longer Battery backup time 2 Direct drive motor manufactured by Mitsubishi Electric Approximately 10000 hours 2 a...

Page 271: ...OCOM 15 SON 42 EM2 17 ABSM 18 ABSR 22 ABSB0 23 ABSB1 25 ABST DICOM DOCOM 47 21 DICOM 49 RD 1 P15R 33 OP 41 47 10 PP 11 PG 35 NP 36 NG 1 P15R 27 TLA 28 LG SD CN3 RA2 Servo amplifier Forward rotation stroke end 1 Reverse rotation stroke end External torque limit selection Reset Forced stop 2 Output Servo on Electromagnetic brake output ABS transfer mode ABS request ABS transmission data bit 0 Input ...

Page 272: ... CN3 23 and CN3 25 pins change as indicated in this table DI 1 P Position control ABS request ABSR 18 1 Turn on ABSR to request the absolute position data during ABS transfer mode DI 1 ABS transmission data bit 0 ABSB0 22 Indicates the lower bit of the absolute position data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode When there is a signal ABSB0 is ...

Page 273: ...ady setting of the programmable controller turns on The ABS data display window in MR Configurator2 and programmable controller side ABS position data registers show the same value at the home position address of 0 If a warning such as AL 0E5 ABS time out warning or a programmable controller transfer error occurs refer to the following page and take corrective action Page 285 Absolute position dat...

Page 274: ...er ABST ABS transmission data ready off Current position data The data is read in units of two bits and the read data is shifted by two bits to the right and written as the lowest bits This step is repeated until 32 bit data is configured 16 times Reading 2 bits Shift and add ABSR ABS request off ABST ABS transmission data ready on ABSR ABS request on Repeated for 6 bits Sum check data Transmissio...

Page 275: ...eceived If a warning occurs ABSM transfer can be received 2 If ABSM is turned off during the ABSM transfer mode the ABS transfer mode is interrupted and AL 0E5 ABS time out warning occurs 3 If SON is turned off RES is turned on or EM2 is turned off during the ABS transfer mode AL 0E5 occurs The output signal functions of ABST ABSB0 and ABSB1 are switched by the following conditions 4 ABSM transfer...

Page 276: ... In response to ABSR the servo outputs the lower 2 bits of ABS and turns off ABST 4 The programmable controllers recognizes that the ABST has turned off ABS 2 bits data have been outputted reads the lower 2 bits of ABST and turns off ABSR 5 The servo turns on ABST to respond to the next request Step 3 to 6 are repeated until 32 bit data and the 6 bit checksum have been transmitted 6 After receivin...

Page 277: ...of the received absolute position data using the sequence program and compare it with the checksum code sent from the servo The following shows how to calculate the checksum The checksum will add every ABS 2 bit data inputted to the total The checksum is 6 bit data Example Absolute value data 10 FFFFFFF6h Therefore the checksum of 10 is 2Dh 1111 1111 1111 0110 10 FFFF FFF6 10b 01b 11b 11b 11b 11b ...

Page 278: ... s after ABST is turned on this will be treated as a transmission error and Al 0E5 ABS time out warning occurs ABS request on time time out check applied to 32 bit absolute position data in 2 bit units checksum If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off this will be treated as a transmission error and AL 0E5 occurs OFF ON OFF ON OFF ON 5 s ABSM...

Page 279: ...he ABS transfer If the ABS transfer mode is turned on and after the transfer starts if the ABSM is turned off before the 19th ABS transmission data ready this will be treated as a transmission error and AL 0E5 occurs OFF ON OFF ON OFF ON 5 s 1 2 3 4 18 19 1 2 3 4 18 19 ABSM ABS transfer mode Does not turn OFF ABSR ABS request ABST ABS transmission data ready Alarm AL 0E5 ABS time out warning No al...

Page 280: ...equired then turn on SON again If the absolute position data transmission is not completed normally even after retry perform the ABS checksum error and error processing When a checksum error occurs the start command should be interlocked with ABST to disable the positioning operation The following shows an example of three retries are performed OFF ON OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 ...

Page 281: ... alarm factor cancel the alarm and then turn on ABSM During reset ABSM is received OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms OFF ON OFF ON OFF ON SON Servo on RES Reset ABSM ABS transfer mode During ABS transfer ABSR ABS request ABST ABS transmission data ready ABSB0 ABS transmission data bit 0 ABSB1 ABS transmission data bit 1 Absolute position data Base circuit ALM Malfunction RD Ready Operation...

Page 282: ... amplifier simultaneously send the latched current position to the controller side and the servo amplifier sets this data as the position command value However since the base circuit is off during a forced stop the status does not switch to servo lock Therefore if the servo motor is rotated by external force or the like after ABSM is turned on this travel distance is accumulated in the servo ampli...

Page 283: ...However the base circuit and RD turn on after the forced stop is canceled OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms OFF ON OFF ON SON Servo on RES Reset ABSM ABS transfer mode During ABS transfer ABSR ABS request ABST ABS transmission data ready ABSB0 ABS transmission data bit 0 ABSB1 ABS transmission data bit 1 Absolute position data Base circuit RD Ready Operation possible ...

Page 284: ...ory as the home position absolute position data CR should be turned on after checking that INP has turned on If this condition is not satisfied AL 096 Home position setting warning occurs If homing is performed correctly the alarm is automatically canceled The number of homing times is limited to 100000 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON Servo motor Proximity dog DOG Proximity dog INP In po...

Page 285: ...vo on should be turned on after checking that INP has turned on If this condition is not satisfied AL 096 Home position setting warning occurs If homing is performed correctly the alarm is automatically canceled The number of homing times is limited to 100000 Homing can be performed during the servo off OFF ON OFF ON OFF ON OFF ON OFF ON Manual feeding with JOG operation or others Servo motor INP ...

Page 286: ...lers continue outputting the command pulse Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller position mismatch will occur if the operation is continued When the servo amplifier has detected the stroke end release stroke end detection by JOG operation and the like urn on SON again or cycle the power By cycling the power the abs...

Page 287: ...e time out 2 After the ABS transfer mode signal turns on check the time it takes to turn off ABS transfer time If the ABS transfer time is longer than 5 s this will be treated as a transmission error and as such perform ABS communication error Perform the ABS communication error if AL 0E5 occurs in the servo amplifier due to an ABS transfer mode completion time time out OFF ON OFF ON OFF ON 1 s AB...

Page 288: ...servo amplifier is detected If the ABS request time is longer than 1 s this will be treated as an error in ABSR or ABST and as such perform ABS communication error Perform the ABS communication error if AL 0E5 occurs in the servo amplifier due to ABS request off time time out OFF ON OFF ON OFF ON 1 s ABSM ABS transfer mode ABSR ABS request Does not turn OFF ABST ABS transmission data ready Alarm A...

Page 289: ...and fully to prevent injury to persons or damage to property Only qualified personnel are authorized to install startup repair or adjust the machines in which these components are installed They must be familiar with all applicable local regulations and laws in which machines with these components are installed particularly the standards mentioned in this user s manual The staff responsible for th...

Page 290: ...l not rotate due to external or other forces Safety is not assured until safety related components of the system are completely installed or adjusted When replacing this servo amplifier confirm that the new servo amplifier is exactly the same model as that being replaced After the replacement check the performance of the functions before using the system Perform all risk assessments to the machine...

Page 291: ...bishi Electric Drive Safety function MR J5 User s Manual Troubleshooting CN8 M Base power supply for upper arm Shut off signal STO1 Shut off Monitor signal TOFB1 Base power supply for lower arm Power module Shut off signal STO2 Shut off Monitor signal TOFB2 Servo motor ON OFF ON OFF ON OFF ON OFF 0 r min 8 ms Servo motor speed EM2 Forced stop 2 Magnetic contactor Base circuit Energy supply to the ...

Page 292: ...d stop deceleration by turning off EM2 Forced stop 2 DI 1 STO2 CN8 5 Input the STO status of STO2 STO state base circuit shut off Open between STO2 and STOCOM STO release state in driving Close between STO2 and STOCOM Before turning off STO2 stop the servo motor in the servo off state or with forced stop deceleration by turning off EM2 Forced stop 2 DI 1 TOFCOM CN8 8 Common terminal for the TOFB1 ...

Page 293: ...from outside to 1 ms or less How to pull out the STO cable The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier With the clip 1 of the STO cable plug pressed in the direction of the arrow hold the plug 2 and pull out Input signal Status STO1 STO2 Between TOFB1 and TOFCOM STO1 state Between TOFB2 and TOFCOM STO2 state Between TOFB1 and TOFB2 STO state STO ...

Page 294: ...If STO is turned off during operation the servo motor stops with the dynamic brake stop stop category 0 Precautions for compliance with stop category 0 IEC EN 60204 1 Before turning off STO STO1 and STO2 make the servo off state or turn off EM1 Forced stop 1 If servo parameter STO timing error selection is set to 1 Not detected wiring to EM1 can be omitted Configure an external sequence that has t...

Page 295: ...safety relay unit The safety level depends on the setting value of Pr PF18 STO diagnosis error detection time and whether STO input diagnosis by TOFB output is performed or not For details refer to Pr PF18 in the following user s manual MR J5 G MR J5W G User s Manual Parameters MR J5 A User s Manual Parameters 2 When using the STO function turn off STO1 and STO2 at the same time Also before turnin...

Page 296: ...SDO1A 4A 4B SDO1A SDI1A 1A 1B SDI1A SDI2A SRESA SDO2A TOFA 3A 3B 1A 1B 6A 6B 8A SDI2A SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 SW1 1 FG 4 5 3 6 7 8 CN3 CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24V 7A 0V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 1 MR J3 D05 S1 24 V 0 V RESA 2 STOA S3 RESB 2 STOB MC M MC M S4 S2 CN8A C...

Page 297: ...er via MR J3 D05 STOB is connected to the servo amplifier via MR J3 D05 0 r min A axis shutdown 1 and 2 B axis shutdown 1 and 2 Stop Operation Energizing close Shut off open EM2 input STO shut off Normal close Shut off open Servo motor drivable Servo motor speed Servo amplifier Shut off delay STO status STO1 STO2 ...

Page 298: ...rror detection time to achieve safety level SIL3 1 To enable Emergency switching off for the shut off by the STO function of the servo amplifier change S1 to EMG The stop category at this time is 0 Page 292 Precautions for compliance with stop category 1 IEC EN 60204 1 24 V 0 V S2 K3 24V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 K3 CN8 KM1 CN3 EM1 EM2 STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM ...

Page 299: ...tion and connect them with external devices Page 290 Functional safety I O signal connector CN8 and pin assignments Sink I O interface Digital input interface DI 1 This is an input circuit in which the photocoupler cathode side is the input terminal Transmit signals from a sink open collector type transistor output relay switch etc VCES 1 0 V ICEO 100 μA STO1 STO2 STOCOM TR Servo amplifier For tra...

Page 300: ... A maximum of 5 2 V voltage drop occurs in the servo amplifier When outputting each of two STO states by using each TOFB 1 If the voltage drop a maximum of 2 6 V interferes with the relay operation apply high voltage a maximum of 26 4 V from an external source When outputting two STO states by using one TOFB 1 If the voltage drop a maximum of 5 2 V interferes with the relay operation apply high vo...

Page 301: ...V voltage drop occurs in the servo amplifier When outputting each of two STO states by using each TOFB 1 If the voltage drop a maximum of 2 6 V interferes with the relay operation apply high voltage a maximum of 26 4 V from an external source When outputting two STO states by using one TOFB 1 If the voltage drop a maximum of 5 2 V interferes with the relay operation apply high voltage a maximum of...

Page 302: ...it Control circuit power supply 24 V DC Electromagnetic brake Encoder Control Output signal 1 Self diagnosis Parameter Safety sub function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function Safety sub function processing part 1 CC Link IE TSN network Controller or CC Link IE TSN network equipment CC Link IE ...

Page 303: ... power supply 24 V DC Electromagnetic brake Control Output signal 1 Self diagnosis Parameter Safety sub function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function Safety sub function processing part 1 CC Link IE TSN network CC Link IE TSN network CC Link IE TSN network equipment Parameter Settings MELSEC iQ...

Page 304: ..._G_ RJ Safety sub function control by input device CN5 MR Configurator2 CN6 CN8 CN3 CN2 W V U CN2L CN1B CN1A Personal computer Analog monitor Junction terminal block Servo motor Controller or servo amplifier Controller or servo amplifier Safety light curtain Emergency stop switch Safety signal Safety programmable controller ...

Page 305: ... function control by network CN5 MR Configurator2 CN6 CN8 CN3 CN2 W V U CN2L CN1B CN1A Personal computer Analog monitor Junction terminal block Servo motor CC Link IE TSN network CC Link IE TSN network Safety light curtain Emergency stop switch Safety signal Safety signal ...

Page 306: ...g off SDIA Open between SDIA and SDICOM Turning on SDIA Close between SDIA and SDICOM DI 1 SDIB CN8 5 Input the status of SDIB Turning off SDIB Open between SDIB and SDICOM Turning on SDIB Close between SDIB and SDICOM DI 1 SDOCOM CN8 8 Common terminal for the SDOA and SDOB output signals DO 1 SDOA CN8 6 The signal that outputs the status assigned to SDOA SDOA turned on Closes between SDOA and SDO...

Page 307: ...signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply Output signal For source output interface For sink output interface 1 Separate the external output wiring into two routes SDOA and SDOB 2 Supply interfaces with 24 V DC 10 from external sources If all the I O points have been used there must be a total curre...

Page 308: ...tor type transistor output relay switch etc Sink input This is an input circuit in which the photocoupler cathode side is the input terminal Transmit signals from a sink open collector type transistor output relay switch etc SDICOM SDIA SDIB 24 V IN 0 V IN Approx 4 4 kΩ Approx 4 4 kΩ 24 V DC Control output 1 Control output 2 External device 24 V DC 5 mA 24 V DC 5 mA SDICOM SDIA SDIB 24 V IN 0 V IN...

Page 309: ...r Wire the system so that the electromagnetic brake activates when SBCS SBC output turns off There is no need to use the MBR Electromagnetic brake interlock of the servo amplifier For information on the operating sequence when using the SBC function refer to SBC function in the following manual 1 Configure a circuit which interlocks with an emergency stop switch to shut off 2 Do not use the 24 V D...

Page 310: ...e to the section of the cable after the grounding point Strip part of the shielded cable then ground the exposed portion of the cable on a large surface of the cabinet A metal cable clamp can also be used to ground the cable shown below Mask the painted internal wall of the cabinet that touches the cable clamp Exposed shield Grounding the shield Ground the both ends of the CN8 cable with the cable...

Page 311: ...or pins from the safety controller The safety level Category 4 PL e SIL 3 can be achieved with input signal diagnostics A1 24 V A2 0 V 24 V 0 V FLEXB US FLEXB US 24 V 0 V X1 X2 A1 24 V Q1 Q2 Q3 A2 0 V WS0 CPU0 WS0 XTIO SDOCOM CN8 CN8 SDOA SDOB SDICOM SDIA SDIB S1 CN1A CN8 KM1 QX_ COM I1 I2 I3 I4 Safety controller MELSEC WS series Safety I O module WS0 XTIO CPU module WSO CPU0 Application Applicati...

Page 312: ...n that allows execution of safety sub functions via CC Link IE TSN Network Wiring can be reduced using this method CN1A CN1B KM1 P1 P2 P1 P2 X0 X1 T0 T1 R6SFM RD78G RJ71GN11 T2 NZ2GNSS2 16DTE NZ2GNSS2 8D S1 MELSEC iQ R series safety CPU Safety sub function Control circuit Servo motor KM1 Magnetic contactor S1 Safety switch CC Link IE TSN network ...

Page 313: ...nce home position 1048576 pulses unit initial value One servo motor revolution unit Homing pitch can be changed with servo parameter setting Page 320 Magnetic pole detection method setting Absolute position detection system Absolute position encoder battery Not required Differs depending on the servo motor The following alarms and warnings are not detected AL 025 Absolute position erased AL 092 Ba...

Page 314: ...orrectly Incorrect connection triggers AL 016 4 This is for the MR J5 _A RJ_ servo amplifier The MR J5 _A_ servo amplifier does not have the CN2L connector 1 C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L MCCB R S T P C L11 L21 P3 P4 W V U L1 L2 L3 MC FR BSF01 FR HEL CN5 MR Configurator2 CN6 CN8 CN3 CN2 CN2L 4 SCALE THM 2 3 Power supply Molded case circuit b...

Page 315: ...ector 1 C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L MCCB R S T P C L11 L21 P3 P4 W V U L1 L2 L3 MC FR BSF01 FR HEL CN5 MR Configurator2 CN6 CN8 CN3 CN2 CN2L 2 Power supply Molded case circuit breaker Personal computer Magnetic contactor Analog monitor Safety relay Line noise filter Junction terminal block Power factor improving DC reactor Regenerative opt...

Page 316: ...Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction 1 What is the type of the linear encoder Incremental linear encoder Absolute position linear encoder Linear encoder resolution setting 1 Perform the magnetic pole detection 1 Change the setting to disable the magnetic pole detection Positioning operation check in te...

Page 317: ... Pr PC27 0 Encoder pulse count polarity selection to 0 encoder pulse increasing direction in the servo motor CCW or positive direction If the count direction of the linear servo motor and liner encoder do not match set Pr PC27 0 to 1 encoder pulse decreasing direction in the servo motor CCW or positive direction Servo parameter Description PC27 0 Encoder pulse count polarity selection 0 Encoder pu...

Page 318: ...olution setting Set the ratio to the linear encoder resolution with Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator Precautions The setting values of these servo parameters are enabled after the power is cycled or the software is reset If incorrect values are set for Pr PL02 and Pr PL03 the linear servo motor may not operate properly or...

Page 319: ...accepted or an alarm may occur If the linear encoder is installed incorrectly an alarm may occur If the linear encoder resolution setting Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator or the setting value of Pr PL09 is incorrect an alarm may occur For the machine whose friction becomes 30 or more of the continuous thrust the direct dr...

Page 320: ...etection is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the soft...

Page 321: ... of Pr PL17 0 decreased by two as the final setting value Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Decrease the value of Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude by five Not acceptable Is the travel distance during the magnetic pole detection acceptable 3 Increase the value of Pr PL17 ...

Page 322: ...tion method is not completed properly For an absolute position linear encoder set Pr PL01 0 Servo motor magnetic pole detection selection to 1 magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 magnetic pole detection disabled Setting of magnetic pole detection voltage level by position detection method For ...

Page 323: ... value and make sure that the accuracy of the magnetic pole detection is as required Setting example In this example set the final setting value of Pr PL09 Magnetic pole detection Voltage level to 49 setting value at the alarm occurrence 70 0 7 Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method set the re...

Page 324: ...e magnetic pole detection again The magnetic pole detection improves in accuracy when performed with no load For incremental encoder For the incremental linear encoder the magnetic pole detection is required every time the power is turned on or the software is reset By turning on the servo on command from the controller after the power on the magnetic pole detection is automatically carried out Th...

Page 325: ...F LM U2 LM K2 LM AJ Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 20 Linear servo motor series LM H3 LM F LM U2 LM K2 LM AJ Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 20 LSN 1 LSP 1 Servo on position Magnetic pole det...

Page 326: ... the magnetic pole detection Page 322 For incremental encoder 2 After the completion of the magnetic pole detection change Pr PL01 0 Servo motor magnetic pole detection selection to 0 magnetic pole detection disabled When Pr PL01 0 Servo motor magnetic pole detection selection is set to 0 magnetic pole detection disabled after the magnetic pole detection the magnetic pole detection after each powe...

Page 327: ...ervo amplifier before replacement 1 Open the project in MR Configurator2 and select the model 2 Check that the personal computer is connected with the servo amplifier and select Diagnosis and then Linear diagnosis 3 Click Magnetic Pole Information to open the magnetic pole information window 4 Click Read in the magnetic pole information window 5 Note down the values shown in data 1 of the magnetic...

Page 328: ...etting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction 1 What is the type of the linear encoder Incremental linear encoder Absolute value linear encoder Linear encoder resolution setting 1 Perform the magnetic pole detection 1 Change the setting to disable the magnetic pole detection Positioning operation check in test o...

Page 329: ... set Pr PC45 0 Encoder pulse count polarity selection to 0 encoder pulse increasing direction in the servo motor CCW or positive direction If the count directions of linear servo motor and linear encoder do not match set Pr PC45 0 to 1 encoder pulse decreasing direction in the servo motor CCW or positive direction Servo parameter Description PC45 0 Encoder pulse count polarity selection 0 Encoder ...

Page 330: ...he ratio to the linear encoder resolution with Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator Precautions The setting values of these servo parameters are enabled after the power is cycled or the software is reset If incorrect values are set for Pr PL02 and Pr PL03 the linear servo motor may not operate properly or AL 027 or AL 042 may...

Page 331: ...pted or an alarm may occur If the linear encoder is installed incorrectly an alarm may occur If the linear encoder resolution setting Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator or the setting value of Pr PL09 is incorrect an alarm may occur For the machine whose friction becomes 30 or more of the continuous thrust the direct drive ...

Page 332: ...al value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the software Set approximately 70 of the value s...

Page 333: ...l or negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is the value of Pr PL17 0 Response selection the final value Has an abnormal sound or vibration occurred during the magnetic pole detection Set the value of Pr PL17 0 decreased by two as the final setting value H...

Page 334: ... an absolute position linear encoder set Pr PL01 0 Servo motor magnetic pole detection selection to 1 magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 magnetic pole detection disabled Servo parameter Description PL08 2 Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled Ini...

Page 335: ...Set the value to approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole ...

Page 336: ...al value 0 Setting of identification signal amplitude by minute position detection method If AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 or AL 0E1 Overload warning 1 occurs at the magnetic pole detection by the minute position detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude Basically Pr PL18 does n...

Page 337: ...n selection for executing magnetic pole detection Timing chart 1 The magnetic pole detection time indicates the operation time when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on Linear servo motor movement when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on 1 When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is turned o...

Page 338: ...er the magnetic pole detection the magnetic pole detection at each power on is not required How to replace servo amplifier without magnetic pole detection Refer to the following Page 325 How to replace servo amplifier without magnetic pole detection Linear servo motor series LM H3 LM F LM U2 LM K2 LM AJ Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pi...

Page 339: ...ome position reference mark of the linear encoder is necessary in the homing direction To execute homing securely in the following example move the linear servo motor to LSN with an operation such as the JOG operation then start homing LSN LSP Returnable area Homing is possible when homing is started from this area Non returnable area Homing is not possible when homing is started from this area Do...

Page 340: ... 220 1048576 pulse 4 222 4194304 pulse 5 224 16777216 pulse 6 226 67108864 pulse 7 230 1073741824 pulse Initial value 3 220 1048576 pulse Pr PL01 2 Stop interval pulse Linear encoder resolution 0 001 μm 0 005 μm 0 01 μm 0 02 μm 0 05 μm 0 8192 0 008 0 041 0 082 0 164 0 410 1 131072 0 131 0 655 1 311 2 621 6 554 2 262144 0 262 1 311 2 621 5 243 13 107 Recommended value 3 1048576 1 049 5 243 10 486 R...

Page 341: ...er 1048576 pulses based on the linear encoder home position absolute position data 0 The stop intervals at homing can be changed with Pr PL01 2 Homing stop interval setting For the specifications of the stop intervals at homing refer to the following Page 338 Incremental linear encoder The specifications are the same as the ones when an incremental encoder is used ...

Page 342: ...n The position obtained by moving the home position shift distance from the linear encoder home position reference mark is set as the home position Ex Homing methods 33 and 34 The following figure shows the operation of Homing method 34 The operation of Homing method 33 is opposite to that of Homing method 34 1 Home position shift distance can be changed with Pr PT07 Home position shift distance W...

Page 343: ...ith Pr PT07 Home position shift distance When the servo motor returns at the stroke end 1 This cannot be used with the software limit 0 r min 1 Homing direction Creep speed Home position shift distance Servo motor speed Creep speed Machine position Home position Linear encoder home position 0 r min Stroke end 1 Homing direction Homing start position Forward rotation Servo motor speed Reverse rotat...

Page 344: ... Example When the Z phase is recognized at startup The position where LZ Encoder Z phase pulse is turned on depends on the direction of home position passing In cases where each homing is required to be completed at the same position such as dog type homing start homing with the same direction Point to note for linear encoder without home position reference mark For the linear encoder without home...

Page 345: ...inear encoder have different reference home positions at homing For the incremental linear encoder a home position reference mark of the linear encoder is necessary in the homing direction To execute homing securely in the following example move the linear servo motor to LSN with an operation such as the JOG operation then start homing ON OFF 1048576 pulses 1 0 mm s Homing direction Homing speed C...

Page 346: ...3 220 1048576 pulse 4 222 4194304 pulse 5 224 16777216 pulse 6 226 67108864 pulse 7 230 1073741824 pulse Initial value 3 220 1048576 pulse Pr PL01 2 Stop interval pulse Linear encoder resolution 0 001 μm 0 005 μm 0 01 μm 0 02 μm 0 05 μm 0 8192 0 008 0 041 0 082 0 164 0 410 1 131072 0 131 0 655 1 311 2 621 6 554 2 262144 0 262 1 311 2 621 5 243 13 107 Recommended value 3 1048576 1 049 5 243 10 486 ...

Page 347: ...s per 1048576 pulses based on the linear encoder home position absolute position data 0 The stop intervals at homing can be changed with Pr PL01 2 Homing stop interval setting For the specifications of the stop intervals at homing refer to the following Page 338 Homing setting method The specifications are the same as the ones when an incremental encoder is used ...

Page 348: ...shift distance can be changed with Pr PT07 When the linear encoder home position does not exist in the homing direction If the homing is performed from the position where the linear encoder home position does not exist in the homing direction an error may occur If an error occurs change the homing method or move the linear servo motor to the stroke end on the opposite side of the homing direction ...

Page 349: ... phase pulse of the servo amplifier is not outputted Check the specifications of the controller for whether LZ Encoder Z phase pulse is necessary or not for homing Absolute position linear encoder When using an absolute position linear encoder the data set type homing can also be carried out For proximity dog type homing For a proximity dog type homing the nearest reference home position after pro...

Page 350: ... the position control counter is cleared and the current position is stored in the non volatile memory backup memory as home position data 1 This can be changed with Pr PL01 ON OFF 1048576 pulses 1 0 mm s Linear servo motor speed CR Clear Reference home position Linear servo motor position Home position Linear encoder home position ...

Page 351: ...r detection function selection Refer to the following table Initial value 3 Position deviation error detection Set Pr PL04 0 AL 042 Servo control error detection function selection to 1 to enable the position deviation error detection If the difference between the model feedback position 1 and the feedback position 2 in the figure is equal to or more than the value of Pr PL05 Position deviation er...

Page 352: ...ation error detection Page 350 Speed deviation error detection Page 350 Thrust deviation error detection Pr PL04 0 AL 042 Servo control error detection function selection Initial value 3 Linear servo control error controller reset condition selection Select the reset condition of the linear servo control error When Pr PL04 3 AL 042 Servo control error detection controller reset condition selection...

Page 353: ...ents differ depending on the linear encoder type ID The ID No of the linear encoder is displayed Data 1 For an incremental type linear encoder the counter from powering on is displayed For an absolute position type linear encoder absolute position data is displayed Data 2 For the incremental type linear encoder the distance number of pulses from the reference mark Z phase is displayed For the abso...

Page 354: ...unctions 10 Magnetic Pole Information The magnetic pole information can be displayed and set 11 Parameter Setting Electronic gear The servo parameters for the electronic gear Pr PA06 and Pr PA07 can be displayed and set Symbol Name Explanation Unit ...

Page 355: ...ing function refer to Auto tuning mode 1 and Auto tuning mode 2 in the following manual MR J5 User s Manual Adjustment Precautions for the auto tuning function If the following conditions are not satisfied the auto tuning mode 1 may not operate properly Time to reach 2000 mm s is the acceleration deceleration time constant of 5 s or less The linear servo motor speed is 50 mm s or higher The load t...

Page 356: ...istics Overload protection characteristics LM H3 series LM K2 series LM U2 series 50 100 150 200 250 300 0 0 1 10 1 100 1000 Operating time s Load ratio In operation In servo lock 0 0 1 10 1 100 1000 100 200 300 400 Load ratio In operation In servo lock Operating time s ...

Page 357: ... 10 LM F series natural cooling LM F series liquid cooling 100 200 300 400 500 600 0 0 1 10 1 100 1000 Load ratio In operation In servo lock Operating time s 50 100 150 200 250 300 0 0 1 10 1 100 1000 Load ratio In operation In servo lock Operating time s ...

Page 358: ...356 10 USING A LINEAR SERVO MOTOR 10 6 Characteristics LM AJ series 0 0 1 10 1 100 1000 100 200 300 400 50 150 250 350 Load ratio In operation In servo lock Operating time s ...

Page 359: ...0 8 LM U2PBF 22M 1SS0 MR J5 70_ 1 3 50 15 1 0 LM U2P2B 40M 2SS0 MR J5 200_ 3 5 90 20 1 8 LM U2P2C 60M 2SS0 MR J5 350_ 5 5 130 20 2 6 LM U2P2D 80M 2SS0 MR J5 500_ 7 5 195 25 3 9 LM FP2B 06M 1SS0 MR J5 200_ 3 5 90 20 1 8 LM FP2D 12M 1SS0 MR J5 500_ 7 5 195 25 3 9 LM FP2F 18M 1SS0 MR J5 700_ 10 300 25 6 0 LM FP4B 12M 1SS0 MR J5 500_ 7 5 195 25 3 9 LM FP4D 24M 1SS0 MR J5 700_ 10 300 25 6 0 LM K2P1A 01...

Page 360: ...late the power supply capacity for one servo amplifier from the following tables Power supply capacity for one servo amplifier at rated output 1 The power supply capacity will vary according to the power impedance This value is applicable when the power factor improving reactor is not used Servo amplifier power supply capacity for one linear servo motor Servo amplifier Power supply capacity kVA 1 ...

Page 361: ...generated heat W 1 At servo off C At rated output MR J5W2 22G_ 20 Sum of the total amount of heat generated by the servo amplifier for all linear servo motors to be connected B and the amount of heat generated by the servo amplifier at servo off C MR J5W2 44G_ 20 MR J5W2 77G_ 20 MR J5W2 1010G_ 20 MR J5W3 222G_ 25 MR J5W3 444G_ 25 Linear servo motor Servo amplifier generated heat W B LM H3P2A 07P B...

Page 362: ...0 10 5 LM U2PAF 15M 0SS0 1 87 10 2 5 93 10 5 LM U2PBB 07M 1SS0 3 13 10 2 1 04 10 4 LM U2PBD 15M 1SS0 1 56 10 2 5 18 10 5 LM U2PBF 22M 1SS0 4 58 10 2 1 33 10 5 LM U2P2B 40M 2SS0 1 47 10 3 1 27 10 5 LM U2P2C 60M 2SS0 1 07 10 3 7 66 10 6 LM U2P2D 80M 2SS0 9 14 10 4 5 38 10 6 LM FP2B 06M 1SS0 8 96 10 4 1 19 10 3 LM FP2D 12M 1SS0 5 55 10 4 4 81 10 4 LM FP2F 18M 1SS0 4 41 10 4 2 69 10 4 LM FP4B 12M 1SS0...

Page 363: ...e is used Linear servo motor primary side Permissible load to motor mass ratio Multiplier LM H3 series 40 LM U2 series 100 LM F series LM K2 series 50 LM AJP1B 07K JSS0 15 LM AJP1D 14K JSS0 30 LM AJP2B 12S JSS0 25 LM AJP2D 23T JSS0 30 LM AJP3B 17N JSS0 35 LM AJP3D 35R JSS0 35 LM AJP4B 22M JSS0 35 LM AJP4D 45N JSS0 35 ...

Page 364: ... linear encoder Perform magnetic pole detection in the incremental system and disable magnetic pole detection after detection Enable the absolute position detection system with Pr PA03 Absolute position detection system Alarm detection AL 025 Absolute position erased AL 092 Battery cable disconnection warning AL 09F Battery warning and AL 0E3 Absolute position counter warning are not detected Back...

Page 365: ... Servo motor magnetic pole alignment Magnetic pole detection Required Not required adjusted before shipping Automatically executed at the first servo on after the power is turned on In the absolute position detection system the magnetic pole detection can be disabled with Pr PL01 Page 369 Magnetic pole detection method setting Absolute position detection system Absolute position encoder battery Re...

Page 366: ...position detection system 4 This is for the MR J5 _A RJ_ servo amplifier The CN2L connector is not used for the direct drive servo system 1 R S T C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L CN5 P C L11 L21 P3 P4 MR Configurator2 CN6 CN8 CN3 CN2 W V U L1 L2 L3 MC CN2L 4 FR BSF01 FR HEL MCCB Power supply Molded case circuit breaker Magnetic contactor Analog...

Page 367: ...olute position detection system Incremental system Absolute position detection system Set Pr PA03 0 Absolute position detection system selection to 1 Cancel AL 025 Absolute position erased 4 Can the Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric be turned on manually Perform the magnetic pole detection 1 Turn on the Z phase pulse of the direct drive motor by using the ...

Page 368: ... has advantages and disadvantages Refer to the following for the characteristics of each method Page 317 Outline of magnetic pole detection Select a magnetic pole detection method suitable for the usage In the initial value the position detection method is selected Precautions on magnetic pole detection For the magnetic pole detection the direct drive motor automatically starts to move simultaneou...

Page 369: ...tion is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the software...

Page 370: ... 0 decreased by two as the final setting value Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Decrease the value of Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude by five Not acceptable Is the travel distance during the magnetic pole detection acceptable 3 Increase the value of Pr PL17 0 by one Ac...

Page 371: ...ting Set the magnetic pole detection method by using Pr PL08 0 Magnetic pole detection method selection In the following cases set the magnetic pole detection method to the minute position detection method When a shortened travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed properly For an absolute position d...

Page 372: ...approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole detection again w...

Page 373: ... pole detection by the position detection method and then perform the auto tuning to set an estimated value PL17 0 Response selection Initial value 0 Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Initial value 0 Setting value Responsiveness 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Load to motor mass ratio load to motor inertia ratio 0 10 times or less 1 10 multiplie...

Page 374: ...ion detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude Basically Pr PL18 does not need to be changed from the initial value Operation at magnetic pole detection Precautions After the magnetic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 ...

Page 375: ...erse rotation stroke end is turned off during the magnetic pole detection the magnetic pole detection is carried on to the opposite direction When both LSP and LSN are off AL 027 Initial magnetic pole detection error occurs Direct drive motor movement when LSP or LSN is off When LSP or LSN is off at servo on the magnetic pole detection is performed as follows ON OFF ON OFF ON OFF 100 ms Servo on c...

Page 376: ...e Pr PL01 0 Servo motor magnetic pole detection selection to 0 magnetic pole detection disabled To omit magnetic pole detection at each power on after magnetic pole detection turn on the Z phase pulse of the direct drive motor in the JOG operation and set Pr PL01 0 to 0 magnetic pole detection disabled 11 3 Startup A When using a direct drive motor set Pr PA01 1 Operation mode selection to 6 Direc...

Page 377: ...bsolute position erased 5 Can the Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric be turned on manually Perform the magnetic pole detection 6 Transfer of absolute position data Cancel AL 093 ABS data transfer warning 7 Turn on the Z phase pulse of the direct drive motor by using the JOG operation of the controller 1 2 Manually turn on the Z phase pulse of the direct dri...

Page 378: ... pole detection of vertical axis with direct drive motors refer to the following Direct Drive Motor User s Manual Outline of magnetic pole detection Before the positioning operation of the direct drive motor perform the magnetic pole detection When starting up the equipment use the test operation mode positioning operation of MR Configurator2 The magnetic pole detection includes the position detec...

Page 379: ...alue Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the software Set approximately 70 of the value set f...

Page 380: ...everse rotation CW with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is the value of Pr PL17 0 Response selection the final value Has an abnormal sound or vibration occurred during the magnetic pole detection Set the value of Pr PL17 0 decreased by two as the final setting value Have AL 032 O...

Page 381: ... an absolute position detection system set Pr PL01 0 Servo motor magnetic pole detection selection to 1 Magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 magnetic pole detection disabled Servo parameter Description PL08 2 Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled I...

Page 382: ... Set the value to approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole...

Page 383: ...detection by the position detection method and then perform the auto tuning to set an estimated value PL17 0 Response selection Initial value 0 Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Initial value 0 Setting value Responsiveness 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Load to motor mass ratio load to motor inertia ratio 0 10 times or less 1 10 multiplier 2 20...

Page 384: ...on detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude Basically Pr PL18 does not need to be changed from the initial value Operation at magnetic pole detection Precautions After the magnetic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 T...

Page 385: ...se rotation stroke end is turned off during the magnetic pole detection the magnetic pole detection is carried on to the opposite direction When both LSP and LSN are off AL 027 Initial magnetic pole detection error occurs Direct drive motor movement when LSP or LSN is off When LSP or LSN is off at servo on the magnetic pole detection is performed as follows ON OFF ON OFF ON OFF 100 ms Servo ON com...

Page 386: ...ation from the controller after the magnetic pole detection 1 Execute the magnetic pole detection Refer to the following Page 372 Operation at magnetic pole detection 2 After the completion of the magnetic pole detection change Pr PL01 0 Servo motor magnetic pole detection selection to 0 magnetic pole detection disabled To omit magnetic pole detection at each power on after magnetic pole detection...

Page 387: ... 0 The detection level can be changed with Pr PL05 Pr PL06 and Pr PL07 Precautions For the servo control error detection function the position and speed deviation error detections are enabled by default Pr PL04 0 AL 042 Servo control error detection function selection 3 Servo control error detection selection function Select the servo control error detection function Pr PL04 0 AL 042 Servo control...

Page 388: ... PL04 0 to 4 to enable torque deviation error detection If the difference between the command torque 5 and the feedback torque 6 in the figure is equal to or more than the value of Pr PL07 Torque thrust deviation error detection level 1 to 1000 AL 042 3 Servo control error by torque thrust deviation will occur and the direct drive motor will stop The initial value of this detection level is 100 Ch...

Page 389: ... and AL 042 3 Servo control error based on torque thrust deviation can be canceled by resetting the controller When Pr PL04 3 is 0 reset disabled reset by powering off on or software reset enabled AL 042 1 AL 042 2 and AL 042 3 can be canceled only by cycling the servo amplifier power or resetting the software Servo parameter Description PL04 3 AL 042 Servo control error detection controller reset...

Page 390: ... characteristics TM RFM002C20 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM040J10 Page 389 Characteristic a TM RFM048G20 TM RFM072G20 TM RFM120J10 Page 389 Characteristic b TM RFM240J10 Page 390 Characteristic c TM RG2M002C30 TM RU2M002C30 TM RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 Page 390 Characteristic d ...

Page 391: ...ristics 389 11 Characteristic a Characteristic b 1000 100 10 1 0 1 0 50 150 200 250 300 100 Load ratio In operation In servo lock Operating time s 1000 100 10 1 0 1 0 50 150 200 250 300 100 Load ratio In operation In servo lock Operating time s ...

Page 392: ...cteristics Characteristic c Characteristic d 10000 1000 100 10 1 0 50 150 200 250 300 100 Load ratio In operation In servo lock Operating time s 0 50 100 150 200 250 300 350 1000 100 10 1 0 1 Load ratio In operation In servo lock Operating time s ...

Page 393: ...0 5 TM RU2M004E30 TM RG2M004E30 MR J5 40_ 0 7 35 15 0 7 TM RU2M004E30 TM RG2M009G30 0 9 35 15 0 7 TM RU2M009G30 TM RFM002C20 MR J5 20_ 0 25 25 15 0 5 TM RFM004C20 MR J5 40_ 0 38 35 15 0 7 TM RFM006C20 MR J5 60_ 0 53 40 15 0 8 TM RFM006E20 0 46 40 15 0 8 TM RFM012E20 MR J5 70_ 0 81 50 15 1 0 TM RFM018E20 MR J5 100_ 1 3 50 15 1 0 TM RFM012G20 MR J5 70_ 0 71 50 15 1 0 TM RFM048G20 MR J5 350_ 2 7 130 ...

Page 394: ...d heat will not change Calculation method of power supply capacity Calculate the power supply capacity for one servo amplifier from the following tables Power supply capacity for one servo amplifier at rated output 1 The power supply capacity will vary according to the power impedance This value is applicable when the power factor improving reactor is not used Servo amplifier power supply capacity...

Page 395: ...rvo amplifier for one direct drive motor 1 The value inside applies when the torque is increased Servo amplifier Servo amplifier generated heat W 1 At servo off C At rated output MR J5W2 22G_ 20 Sum of the total amount of heat generated by the servo amplifier for all direct drive motors to be connected B and the amount of heat generated by the servo amplifier at servo off C MR J5W2 44G_ 20 MR J5W2...

Page 396: ...n 0 5 15 20 25 30 10 100 200 300 002 006 400 004 500 Time constant τ ms Speed 0 r min 0 10 40 50 60 70 30 20 100 200 300 018 006 012 400 500 Time constant τ ms Speed 0 r min 0 10 30 40 50 60 072 048 20 012 100 200 300 400 500 Time constant τ ms Speed r min 0 0 60 120 040 240 50 100 150 200 70 80 50 40 30 20 10 Time constant τ ms Speed ...

Page 397: ...M RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 r min 0 25 30 20 15 10 5 0 100 200 300 400 500 600 Time constant τ ms Speed r min 0 5 15 20 25 30 10 0 100 200 300 400 500 600 Time constant τ ms Speed r min 0 60 70 80 50 40 30 20 10 0 100 200 300 400 500 600 Time constant τ ms Speed ...

Page 398: ...7 Absolute position detection system A When the system is used with absolute position detection system by DIO Pr PA03 0 Absolute position detection system selection set to 1 Enabled with the following conditions the initial servo on after power on triggers the magnetic pole detection and AL 093 ABS data transfer warning will occur The magnetic pole detection is enabled at initial servo on Pr PL01 ...

Page 399: ...ition erased occurs A battery cannot be replaced using the battery connection cable MR J3BTCBL03M If the encoder cable is disconnected AL 025 Absolute position erased occurs Timing chart at power on under the condition of performing magnetic pole detection 1 Page 272 Absolute position data transfer protocol 2 When the magnetic pole detection is performed AL 093 ABS data transfer warning occurs OFF...

Page 400: ...tteries differ depending on servo amplifiers Select a proper battery Applications of the batteries Combination of battery and servo amplifier MR BAT6V1SET battery For the specifications and the year and month of manufacture of the built in MR BAT6V1 battery refer to the following Page 411 MR BAT6V1 battery Parts identification and dimensions Unit mm Mass 55 g including the MR BAT6V1 battery Model ...

Page 401: ...ight of the servo amplifier turns off Checking the voltage between P and N using the tester etc is recommended The servo amplifier may be damaged by static electricity Take the following precautions Ensure that the work bench and your body are grounded Do not directly touch conductive areas such as the connector pins and electrical parts Replacing batteries with the control circuit power supply of...

Page 402: ...t the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery Install a battery and insert the plug into the CN4 connector While pressing the lock release lever pull out the connector While pressing the lock release lever slide the battery case toward you ...

Page 403: ...1SET reaches the end of its service life replace the built in MR BAT6V1 battery 1 While pressing the locking part open the cover 2 Replace the battery with a new MR BAT6V1 battery 3 Press the cover until it is fixed with the projection of the locking part to close the cover Cover Locking part MR BAT6V1 Projection ...

Page 404: ...in MR BAT6V1 battery refer to the following Page 411 MR BAT6V1 battery Parts identification and dimensions Unit mm Mass 55 g including the MR BAT6V1 battery Battery connection Connect as follows 27 4 51 37 5 Connector for servo amplifier Case CN4 CN2 MR BAT6V1SET A Direct drive motor Absolute position storage unit Servo amplifier Encoder cable ...

Page 405: ...uch conductive areas such as the connector pins and electrical parts Replacing batteries with the control circuit power supply off will erase the absolute position data Before replacing batteries check that the new battery is within battery life Battery installation and removal procedure Fitting method Servo amplifiers with a battery holder on the bottom cannot have wiring for grounding when batte...

Page 406: ...V1SET A reaches the end of its service life replace the built in MR BAT6V1 battery 1 While pressing the locking part open the cover 2 Replace the battery with a new MR BAT6V1 battery 3 Press the cover until it is fixed with the projection of the locking part to close the cover Tab Cover Projection four places ...

Page 407: ... batteries No batteries are included in the battery case Prepare MR BAT6V1 batteries separately Number of connectable servo motors One MR BT6VCASE can hold the absolute position data of up to four axes of direct drive motors Direct drive motors in the incremental system are included as the axis numbers Linear servo motors are not counted as the axis numbers Dimensions Unit mm Mass 0 18 kg 120 0 5 ...

Page 408: ...on When using 1 axis servo amplifier When using up to 4 axis servo amplifiers CN4 CN10 MR BT6VCASE MR BT6V1CBL_M Servo amplifier CN4 CN10 MR BT6VCASE MR BT6V1CBL_M MR BT6V2CBL_M MR BT6V2CBL_M CN4 CN4 Servo amplifier First Servo amplifier Second Servo amplifier Last ...

Page 409: ...the battery with the control circuit power supply on triggers AL 09F 1 Low battery However the absolute position data will not be erased Assembly of the battery unit Replace all the batteries with new ones at the same time at battery replacement Install five MR BAT6V1 batteries to the MR BT6VCASE battery case Things to be prepared Product name Model Quantity Remark Battery case MR BT6VCASE 1 MR BT...

Page 410: ... MR BT6VCASE Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled 1 Remove the two screws using a Phillips head screwdriver 2 Remove the cover Screw Cover CON2 CON3 CON1 CON4 CON5 BAT1 BAT2 BAT3 BAT4 BAT5 Parts identification ...

Page 411: ...direction the connector will break Place the MR BAT6V1 lead wire in the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 3 Bring out the lead wire from the space between the ribs and bend the wire as shown in the figure to store the wire in the duct Connect the lead wire to the connector Be careful not to get the lead wire caught...

Page 412: ...ions for removal of battery The connector attached to the MR BAT6V1 battery has the lock release lever When removing the connector pull out the connector while pressing the lock release lever Battery cable removal Precautions Pulling out the connector of the MR BT6V1CBL and MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of th...

Page 413: ...pack 2CR17335A CR17335A 2 pcs connected in series Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 to 55 Lithium content g 1 2 Mercury content Less than 1 ppm Dangerous goods class Not subject to the dangerous goods Class 9 For details refer to Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Da...

Page 414: ...n remark 0 3 m 1 m MR BT6V1CBL_M 03 1 Standard For connecting to MR BT6VCASE MR BT6V2CBL_M 03 1 Standard For junction Figure Components Description 1 Cable VSVC 7 0 18 2C 2 Connector Housing PAP 02V O Contact SPHD 001G P0 5 JST 3 Connector Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent Figure Components Description 1 Cable VSVC 7 0 18 2C 2 Cable 3 Connector Housing PAP 02V O Cont...

Page 415: ... four wire type communication method cannot be used When HK series rotary servo motors are used for drive and load side encoders four wire type encoder cables cannot be used Select a load side encoder of which the number of load side encoder pulses per servo motor revolution satisfies the following conditions 4096 212 Number of load side encoder pulses per servo motor revolution 67108864 226 Load ...

Page 416: ...o motor side information and load side information Advantage The gain during operation can be increased and thus the settling time can be shorten by switching the information type to control the position as follows the servo motor side information during operation and the load side information during stops When the servo motor stops it stops with the accuracy at the load side Fully closed loop con...

Page 417: ...i closed loop control when the servo motor is operating When Pr PE08 is set to 4500 fully closed loop control is always enabled FBD FBN CDV CMX S Servo motor side feedback pulses load side resolution unit Servo motor side Droop pulses Servo motor side Cumulative feedback pulses Load side encoder droop pulses Load side encoder cumulative feedback pulses Fully closed loop dual feedback filter Pr PE0...

Page 418: ...control 1 Set ω dual feedback filter band with Pr PE08 Fully closed loop dual feedback filter 1 At servo motor stop 1 to ω Fully closed loop control During operation ω or higher Semi closed loop control Semi closed loop control Fully closed loop control Dual feedback filter Servo motor Linear encoder Position control unit High pass filter Low pass filter Frequency rad s Operation status Control st...

Page 419: ... CN2L connector use two wire type encoder cables Note that four wire type serial interface compatible encoders and A B Z phase pulse train interface compatible encoders cannot be used Load side encoder Pr PA01 1_Operation mode selection 0 Standard control mode 4 Linear servo motor control mode 6 Direct drive motor control mode Linear encoder AL 037 2 Rotary servo motor manufactured by Mitsubishi E...

Page 420: ...ted In that case batteries are unnecessary CN2 Servo amplifier Controller Position command control signal Table Linear encoder compatible with two wire type serial interface 1 Load side encoder signal Servo motor encoder signal Linear encoder head Servo motor CN2 CN2L Servo amplifier Controller Position command control signal Table Linear encoder compatible with A B Z phase pulse train interface l...

Page 421: ...th CN2L 1 When using an HK KT servo motor an absolute position detection system can be supported without using batteries 1 2 Servo motor Two wire type rotary encoder Driving part Load side encoder signal Servo motor encoder signal Controller Position command control signal Servo amplifier 1 A B Z phase differential output encoder two wire type or four wire type rotary encoder or synchronous encode...

Page 422: ...nding on the load side encoder Encoder cable configuration diagram for linear encoders For encoder cables for linear encoders refer to the following manual MR J5 Partner s Encoder User s Manual The encoder cable to be used differs depending on the load side encoder Servo amplifier without CN2L Servo amplifier with CN2L A linear encoder can be connected without using an MR J4FCCBL03M branch cable I...

Page 423: ... 3 Use the servo motor in the range not exceeding the maximum servo motor speed described in Standard specifications list in the Rotary Servo Motor User s Manual HK series Servo amplifier with CN2L A linear encoder can be connected without using an MR J4FCCBL03M branch cable In addition a four wire type linear encoder can also be used 1 When the motor type of the servo motor is HK KT_W a maximum o...

Page 424: ...0 Absolute position detection system selection has been set to 1 Enabled AL 037 2 Parameter combination error occurs This setting is enabled when 1 fully closed loop control mode is selected in Pr PA01 5 Fully closed loop operation mode selection Pr PA01 4 Fully closed loop operation mode selection Pr PE01 0 Fully closed loop function selection Semi closed loop control fully closed loop control sw...

Page 425: ...phase input interface encoder is used Load side encoder communication method selection A The communication method differs depending on the load side encoder type For details on each load side encoder communication method refer to External encoder connector in the User s Manual Introduction and Compatible linear encoder list in the MR J5 Partner s Encoder User s Manual Select a cable to be connecte...

Page 426: ...7 0 Encoder pulse count polarity selection During the positioning operation AL 042 Fully closed loop control error may occur Servo parameter Set the polarity of the load side encoder that is connected to the CN2L connector so that the CCW direction of the servo motor matches the increasing direction of the load side encoder feedback Pr PC27 0_Encoder pulse count polarity selection 0 Load side enco...

Page 427: ...5 0 Encoder pulse count polarity selection During the positioning operation AL 042 Fully closed loop control error may occur Servo parameter Set the polarity of the load side encoder that is connected to the CN2L connector so that the CCW direction of the servo motor matches the increasing direction of the load side encoder feedback Pr PC45 0_Encoder pulse count polarity selection 0 Load side enco...

Page 428: ...ide encoder pulses The relation is as follows Select a load side encoder of which the number of load side encoder pulses per servo motor revolution is within the following range 4096 212 Number of load side encoder pulses per servo motor revolution 67108864 226 Example settings of a ball screw direct connection with a linear encoder resolution of 0 05 μm Conditions Servo motor resolution 67108864 ...

Page 429: ...es rev Servo motor side pulley diameter 30 mm Rotary encoder side pulley diameter 20 mm Rotary encoder resolution 67108864 pulses rev If the pulley ratio or reduction ratio is not one to one calculate the electronic gear by taking that into consideration d2 20 mm d1 30 mm Servo motor Rotary encoder Driving part Pulley diameter Pulley diameter Pr PE04 Pr PE05 67108864 30 67108864 20 1 1 3 2 ...

Page 430: ...below When the setting value for the dual feedback filter is increased the settling time becomes shorter However the vibration of the servo motor will be larger because the servo motor becomes susceptible to the vibrations of the load side encoder For the dual feedback filter set a value that is equal to or smaller than a half of the setting value for PG2 To shorten the settling time Increase the ...

Page 431: ...orrectly 3 Checking the load side encoder feedback direction setting the polarity of the load side encoder Move the device load side encoder manually in servo off status to confirm that the directions of the cumulative feedback pulses of the servo motor encoder after taking the gear into consideration and the load side cumulative feedback pulses are matched If the directions are mismatched reverse...

Page 432: ...phase must be passed through when a rotary encoder is used during a period from a home position return start until the dog signal turns off For the linear encoder a home position reference mark of the linear encoder is necessary in the homing direction In addition place the proximity dog position one half of the rotation or more before the reference mark Precautions To execute homing securely in t...

Page 433: ...ning on home position reference mark signal of the linear encoder has a certain width Specifications differ depending on the linear encoder Example When the Z phase is recognized at startup The position where the signal turns on depends on the direction in which the home position is passed through In a case where homing is always required to be completed at the same position such as dog type homin...

Page 434: ...oller then perform homing Rotary encoder of a serial communication servo motor If using the rotary encoder of a serial communication servo motor as the load side encoder the home position is at the load side Z phase position ON OFF 0 r min Linear encoder home position Home position Homing speed Creep speed Homing direction Proximity dog signal Servo motor speed Reference home position Machine posi...

Page 435: ... Pr PE03 0 Fully closed loop control error Detection function selection to 1 speed deviation error detection to enable the speed deviation error detection When the difference between the servo motor side feedback speed 1 and the load side feedback speed 3 is equal to or more than the value of Pr PE06 Fully closed loop control Speed deviation error detection level 1 r min to permissible speed AL 04...

Page 436: ...on method selection is set as follows Refer to the following for the error detection method Page 433 Speed deviation error detection Page 434 Position deviation error detection Pr PE03 0 Fully closed loop control error detection function Fully closed loop control error Reset selection Select the reset condition of fully closed loop control errors Pr PE03 3 Fully closed loop control error Reset sel...

Page 437: ... starts from 0 Click Clear to reset the value to 0 In reverse rotation the value is negative pulse e Load side encoder droop pulses Droop pulses of the deviation counter between a load side position and a command are displayed In reverse rotation the value is negative pulse f Servo motor side cumulative feedback pulses before gear The feedback pulses from the servo motor encoder are counted and di...

Page 438: ...pulse electronic gear 1 Denominator for servo motor encoder pulses can be displayed and set Page 426 Setting the feedback pulse electronic gear l Parameter Setting Dual F B filter With this servo parameter the band for Pr PE08 Fully closed loop dual feedback filter can be displayed and set m Parameter Setting Fully closed loop function G WG The servo parameters for the fully closed loop control ca...

Page 439: ... the following manual MR J5 Partner s Encoder User s Manual 1 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M 2 Plug 36110 3000FD Shell kit 36310 F200 008 3M LG 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2 1 MOTOR 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 BAT SEL 9 10 5 THM1 ...

Page 440: ...rect drive motor for the load side encoder the Z phase must be passed through before homing Switching between semi closed loop control and fully closed loop control cannot be performed Set Pr PE01 0 Fully closed loop function selection to 0 Always enabled If Pr PE01 0 Fully closed loop function selection is set to 1 switching by fully closed loop selection command from the controller and by input ...

Page 441: ...12 USING A FULLY CLOSED LOOP SYSTEM 12 7 Absolute position detection system 439 12 MEMO ...

Page 442: ... NA 030298ENG D Items related to the following functions and models are added Functional safety MR J5 500_ servo amplifier MR J5 700_ servo amplifier FR XC multifunction regeneration converter J5 CHP07 10P cabinet mounting attachment J5 CHP08 grounding terminal attachment Added edited Section 1 2 Section 3 3 Chapter 4 Chapter 5 Section 6 1 Section 6 4 Section 6 10 Section 6 18 Section 6 19 Chapter...

Page 443: ...ou acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of pro...

Page 444: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies SH NA 030298ENG D ...

Page 445: ......

Page 446: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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