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Mitsubishi Electric MR-J4-100B(-RJ), Instruction Manual

The Mitsubishi Electric MR-J4-100B(-RJ) is a cutting-edge industrial servo amplifier, designed to deliver exceptional performance and precision control. To operate this high-tech device, make sure to access the comprehensive Instruction Manual available for free download on our website. Explore the detailed manual packed with valuable insights and guidelines only at 88.208.23.73:8080.

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14. USING A LINEAR SERVO MOTOR 

14 -  20 

 
14.3.3 Home position return 
 

POINT 

 

The incremental linear encoder and the absolute position linear encoder have 
different reference home positions at the home position return. 

 
(1)  Incremental linear encoder 
 

CAUTION 

If the resolution or the stop interval (the third digit of [Pr. PL01]) of the linear 
encoder is large, it is very dangerous since the linear servo motor may crash into 
the stroke end. 

 

(a)  When the linear encoder home position (reference mark) exists in the home position return direction 

When an incremental linear encoder is used, the home position is the position per 1048576 pulses 
(changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position 
(reference mark) passed through first after a home position return start. Change the setting value of 
[Pr. PL01] according to the linear encoder resolution. 

[Pr. PL01]

Stop interval setting at the home position return

Setting

value

Stop interval [pulse]

0

8192

1

131072

2

262144

3

1048576 (initial value)

4

4194304

5

16777216

6

67108864

 

The following shows the relation between the stop interval at the home position return and the linear 
encoder resolution. For example, when the linear encoder resolution is 0.001 

μ

m and the parameter 

for the stop interval at the home position return, [Pr. PL01], is set to "_ 5 _ _" (16777216 pulses), the 
stop interval is 16.777 mm. The value inside a bold box indicates the recommended stop interval for 
each linear encoder resolution. 

 

[Unit: mm] 

Pr. PL01 

 

Linear encoder 

resolution [µm] 

 

0.001 0.005  0.01  0.02  0.05 0.1  0.2  0.5  1 

2 

 

Stop interval 

[pulse] 

 

_ 0 _ _ 

8192 

0.008 

0.041 

0.082 

0.164 

0.410 0.819  1.638  4.096 8.192  16.384 

_ 1 _ _ 

131072 

0.131 

0.655 

1.311 

2.621 

6.554 13.107 26.214  65.536 131.072  262.144 

_ 2 _ _ 

262144 

0.262 

1.311 

2.621 

5.243 

13.107 26.214 52.429 131.072 262.144  524.288 

_ 3 _ _ 

1048576 

1.049 

5.243 

10.486 

20.972 

52.429 104.858 209.715  524.288 1048.576 2097.152 

_ 4 _ _ 

4194304 

4.194 

20.972 

41.943 

83.886 

209.715 419.430  838.861  2097.152 4194.304  8388.608 

_ 5 _ _ 

16777216 

16.777 

83.886 

167.772 

335.544 

838.861 1677.722 3355.443  8388.608 16777.216 33554.432 

_ 6 _ _ 

67108864 

67.109 

335.544  671.089  1342.177  3355.443 6710.886 13421.773 33554.432 67108.864 134217.728 

 

Summary of Contents for MR-J4-100B(-RJ)

Page 1: ...ce This Instruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _B_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _B_ RJ SSCNET H Interface 1CW805 MR J4 B INSTRUCTIONMANUAL P P SERVO AMPLIFIER INSTRUCTION MANUAL ...

Page 2: ... or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are ind...

Page 3: ...e protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet To avoid an electric shock insulate the connections of the power supply terminals 2 To prevent fire note the following CAUTION Install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to smoke or a fire...

Page 4: ... the equipment Otherwise it may cause injury The equipment must be installed in the specified direction Maintain specified clearances between the servo amplifier and the inner surfaces of a control cabinet or other equipment Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing Do not block the intake and exhaust areas of the servo amplifie...

Page 5: ...ifier power output U V W to the servo motor power input U V W directly Do not connect a magnetic contactor and others between them Otherwise it may cause a malfunction U Servo motor M V W U V W U M V W U V W Servo amplifier Servo motor Servo amplifier The connection diagrams in this Instruction Manual are shown for sink interfaces unless stated otherwise The surge absorbing diode installed to the ...

Page 6: ...t covered under warranty Before resetting an alarm make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart Otherwise it may cause an accident Use a noise filter etc to minimize the influence of electromagnetic interference Electromagnetic interference may affect the electronic equipment used near the servo amplifier Do not burn or destroy the servo amplifie...

Page 7: ...lifier and recheck the wiring Otherwise it may cause smoke fire or an electric shock Provide an adequate protection to prevent unexpected restart after an instantaneous power failure After an earthquake or other natural disasters ensure safety by checking the conditions of the installation mounting wiring and equipment before switching the power on to prevent an electric shock injury or fire 6 Mai...

Page 8: ...have this Instruction Manual and the following manuals to use this servo Ensure to prepare them to use the servo safely Relevant manuals Manual name Manual No MELSERVO MR D30 Instruction Manual Note 5 SH NA 030132ENG MELSERVO MR CV_ MR CR55K_ MR J4 DU_ RJ Instruction Manual Note 6 SH NA 030153ENG MELSERVO J4 Servo Amplifier Instruction Manual Troubleshooting SH NA 030109ENG MELSERVO Servo Motor In...

Page 9: ...omary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F ...

Page 10: ...e exceeding 1000 m and up to 2000 m above sea level 2 8 3 SIGNALS AND WIRING 3 1 to 3 46 3 1 Input power supply circuit 3 3 3 1 1 200 V class 3 4 3 1 2 400 V class 3 10 3 1 3 100 V class 3 14 3 2 I O signal connection example 3 15 3 2 1 For sink I O interface 3 15 3 2 2 For source I O interface 3 17 3 3 Explanation of power supply system 3 18 3 3 1 Signal explanations 3 18 3 3 2 Power on sequence ...

Page 11: ...1 Test operation mode in MR Configurator2 4 15 4 5 2 Motor less operation in controller 4 18 5 PARAMETERS 5 1 to 5 56 5 1 Parameter list 5 1 5 1 1 Basic setting parameters Pr PA_ _ 5 2 5 1 2 Gain filter setting parameters Pr PB_ _ 5 3 5 1 3 Extension setting parameters Pr PC_ _ 5 4 5 1 4 I O setting parameters Pr PD_ _ 5 6 5 1 5 Extension setting 2 parameters Pr PE_ _ 5 7 5 1 6 Extension setting 3...

Page 12: ...er 7 8 7 1 5 Advanced vibration suppression control II 7 8 7 1 6 Command notch filter 7 13 7 2 Gain switching function 7 15 7 2 1 Applications 7 15 7 2 2 Function block diagram 7 16 7 2 3 Parameter 7 17 7 2 4 Gain switching procedure 7 20 7 3 Tough drive function 7 24 7 3 1 Vibration tough drive function 7 24 7 3 2 Instantaneous power failure tough drive function 7 26 7 4 Compliance with SEMI F47 ...

Page 13: ... 11 26 11 3 4 Dimensions 11 34 11 4 FR RC H power regeneration converter 11 37 11 5 FR CV H power regeneration common converter 11 41 11 5 1 Model designation 11 42 11 5 2 Selection 11 42 11 6 Junction terminal block PS7DW 20V14B F recommended 11 50 11 7 MR Configurator2 11 51 11 7 1 Specifications 11 51 11 7 2 System configuration 11 52 11 7 3 Precautions for using USB communication function 11 5...

Page 14: ... Connection example for CN8 connector 13 6 13 3 2 External I O signal connection example using an MR J3 D05 safety logic unit 13 7 13 3 3 External I O signal connection example using an external safety relay unit 13 10 13 3 4 External I O signal connection example using a motion controller 13 11 13 4 Detailed description of interfaces 13 12 13 4 1 Sink I O interface 13 12 13 4 2 Source I O interfa...

Page 15: ...2 Load side encoder 16 6 16 2 1 Linear encoder 16 6 16 2 2 Rotary encoder 16 6 16 2 3 Configuration diagram of encoder cable 16 6 16 2 4 MR J4FCCBL03M branch cable 16 8 16 3 Operation and functions 16 9 16 3 1 Startup 16 9 16 3 2 Home position return 16 16 16 3 3 Operation from controller 16 19 16 3 4 Fully closed loop control error detection functions 16 21 16 3 5 Auto tuning function 16 22 16 3 ...

Page 16: ...tive App 4 App 4 Compliance with global standards App 5 App 5 MR J3 D05 Safety logic unit App 21 App 6 EC declaration of conformity App 39 App 7 How to replace servo amplifier without magnetic pole detection App 42 App 8 Two wire type encoder cable for HG MR HG KR App 43 App 9 SSCNET III cable SC J3BUS_M C manufactured by Mitsubishi Electric System Service App 45 App 10 Analog monitor App 45 App 1...

Page 17: ...8 MEMO ...

Page 18: ...ntenance and inspection SSCNET III H achieves high speed communication of 150 Mbps full duplex with high noise tolerance due to the SSCNET III optical cables Large amounts of data are exchanged in real time between the controller and the servo amplifier Servo monitor information is stored in the upper information system and is used for control On the SSCNET III H network the stations are connected...

Page 19: ... wire type A B Z phase differential output method Scale measurement function Two wire type CN2 Note 2 3 5 CN2L Note 5 Four wire type A B Z phase differential output method Note 1 The MR J4THCBL03M branch cable is necessary 2 The MR J4FCCBL03M branch cable is necessary 3 When the communication method of the servo motor encoder is four wire type MR J4 _B_ cannot be used Use an MR J4 _B_ RJ 4 This is...

Page 20: ...on Overcurrent protection Voltage detection Note 2 Power supply MC MCCB Base amplifier STO circuit CN5 USB USB Personal computer Servo system controller or servo amplifier Servo amplifier or cap CN1A CN1B D A Analog monitor 2 channels Position command input CN3 Servo amplifier U V W U V W P3 P4 Diode stack Relay P B RA 24 V DC B1 B2 Battery for absolute position detection system CN4 STO switch Mod...

Page 21: ... 70B RJ or more have a cooling fan 4 MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 of MR J3 servo amplifiers 5 This is for MR J4 _B RJ servo amplifier MR J4 _B servo amplifier does not have CN2L connector 6 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor canno...

Page 22: ...nd input Model speed Model torque Model position control Model speed control Step down circuit Battery for absolute position detection system I F Control Personal computer Servo system controller or servo amplifier Servo amplifier or cap Analog monitor 2 channels Digital I O control Note 3 Note 4 Diode stack CN2L External encoder Note 1 Refer to section 1 3 for the power supply specifications 2 MR...

Page 23: ...ual speed control Virtual motor Virtual encoder Cooling fan Current detection Overcurrent protection Voltage detection Note 1 Power supply Base amplifier STO circuit Personal computer Servo system controller or servo amplifier Servo amplifier or cap Analog monitor 2 channels Position command input Servo amplifier 24 V DC Battery for absolute position detection system STO switch Model speed Model t...

Page 24: ...t stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop Ensure the safety in the entire equipment For alarms for which the servo motor does not decelerate to stop refer to chapter 8 5 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC...

Page 25: ...el torque M CN2 CN8 Control circuit power supply Model position control Model speed control IF Control Servo motor Charge lamp Regene rative TR Current detector Digital I O control Regenerative option U U U Step down circuit Note 4 Note 5 Power factor improving DC reactor Electromagnetic brake CN2L External encoder Note 1 Refer to section 1 3 for the power supply specification 2 Servo amplifiers M...

Page 26: ...tor improving DC reactor Charge lamp Regene rative TR Electromagnetic brake Model position Model speed Model torque Current control Actual position control Actual speed control IF Control Personal computer Servo system controller or servo amplifier Servo amplifier or cap Analog monitor 2 channels Digital I O control CN2L External encoder Note 1 Refer to section 1 3 for the power supply specificati...

Page 27: ...etection system CN4 M CN2 CN8 Servo motor Note 4 6 External regenerative resistor or regenerative option Electromagnetic brake STO switch Control circuit power supply Current detection Overcurrent protection Voltage detection Base amplifier STO circuit Step down circuit Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder Position command input ...

Page 28: ...ot stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop Ensure the safety in the entire equipment For alarms for which the servo motor does not decelerate to stop refer to chapter 8 5 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving D...

Page 29: ...mand input CN3 Servo amplifier U V W U V W Diode stack Relay P B RA 24 V DC B1 B2 Battery for absolute position detection system CN4 STO switch Model speed Model torque M CN2 CN8 Control circuit power supply Model position control Model speed control IF Control Servo motor Charge lamp Regene rative TR Current encoder Digital I O control Regenerative option U Step down circuit External encoder CN2L...

Page 30: ...C Rated current A 0 2 0 3 Permissible voltage fluctuation At AC input 1 phase 170 V AC to 264 V AC At DC input Note 16 241 V DC to 374 V DC Permissible frequency fluctuation Within 5 Power consumption W 30 45 Inrush current A Refer to section 10 5 Interface power supply Voltage 24 V DC 10 Current capacity A 0 3 including CN8 connector signals Note 1 Control method Sine wave PWM control current con...

Page 31: ...ircuit to self diagnose 4 Except for the terminal block 5 MR J4 _B servo amplifier is compatible only with two wire type MR J4 _B RJ servo amplifier is compatible with two wire type four wire type and A B Z phase differential output method Refer to table 1 1 for details 6 The rated current is 2 9 A when the servo amplifier is used with UL or CSA compliant servo motor 7 For the compatible version o...

Page 32: ...ad side encoder interface Note 4 Mitsubishi Electric high speed serial communication Communication function USB connection to a personal computer or others MR Configurator2 compatible Encoder output pulses Compatible A B Z phase pulse Analog monitor Two channels Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal servo motor overheat pro...

Page 33: ...e four wire type and A B Z phase differential output method Refer to table 1 1 for details 5 The communication cycle depends on the controller specifications and the number of axes connected 6 Use an external dynamic brake for this servo amplifier Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at emergency stop Ensure the safety in the entire e...

Page 34: ...ubishi Electric high speed serial communication Communication function USB connection to a personal computer or others MR Configurator2 compatible Encoder output pulses Compatible A B Z phase pulse Analog monitor Two channels Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal servo motor overheat protection encoder error protection rege...

Page 35: ...fier at a constant period for external circuit to self diagnose 4 MR J4 _B servo amplifier is compatible only with two wire type MR J4 _B RJ servo amplifier is compatible with two wire type four wire type and A B Z phase differential output method Refer to table 1 1 for details 5 For the compatible version of fully closed loop system refer to table 1 1 Check the software version of the servo ampli...

Page 36: ... U2PBD 15M 1SS0 TM RFM006C20 TM RFM006E20 MR J4 70B RJ 73 73 72 73 LM H3P3B 24P CSS0 LM H3P3C 36P CSS0 LM H3P7A 24P ASS0 LM K2P2A 02M 1SS1 LM U2PBF 22M 1SS0 TM RFM012E20 TM RFM012G20 TM RFM040J10 MR J4 100B RJ 81 102 53 Note 2 103 TM RFM018E20 MR J4 200B RJ 121 201 152 202 152 103 153 73 Note 2 103 Note 2 153 203 LM H3P3D 48P CSS0 LM H3P7B 48P ASS0 LM H3P7C 72P ASS0 LM FP2B 06M 1SS0 LM K2P1C 03M 2...

Page 37: ...or increasing the maximum torque of the servo motor to 400 3 100 V class Servo amplifier Rotary servo motor Linear servo motor primary side Direct drive motor HG KR HG MR MR J4 10B1 RJ 053 13 053 13 MR J4 20B1 RJ 23 23 LM U2PAB 05M 0SS0 LM U2PBB 07M 1SS0 TM RFM002C20 TM RG2M002C30 Note 1 TM RU2M002C30 Note 1 TM RG2M004E30 Note 1 TM RU2M004E30 Note 1 MR J4 40B1 RJ 43 43 LM H3P2A 07P BSS0 LM H3P3A 1...

Page 38: ...tion Section 7 1 2 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased Section 7 1 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator2 installed personal computer and servo amplifier MR Configurator2 is necessary for this function Robust filter This function provides be...

Page 39: ... servo amplifier such as speed and current For the SSCNET III H system MR Configurator2 can display the data including the power consumption Since the servo amplifier can send the data to a servo system controller you can analyze the data and display the data on a display Machine diagnosis function From the data in the servo amplifier this function estimates the friction and vibrational component ...

Page 40: ...Symbol Special specifications None Standard MR J4 _B_ without regenerative resistor Note 1 MR J4 _B_ RJ without regenerative resistor Note 1 MR J4 _B_ with a special coating specification 3C2 Note 3 MR J4 _B_ RJ with a special coating specification 3C2 Note 3 RJ Fully closed loop control four wire type load side encoder A B Z phase input compatible Compatible with MR D30 functional safety unit 60 ...

Page 41: ...der Refer to table 1 1 for the compatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 10 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 11 Battery holder Install the battery for absolute position data backup Section 12 2 12 Protective earth PE terminal Section 3 1 Section 3 3 13 Main circuit power connector CNP1 Connect the inp...

Page 42: ...Rating plate Section 1 6 3 Servo motor power connector CNP3 Connect the servo motor Section 3 1 Section 3 3 4 Control circuit power connector CNP2 Connect the control circuit power supply and regenerative option 5 Charge lamp When the main circuit is charged this will light While this lamp is lit do not reconnect the cables 6 Protective earth PE terminal Section 3 1 Section 3 3 7 Battery holder In...

Page 43: ...e input power supply 3 Battery holder Install the battery for absolute position data backup Section 12 2 4 Rating plate Section 1 6 5 Regenerative option power factor improving reactor terminal block TE3 Used to a connect a regenerative option and a power factor improving DC reactor Section 3 1 Section 3 3 6 Servo motor power supply terminal block TE4 Connect the servo motor 7 Charge lamp When the...

Page 44: ...actor Section 3 1 Section 3 3 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the main circu...

Page 45: ...ctor improving DC reactor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Cha...

Page 46: ...ng DC reactor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp Whe...

Page 47: ... Section 3 4 Servo Motor Instruction Manual Vol 3 10 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 11 Battery holder Install the battery for absolute position data backup Section 12 2 12 Protective earth PE terminal Section 3 1 Section 3 3 13 Main circuit power connector CNP1 Connect the input power supply 14 Rating plate Section 1 6 15 Control circ...

Page 48: ...ing plate Section 1 6 3 Control circuit power connector CNP2 Connect the control circuit power supply and regenerative option Section 3 1 Section 3 3 4 Servo motor power output connector CNP3 Connect the servo motor 5 Charge lamp When the main circuit is charged this will light While this lamp is lit do not reconnect the cables 6 Protective earth PE terminal Section 3 1 Section 3 3 7 Battery holde...

Page 49: ... Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Battery holder Install the battery for absolute position data backup Section 12 2 4 Rating plate Section 1 6 5 Power factor improving reactor terminal block TE3 Used to connect a power factor improving DC reactor Section 3 1 Section 3 3 6 Charge lamp When the main circuit is charged this w...

Page 50: ...eactor Section 3 1 Section 3 3 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the main circ...

Page 51: ... improving DC reactor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge ...

Page 52: ...ng DC reactor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp Whe...

Page 53: ...mpatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 10 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 11 Battery holder Install the battery for absolute position data backup Section 12 2 12 Protective earth PE terminal Section 3 1 Section 3 3 13 Main circuit power connector CNP1 Connect the input power supply 14 Rating plate S...

Page 54: ...thers Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier The following shows how to remove and reinstall the front cover of MR J4 700B RJ to MR J4 22KB RJ and MR J4 500B4 RJ to MR J4 22KB4 RJ The diagram is for MR J4 700B 1 Removal of the front cover A A 1 Hold the ends of lower side of the...

Page 55: ...he front cover Front cover setting tab A A 1 Insert the front cover setting tabs into the sockets of servo amplifier 2 places 2 Push down the cover supporting at point A Setting tab 3 Press the cover against the terminal box until the installing knobs click ...

Page 56: ...onnecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction POINT Equipment other than the servo amplifier and servo motor are optional or recommended products When using the MR J4 _B RJ servo amplifier with the DC power supply input refer to app 15 ...

Page 57: ...en not using the power factor improving DC reactor short P3 and P4 2 For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open Refer to section 1 3 for the power supply specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic b...

Page 58: ...annot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magne...

Page 59: ...nnot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnet...

Page 60: ...oving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to ...

Page 61: ...or improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the t...

Page 62: ...oving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to ...

Page 63: ...e power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required...

Page 64: ...annot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnet...

Page 65: ...proving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to...

Page 66: ...roving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to ...

Page 67: ...tor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the t...

Page 68: ...roving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to ...

Page 69: ...proving AC reactor FR HAL Note 1 D Note 5 Note 1 The power factor improving DC reactor cannot be used 2 For power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to tur...

Page 70: ... cause a malfunction Do not drop or apply heavy impact on the servo amplifiers and the servo motors Otherwise injury malfunction etc may occur Do not install or operate the servo amplifier which have been damaged or have any parts missing When the product has been stored for an extended period of time contact your local sales office When handling the servo amplifier be careful about the edged part...

Page 71: ...Otherwise it may cause a malfunction 1 Installation clearances of the servo amplifier a Installation of one servo amplifier 40 mm or more 10 mm or more 10 mm or more Note 2 40 mm or more Note 1 Servo amplifier Cabinet Cabinet Wiring allowance 80 mm or more Top Bottom Note 1 For 11 kW to 22 kW servo amplifiers the clearance between the bottom and ground will be 120 mm or more 2 When mounting MR J4 ...

Page 72: ...iers in consideration of mounting tolerances In this case keep the ambient temperature within 0 C to 45 C or use the servo amplifier with 75 or less of the effective load ratio 100 mm or more 10 mm or more Note 2 30 mm or more 30 mm or more 40 mm or more Note 1 Cabinet Top Bottom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely Note 1 For 11 kW to 22 ...

Page 73: ...might be cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor moves the bending radius should be made as large as possible Refer to section 10 4 for the bending life 2 4 SSCNET III cable laying SSCNET III cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sud...

Page 74: ...er may affect MR J3BUS_M and MR J3BUS_M A cables plastic In addition MR J3BUS_M B cable silica glass is not affected by plasticizer A chemical substance may affect its optical characteristic Therefore previously check that the cable is not affected by the environment 4 Bundle fixing Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from pu...

Page 75: ...gas which is corrosive and harmful may be generated For disposal of optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 2 5 Inspection items WARNING Before starting maintenance and or inspection turn off the power and wait for 15 minutes or more until the charge lamp turns off Then confi...

Page 76: ...apacitor is deteriorated due to ripple currents etc The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in air conditioned environment ambient temperature of 40 C or less 2 Relays Contact faults will occur due to contact wear arisen from switching currents Relays reach the end of ...

Page 77: ...ent temperature of 0 C to 45 C or at 75 or smaller effective load ratio Refer to section 2 1 2 Input voltage Generally a withstand voltage decreases as increasing altitude however there is no restriction on the withstand voltage Use in the same manner as in 1000 m or less Refer to section 1 3 3 Parts having service life a Smoothing capacitor The capacitor will reach the end of its life in 10 years...

Page 78: ...curely Otherwise the servo motor may operate unexpectedly resulting in injury Connect cables to the correct terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuit...

Page 79: ...Servo amplifier Servo motor Servo amplifier Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction Before wiring switch operation etc eliminate static electricity Otherwise it may cause a malfunction POINT When you use a linear servo motor replace the following words in the left to the words in the right Load to motor inertia ratio Load mass Torqu...

Page 80: ...a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction The N terminal is not a neutral point of the power supply Incorrect wiring will cause a burst damage etc POINT Even if alarm has occurred do not switch off the control circuit power supply When the control circuit power supply has been switched off optical module does not operate and optical transmission...

Page 81: ...t with the parameter configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 7 Use a magnetic contactor with an operation delay time interval ...

Page 82: ...ecommended For selecting cables refer to Servo Motor Instruction Manual Vol 3 4 If disabling ALM Malfunction output with the parameter configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wir...

Page 83: ... circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 7 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until cl...

Page 84: ...h switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 7 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of cont...

Page 85: ... Note 4 3 phase 200 V AC to 240 V AC Servo amplifier Note 1 Note 10 Note 2 Servo motor Motor Encoder Note 3 Encoder cable Note 6 Note 4 Malfunction RA1 OFF ON Emergency stop switch Note 5 Forced stop 2 Note 9 Short circuit connector Packed with the servo amplifier Note 8 Main circuit power supply Note 11 Note 11 24 V DC Note 12 Note 15 16 External dynamic brake optional Note 14 Cooling fan power s...

Page 86: ...n off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circuit connector came with a servo amplifier 10 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Refer to section 11 10 1...

Page 87: ...which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 7 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of ...

Page 88: ... contactor after detection of alarm occurrence on the controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 7 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depen...

Page 89: ...te 10 Note 11 Note 11 Note 13 BU BV BW MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM 24 V DC Note 15 24 V DC Note 15 3 phase 380 V AC to 480 V AC Note 12 Step down transformer Note 2 Emergency stop switch Servo amplifier Servo motor Note 16 17 External dynamic brake optional Note 14 Cooling fan power supply Cooling fan Note 3 Encoder cable Encoder Note 8 Main circuit power supply Note 9 Short circuit conne...

Page 90: ...onfigure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circuit connector came with a servo amplifier 10 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Refer to section 11 10 11 Connecting a servo motor for d...

Page 91: ...e controller side 5 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 6 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 7 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation patte...

Page 92: ...16 LAR 7 LB 17 LBR 8 LZ 18 LZR Malfunction Note 11 In position 11 LG Control common RA1 RA2 RA3 DOCOM DICOM 3 10 5 DICOM Note 15 Main circuit power supply Personal computer CN5 Note 5 MR Configurator2 USB cable MR J3USBCBL3M option Note 10 24 V DC Analog monitor 1 Analog monitor 2 MO1 LG MO2 4 1 14 SD Plate 2 m or less CN8 Note 16 Short circuit connector Packed with the servo amplifier 10 m or les...

Page 93: ... Supply 24 V DC 10 for interfaces from outside Set the total current capacity to 300 mA 300 mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the current value necessary for the interface The illustration of the 24 V DC power supply is divided between input signal and output signal...

Page 94: ...Z phase pulse differential line driver CN3 Note 2 Electromagnetic brake interlock Malfunction Note 11 In position Control common Note 15 Main circuit power supply Personal computer CN5 Note 5 MR Configurator2 USB cable MR J3USBCBL3M option Note 10 24 V DC Analog monitor 1 Analog monitor 2 2 m or less Note 16 Short circuit connector Packed with the servo amplifier 10 m or less 10 m or less Servo am...

Page 95: ...C reactor cannot be used for the 100 V class servo amplifiers Refer to section 11 11 for details P C D Regenerative option 1 200 V class 100 V class 1 MR J4 500B RJ or less and MR J4 40B1 RJ or less When using a servo amplifier built in regenerative resistor connect P and D factory wired When using a regenerative option disconnect P and D and connect the regenerative option to P and C 2 MR J4 700B...

Page 96: ...ils Protective earth PE Connect it to the grounding terminal of the servo motor and to the protective earth PE of the cabinet for grounding 3 3 2 Power on sequence POINT The output signal etc may be unstable at power on 1 Power on procedure 1 Always wire the power supply as shown in above section 3 1 using the magnetic contactor with the main circuit power supply L1 L2 L3 Configure up an external ...

Page 97: ...e sizes used for wiring refer to section 11 9 When wiring remove the power connectors from the servo amplifier Insert only one wire or ferrule to each wire insertion hole MR J4 500B RJ or more and MR J4 500B4 RJ or more do not have these connectors Use the servo amplifier power connector for wiring CNP1 CNP2 and CNP3 1 Connector a MR J4 10B RJ to MR J4 100B RJ CNP2 CNP1 CNP3 Servo amplifier Table ...

Page 98: ...or shorter 11 5 J FAT OT EXL JST CNP3 03JFAT SAXGFK XL CNP2 05JFAT SAXGDK H5 0 AWG 18 to 14 3 9 mm or shorter 9 c MR J4 60B4 RJ to MR J4 350B4 RJ CNP2 CNP1 CNP3 Servo amplifier Note Note A pin for preventing improper connection is inserted to N of CNP1 connector Table 3 3 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insu...

Page 99: ...14 3 9 mm or shorter 9 J FAT OT N or J FAT OT JST CNP2 05JFAT SAXGDK H5 0 CNP3 03JFAT SAXGDK H7 5 2 Cable connection procedure a Fabrication on cable insulator Refer to table 3 1 to 3 4 for stripped length of cable insulator The appropriate stripped length of cables depends on their type etc Set the length considering their status Insulator Core Stripped length Twist strands lightly and straighten...

Page 100: ...1 5 10BK AI TWIN2 1 5 10BK AWG 14 AI2 5 10BU b Inserting wire Insert only one wire or ferrule to each wire insertion hole Insert the open tool as follows and push it down to open the spring While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the wire insertion depth and make sure that the cable insulator will not be caught by the spring and that the condu...

Page 101: ...e connectors is as viewed from the cable connector wiring section For the STO I O signal connector CN8 refer to chapter 13 For the CN3 connector securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Screw Screw Ground plate Cable ...

Page 102: ...RR2 2 LG 8 6 1 P5 5 10 3 MR2 7 9 MXR2 MX2 Note 1 2 CN2L 4 PAR 2 LG 8 6 1 P5 5 10 3 PA 7 9 PB PZR PZ PBR PSEL for using serial encoder Note 1 2 CN2L for using A B Z phase pulse encoder THM2 THM1 Note 2 CN5 USB connector Refer to section 11 7 CN1A Connector for SSCNET III cable for previous servo amplifier axis CN1B Connector for SSCNET III cable for next servo amplifier axis CN4 Battery connector R...

Page 103: ...interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration 0 1 _ _ Not using EM2 and EM1 MBR Electromagnetic brake interlock turns off without the forced stop deceleration 2 1 _ _ Not using EM2 and EM1 MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 and EM1 are mutually exclusive EM2 h...

Page 104: ...lock in Pr PD07 to Pr PD09 Failure to do so will cause the servo amplifier to become servo off when an instantaneous power failure occurs Ready RD Enabling servo on to make the servo amplifier ready to operate will turn on RD Speed reached SA SA will turn off during servo off When the servo motor speed reaches the following range SA will turn on Set speed Set speed 0 05 20 r min When the preset sp...

Page 105: ...ference of the A phase and B phase pulses can be changed with Pr PC03 Output pulse specification dividing ratio setting and electronic gear setting can be selected Encoder B phase pulse differential line driver LB LBR CN3 7 CN3 17 Encoder Z phase pulse differential line driver LZ LZR CN3 8 CN3 18 The encoder zero point signal is output in the differential line driver type One pulse is output per s...

Page 106: ...nication shut off occurs forced stop deceleration will operate Refer to section 3 7 1 3 In the torque control mode the forced stop deceleration function is not available Disable the forced stop deceleration function for a machine in which multiple axes are connected together such as a tandem structure If an alarm occurs with the forced stop deceleration function disabled the servo motor will stop ...

Page 107: ...e Note This diagram shows sink I O interface For source I O interface refer to section 3 8 3 2 Timing chart When EM2 Forced stop 2 is turned off the motor will decelerate according to Pr PC24 Forced stop deceleration time constant Once the motor speed is below Pr PC07 Zero speed base power is cut and the dynamic brake activates Base circuit Energy supply to the servo motor 0 r min Servo motor spee...

Page 108: ...d Base circuit Energy supply to the servo motor 0 r min Servo motor speed ON OFF Enabled EM2 Forced stop 2 ON OFF Pr PC02 When EM2 Forced stop 2 turns off or an alarm occurs during driving the servo motor will decelerate based on the deceleration time constant MBR Electromagnetic brake interlock will turn off and then after the delay time set in Pr PC02 the servo amplifier will be base circuit shu...

Page 109: ...ON OFF ON EM2 Forced stop 2 Position Base circuit Energy supply to the servo motor MBR Electromagnetic brake interlock Actual operation of electromagnetic brake Disabled Enabled OFF Enabled Travel distance OFF Enabled Set the base circuit shut off delay time Pr PC02 2 Adjustment Set the freefall prevention compensation amount in Pr PC31 While the servo motor is stopped turn off the EM2 Forced stop...

Page 110: ...nction set 2 _ _ _ initial value in Pr PA04 Disable the forced stop deceleration function for a machine in which multiple axes are connected together such as a tandem structure If an alarm occurs with the forced stop deceleration function disabled the servo motor will stop with the dynamic brake 1 When the forced stop deceleration function is enabled Alarm occurrence Alarm No No alarm Note Model s...

Page 111: ...he communication shut off status MBR Electromagnetic brake interlock ON OFF ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON OFF Servo amplifier display 0 r min Servo motor speed ALM Malfunction AA No alarm d1 or E7 SSCNET III H communication has broken Note Model speed command 0 and equal to or less than zero speed Note The model speed command is a speed command generated in...

Page 112: ... V DC Forced stop 2 Note 3 Note 3 Isolated Approximately 6 2 k Approximately 6 2 k Encoder Note 5 24 V DC Note 5 Note 1 Signal can be assigned for these pins with the controller setting For contents of signals refer to the instruction manual of the controller 2 The signal cannot be used in the speed control mode and torque control mode 3 This diagram shows sink I O interface For source I O interfa...

Page 113: ...DICOM 2 Digital output interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow 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 maximu...

Page 114: ...LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ b Output pulse 2 LAR T Servo motor CCW rotation Time cycle T is determined by the settings of Pr PA15 and Pr PC03 LA LB LBR LZ LZR 400 µs or more 4 Analog output LG MO1 MO2 Servo amplifier Output voltage 10 V Maximum output current 1 mA Resolution 10 bits or equivalent Note Output voltage range varies depending on the output conten...

Page 115: ... 5 mA TR 24 V DC 10 300 mA Switch EM2 etc Servo amplifier 2 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 current will be applied from the output to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier Note 24 V DC 10 300 mA If polarity of diode is reversed servo amplifier...

Page 116: ...NET III cable 2 How to connect disconnect cable POINT CN1A and CN1B connector are capped to protect light device inside connector from dust For this reason do not remove the cap until just before connecting the SSCNET III cable Then when removing SSCNET III cable make sure to put a cap Keep the cap for CN1A CN1B connector and the tube for protecting optical cord end of SSCNET III cable in a plasti...

Page 117: ...If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Click Tab Servo amplifier Servo amplifier CN1A CN1B CN1A CN1B b Disconnection With holding a tab of SSCNET III cable connector pull out the connector When pulling out the SSCNET III cable from servo amplifier be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty For SS...

Page 118: ...ed exclusively for the electromagnetic brake Otherwise it may cause a malfunction When using EM2 Forced stop 2 use MBR Electromagnetic brake interlock for operating the electromagnetic brake Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torque of the electromagnetic brake This can result in de...

Page 119: ...abled during servo lock the brake life may be shorter Therefore set Tb about 1 5 times of the minimum delay time where the moving part will not drop down for a vertical axis system etc Approx 95 ms Approx 95 ms MBR Electromagnetic brake interlock Note 1 ON OFF ON OFF 0 r min Base circuit Servo motor speed Coasting Operation delay time of the electromagnetic brake Ready on command from controller O...

Page 120: ... Electromagnetic brake is activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor c Alarm occurrence The operation status during an alarm is the same as section 3 7 d Both main and control circuit power supplies off MBR Electromagnetic brake interlock Note 2 ON OFF Base circuit ON OFF Alarm AL 10 Undervoltage No alarm ...

Page 121: ...it power supply Base circuit Energy supply to the servo motor MBR Electromagnetic brake interlock ALM Malfunction ON no alarm OFF alarm Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Variable according to the operation status f Ready off command from controller Electromagnetic brake MBR Electromagnetic brake interlock Base circuit Servo motor speed Ready ...

Page 122: ...1 ON Disabled OFF Enabled 0 r min Approx 10 ms Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated c Alarm occurrence The operation status during an alarm is the same as section 3 7 d Both main and control circuit power supplies off It is the same as 1 d in this section e Main circuit power supply off during control circuit power supply on Dynamic brake Dynamic br...

Page 123: ...g and ground cable routing the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to EMC Installation Guidelines Ensure to connect the wire to the PE terminal of the servo amplifier Do not connect the wire directly to the grounding of the cabin...

Page 124: ...egenerative resistor servo motor etc may be hot while the power is on and for some time after power off Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables During operation never touch the rotor of the servo motor Otherwise it may cause injury Before wiring switch operation etc eliminate static electricity Otherwise it may cause a mal...

Page 125: ...e auxiliary axis number setting switches SW2 3 and SW2 4 and with the axis selection rotary switch SW1 match the control axis No set with the servo system controller Refer to section 4 3 1 3 Set the parameters as necessary such as the used operation mode and regenerative option selection Refer to chapter 5 For the test operation with the servo motor disconnected from the machine and operated at th...

Page 126: ...o not have P3 and P4 b Connection of servo amplifier and servo motor 1 The servo amplifier power output U V W should match in phase with the servo motor power input terminals U V W Servo amplifier Servo motor M U V W U V W 2 The power supplied to the servo amplifier should not be connected to the servo motor power terminals U V W Otherwise the servo amplifier and servo motor will malfunction Servo...

Page 127: ... C terminal should not be connected Brake unit power regeneration converter should be connected to P terminal and N terminal Refer to section 11 3 and 11 4 Twisted wires cable should be used when wiring is over 5 m and equal to or less than 10 m using a brake unit Refer to section 11 3 d When you use a power regeneration common converter For 5 kW or less servo amplifiers the lead wire between P te...

Page 128: ...se a power regeneration common converter for 11 kW or more servo amplifiers Power regeneration common converter should be connected to P4 terminal and N terminal Refer to section 11 5 e The power factor improving DC reactor should be connected between P3 and P4 Refer to section 11 11 Note Power factor improving DC reactor Servo amplifier P3 P4 Note Always disconnect between P3 and P4 3 100 V class...

Page 129: ... Also if power is switched on at the servo motor speed of 3000 r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Parameter setting POINT The following encoder cables are of four wire type When using any of these encoder cables set Pr PC04 to 1 _ _ _ to select the four wire type Incorrect setting wil...

Page 130: ... the servo motor to a stop Forced stop command The servo motor decelerates to a stop with the command AL E7 Controller forced stop warning occurs Servo amplifier Alarm occurrence The servo motor decelerates to a stop with the command With some alarms however the dynamic brake operates to bring the servo motor to a stop Refer to section 8 Note EM2 Forced stop 2 off The servo motor decelerates to a ...

Page 131: ... the control axis setting switches SW2 correctly according to this section Cycling the main circuit power supply and control circuit power supply enables the setting of each switch The following explains the test operation select switch the disabling control axis switch auxiliary axis number setting switches and the axis selection rotary switch 3 digit 7 segment LED Control axis setting switch SW2...

Page 132: ...d with the test operation select switch SW2 1 the SSCNET III H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked You can set the control axis No between 1 and 64 by using auxiliary axis number setting switches with the axis selection rotary switch Refer to 3 c in this section If the same numbers are set to different control axes in a sin...

Page 133: ... axis No Auxiliary axis number setting switch Axis selection rotary switch Control axis No 1 ON 2 3 4 0 1 1 ON 2 3 4 0 17 1 2 1 18 2 3 2 19 3 4 3 20 4 5 4 21 5 6 5 22 6 7 6 23 7 8 7 24 8 9 8 25 9 10 9 26 A 11 A 27 B 12 B 28 C 13 C 29 D 14 D 30 E 15 E 31 F 16 F 32 Auxiliary axis number setting switch Axis selection rotary switch Control axis No Auxiliary axis number setting switch Axis selection ro...

Page 134: ...ndicates ready on and servo on status Status After 1 6 s Blank After 0 2 s 2 Alarm display When an alarm occurs the alarm number two digits and the alarm detail one digit are displayed following the status display For example the following shows when AL 32 Overcurrent is occurring Status After 0 8 s Alarm No After 0 8 s Blank After 0 2 s Status 1 digit Axis No 2 digits n Indicates that an alarm is...

Page 135: ...o off Ready on and servo on Note Note Note When an alarm No or warning No is displayed Axis No 1 Axis No 2 Axis No 64 Initial data communication with the servo system controller initialization communication Ready off and servo off Note Example Blinking Blinking After 0 8 s Blank After 0 8 s When AL 50 Overload 1 occurs at axis No 1 Example Blinking Blinking After 0 8 s Blank After 0 8 s When AL E1...

Page 136: ...stem controller A F Initializing During initial signal data communication with servo system controller A H Initializing completion The process for initial data communication with the servo system controller is completed A A Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on Note 1 b Ready off The ready off signal from the...

Page 137: ... servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with the machine and confirm that the machine operates normally under the commands from the controller Give a low speed command at first and check the operation direction etc of the machine If the machine does not operate in the intended direction check the input signa...

Page 138: ... is connected or not Exercise control on the jog operation screen of MR Configurator2 1 Operation pattern Item initial value Setting range Speed r min 200 0 to max speed Acceleration deceleration time constant ms 1000 0 to 50000 2 Operation method When the check box of Rotation only while the CCW or CW button is being pushed is checked Operation Screen control Forward rotation start Keep pressing ...

Page 139: ...99 2 Operation method Operation Screen control Forward rotation start Click Forward Reverse rotation start Click Reverse Pause Click Pause Stop Click Stop Forced stop Click Forced stop c Program operation Positioning operation can be performed in two or more operation patterns combined without using the servo system controller Use this operation with the forced stop reset This operation may be use...

Page 140: ...operation mode 3 Turn on the servo amplifier When initialization is completed the decimal point on the first digit will blink After 1 6 s After 0 2 s Blinking When an alarm or warning also occurs during the test operation the decimal point on the first digit will blink as follows After 0 8 s After 0 8 s After 0 2 s Blinking Blinking 4 Start operation with the personal computer ...

Page 141: ...forced stop reset Use this operation with the servo amplifier connected to the servo system controller To stop the motor less operation set the motor less operation selection to Disable in the servo parameter setting of the servo system controller When the power supply is turned on next time motor less operation will be disabled a Load conditions Load item Condition Load torque 0 Load to motor ine...

Page 142: ...et Pr PC05 to _ _ _ 1 turn OFF down normal condition side the test operation mode switch SW2 1 and then turn on the power supply Set SW2 1 to OFF down 1 ON 2 3 4 3 Start the motor less operation with the servo system controller The display shows the following screen The decimal point blinks ...

Page 143: ...4 STARTUP 4 20 MEMO ...

Page 144: ...lues of the servo system controller will be written to each parameter Setting may not be made to some parameters and their ranges depending on the servo system controller model servo amplifier software version and MR Configurator2 software version For details refer to the servo system controller user s manual Check the software version of the servo amplifier using MR Configurator2 5 1 Parameter li...

Page 145: ...00h PA14 POL Rotation direction selection travel direction selection 0 PA15 ENR Encoder output pulses 4000 pulse rev PA16 ENR2 Encoder output pulses 2 1 PA17 MSR Servo motor series setting 0000h PA18 MTY Servo motor type setting 0000h PA19 BLK Parameter writing inhibit 00ABh PA20 TDS Tough drive setting 0000h PA21 AOP3 Function selection A 3 0001h PA22 PCS Position control composition selection 00...

Page 146: ...F12 Vibration suppression control 1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control 0000h PB25 BOP1 Function selection B 1 0000h PB26 CDP Gain switching function 0000h PB27 CDL Ga...

Page 147: ...suppression control 2 Resonance frequency damping after gain switching 0 00 PB60 PG1B Model loop gain after gain switching 0 0 rad s PB61 For manufacturer setting 0 0 PB62 0000h PB63 0000h PB64 0000h 5 1 3 Extension setting parameters Pr PC_ _ No Symbol Name Initial value Unit Operation mode Standard Full Lin D D PC01 ERZ Error excessive alarm level 0 rev mm PC02 MBR Electromagnetic brake sequence...

Page 148: ...r setting 0 PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 0 0001 rev 0 01 mm PC32 For manufacturer setting 0000h PC33 0 PC34 100 PC35 0000h PC36 0000h PC37 0000h PC38 ERW Error excessive warning level 0 rev mm PC39 For manufacturer setting 0000h PC40 0000h PC41 0000h PC42 0000h PC43 0000h PC44 0000h PC45 0000h PC46 0000h PC47 0000h PC48 0000h PC49 0000h PC50 0000h PC51 0000h P...

Page 149: ...r communication setting Master Transmit data selection 1 0000h PD17 MD2 Driver communication setting Master Transmit data selection 2 0000h PD18 For manufacturer setting 0000h PD19 0000h PD20 SLA1 Driver communication setting Slave Master axis No selection 1 0 PD21 For manufacturer setting 0 PD22 0 PD23 0 PD24 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 TLC Master slave opera...

Page 150: ...g 0000h PE12 0000h PE13 0000h PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 FBN2 Fully closed loop control Feedback pulse electronic gear 2 Numerator 1 PE35 FBD2 Fully closed loop control Feedback pulse electronic gear 2 Den...

Page 151: ...FOP5 Function selection F 5 0000h PF07 For manufacturer setting 0000h PF08 0000h PF09 0 PF10 0 PF11 0 PF12 DBT Electronic dynamic brake operating time 2000 ms PF13 For manufacturer setting 0000h PF14 10 PF15 0000h PF16 0000h PF17 0000h PF18 STOD STO diagnosis error detection time 0 s PF19 For manufacturer setting 0000h PF20 0000h PF21 DRT Drive recorder switching time setting 0 s PF22 For manufact...

Page 152: ...tor function selection 1 0301h PL02 LIM Linear encoder resolution Numerator 1000 µm PL03 LID Linear encoder resolution Denominator 1000 µm PL04 LIT2 Linear servo motor DD motor function selection 2 0003h PL05 LB1 Position deviation error detection level 0 mm 0 01 rev PL06 LB2 Speed deviation error detection level 0 r min mm s PL07 LB3 Torque thrust deviation error detection level 100 PL08 LIT3 Lin...

Page 153: ...setting 0 PL20 0 PL21 0 PL22 0 PL23 0000h PL24 0 PL25 0000h PL26 0000h PL27 0000h PL28 0000h PL29 0000h PL30 0000h PL31 0000h PL32 0000h PL33 0000h PL34 0000h PL35 0000h PL36 0000h PL37 0000h PL38 0000h PL39 0000h PL40 0000h PL41 0000h PL42 0000h PL43 0000h PL44 0000h PL45 0000h PL46 0000h PL47 0000h PL48 0000h ...

Page 154: ...tion mode selection 0 Standard control mode 1 Fully closed loop control mode 4 Linear servo motor control mode 6 DD motor control mode Setting other than above will result in AL 37 Parameter error The fully closed loop system is available for the MR J4 _B_ RJ servo amplifiers of which software version is A3 or later 0h _ x _ _ For manufacturer setting 0h x _ _ _ Compatibility mode selection To cha...

Page 155: ...ption is used with the servo amplifier of 11 kW to 22 kW 01 FR RC H FR CV H FR BU2 H When you use FR RC H or FR CV H Mode 2 _ _ _ 1 of Undervoltage alarm detection mode selection in Pr PC20 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 0B MR RB3N 0C MR RB5N Cooling fan is required 80 MR RB1H 4 81 MR RB3M 4 Cooling fan ...

Page 156: ...is used 1 Disabled The forced stop input EM2 and EM1 are not used Refer to table 5 1 for details 0h x _ _ _ Forced stop deceleration function selection 0 Forced stop deceleration function disabled EM1 2 Forced stop deceleration function enabled EM2 Refer to table 5 1 for details 2h Table 5 1 Deceleration method Setting value EM2 EM1 Deceleration method EM2 or EM1 is off Controller forced stop is e...

Page 157: ... Gain adjustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio load to motor mass ratio Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _ _ 1 Auto tuning mode 1 Pr PB06 Load to motor inertia ratio load to motor mass ratio Pr PB07 Model loop gain Pr PB08 Position loop gain Pr PB0...

Page 158: ... machine resonance frequency Hz 1 Low response Middle response 2 7 21 Middle response High response 67 1 2 3 6 22 75 6 3 4 9 23 85 2 4 6 6 24 95 9 5 10 0 25 108 0 6 11 3 26 121 7 7 12 7 27 137 1 8 14 3 28 154 4 9 16 1 29 173 9 10 18 1 30 195 9 11 20 4 31 220 6 12 23 0 32 248 5 13 25 9 33 279 9 14 29 2 34 315 3 15 32 9 35 355 1 16 37 0 36 400 0 17 41 7 37 446 6 18 47 0 38 501 2 19 52 9 39 571 5 20 ...

Page 159: ...econdary side Primary side Positive direction Negative direction LM H3 LM F series Negative direction Positive direction Secondary side Primary side LM U2 series Negative direction Positive direction Table Primary side Secondary side LM K2 series PA15 ENR Encoder output pulses Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution dividing ratio ...

Page 160: ... U2PAB 05M 0SS0 00B4h A201h LM U2PAD 10M 0SS0 A401h LM U2PAF 15M 0SS0 A601h LM U2PBB 07M 1SS0 B201h LM U2PBD 15M 1SS0 B401h LM U2PBF 22M 1SS0 2601h LM U2P2B 40M 2SS0 2201h LM U2P2C 60M 2SS0 2301h LM U2P2D 80M 2SS0 2401h LM F LM FP2B 06M 1SS0 natural cooling 00B2h 2201h LM FP2D 12M 1SS0 natural cooling 2401h LM FP2F 18M 1SS0 natural cooling 2601h LM FP4B 12M 1SS0 natural cooling 4201h LM FP4D 24M 1...

Page 161: ...ime Refer to the table of Pr PA17 for settings 0000h Refer to the Name and function column of Pr PA17 PA19 BLK Parameter writing inhibit Select a reference range and writing range of the parameter Refer to table 5 3 for settings 00ABh Refer to the Name and function column Table 5 3 Pr PA19 setting value and reading writing range PA19 Setting operation PA PB PC PD PE PF PL Other than below Reading ...

Page 162: ...sion filter 2 in case that the vibration exceed the value of the oscillation level set in Pr PF23 Refer to section 7 3 for details 0h _ x _ _ SEMI F47 function selection 0 Disabled 1 Enabled Selecting 1 enables to avoid occurring AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation Set the time of until AL 10 1 ...

Page 163: ...ary alarm detail No for the drive recorder function When these digits are 0 0 only the arbitrary alarm No setting will be enabled 00h x x _ _ Alarm No setting Set the digits when you execute the trigger with arbitrary alarm No for the drive recorder function When 0 0 are set arbitrary alarm trigger of the drive recorder will be disabled 00h Setting example To activate the drive recorder when AL 50...

Page 164: ...Enabled When an instantaneous power failure occurs during operation you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration You can also delay the time until AL 10 2 Voltage drop in the main circuit power occurs with instantaneous power failure tough drive function Doing this will enable you to set a longer time in Pr PF25 SEMI F47 function I...

Page 165: ...tion suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 0 Disabled 1 Automatic setting 2 Manual setting 0h _ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2 To enable the digit select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 Function sele...

Page 166: ...ning mode 1 Automatic setting _ _ _ 2 Auto tuning mode 2 _ _ _ 3 Manual mode Manual setting _ _ _ 4 2 gain adjustment mode 2 PB08 PG2 Position loop gain This is used to set the gain of the position loop Set this parameter to increase the position response to level load disturbance Increasing the setting value will also increase the response level to the load disturbance but will be liable to gener...

Page 167: ... 4500 Hz 10 to 4500 PB14 NHQ1 Notch shape selection 1 Set the shape of the machine resonance suppression filter 1 When Filter tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB01 this parameter will be adjusted automatically by adaptive tuning To enable the setting value select the manual setting Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x ...

Page 168: ...planation Initial value _ _ x x Shaft resonance suppression filter setting frequency selection This is used for setting the shaft resonance suppression filter Refer to table 5 4 for settings Set the value closest to the frequency you need 00h _ x _ _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h x _ _ _ For manufacturer setting 0h Table 5 4 Shaft resonance suppression filter setting frequ...

Page 169: ... 0 PB21 VRF13 Vibration suppression control 1 Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 1 to suppress low frequency machine vibration When Vibration suppression control 1 tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set automatically When Manual setting _ _ _ 2 is selected the setting writte...

Page 170: ...mands of servo system controller 3 Continuous PID control enabled If the servo motor at a stop is rotated even for a pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop enabling PID control and completing positioning simultaneously will suppress the unnecessary torque gener...

Page 171: ...e constant disabled Refer to section 7 2 4 for details This parameter is used by servo amplifier with software version B4 or later 0h x _ _ _ For manufacturer setting 0h PB27 CDL Gain switching condition This is used to set the value of gain switching command frequency droop pulses and servo motor speed linear servo motor speed selected in Pr PB26 The set value unit differs depending on the switch...

Page 172: ... control 1 Resonance frequency after gain switching Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled When you set a value less than 0 1 Hz the value will be the same as Pr PB20 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression contro...

Page 173: ..._ _ 0 5 450 _ _ 2 5 53 _ _ 4 5 13 4 _ _ 0 6 375 _ _ 2 6 51 _ _ 4 6 12 8 _ _ 0 7 321 _ _ 2 7 48 _ _ 4 7 12 2 _ _ 0 8 281 _ _ 2 8 46 _ _ 4 8 11 7 _ _ 0 9 250 _ _ 2 9 45 _ _ 4 9 11 3 _ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10 8 _ _ 0 B 204 _ _ 2 B 41 _ _ 4 B 10 4 _ _ 0 C 187 _ _ 2 C 40 _ _ 4 C 10 _ _ 0 D 173 _ _ 2 D 38 _ _ 4 D 9 7 _ _ 0 E 160 _ _ 2 E 37 _ _ 4 E 9 4 _ _ 0 F 150 _ _ 2 F 36 _ _ 4 F 9 1 _ _ 1 0 1...

Page 174: ...Enabled _ _ _ 1 of Machine resonance suppression filter 3 selection in Pr PB47 4500 Hz 10 to 4500 PB47 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3 Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 3 selection 0 Disabled 1 Enabled 0h _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8...

Page 175: ...led _ _ _ 1 of Robust filter selection in Pr PE41 the machine resonance suppression filter 5 is not available Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 5 selection 0 Disabled 1 Enabled 0h _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x _ _ Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 0h x _ _ _ For...

Page 176: ...suppression control 2 tuning mode selection is set to Automatic setting _ _ 1 _ in Pr PB02 this parameter will be set automatically When Manual setting _ _ 2 _ is selected the setting written to the parameter is used Refer to section 7 1 5 for details 0 00 0 00 to 0 30 PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching Set the vibration frequency for vibration sup...

Page 177: ...ibration suppression control 2 when the gain switching is enabled To enable this select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 2 tuning mode selection in Pr PB02 is Manual setting _ _ 2 _ Ga...

Page 178: ... travel direction CCW or positive direction CW or negative direction 0 A phase B phase A phase B phase 1 A phase B phase A phase B phase _ _ x _ Encoder output pulse setting selection 0 Output pulse setting When _ 1 0 _ is set to this parameter AL 37 Parameter error will occur 1 Division ratio setting 3 A phase B phase pulse electronic gear setting 4 A B phase pulse through output setting For line...

Page 179: ...r manufacturer setting 0h _ x _ _ 0h x _ _ _ AL 9B Error excessive warning selection 0 AL 9B Error excessive warning disabled 1 AL 9B Error excessive warning enabled The setting of this digit is used by servo amplifier with software version B4 or later 0h PC06 COP3 Function selection C 3 Select units for error excessive alarm level setting with Pr PC01 and for error excessive warning level setting...

Page 180: ... Note 2 _ _ 0 8 Servo motor side droop pulses 10 V 10000 pulses Note 2 _ _ 0 9 Servo motor side droop pulses 10 V 100000 pulses Note 2 _ _ 0 A Feedback position 10 V 1 Mpulse Note 2 _ _ 0 B Feedback position 10 V 10 Mpulses Note 2 _ _ 0 C Feedback position 10 V 100 Mpulses Note 2 _ _ 0 D Bus voltage 200 V class and 100 V class 8 V 400 V 400 V class 8 V 800 V _ _ 0 E Speed command 2 8 V max speed _...

Page 181: ... monitor output standard position higher 4 digits for the feedback position for when selecting Feedback position for MO1 Analog monitor 1 and MO2 Analog monitor 2 Monitor output standard position Pr PC14 setting 10000 Pr PC13 setting 0 10000 pulses 9999 to 9999 PC17 COP4 Function selection C 4 This is used to select a home position setting condition Refer to the Name and function column Setting di...

Page 182: ...set 1 0h _ _ x _ For manufacturer setting 0h _ x _ _ Undervoltage alarm selection Select the alarm and warning for when the bus voltage drops to the undervoltage alarm level 0 AL 10 regardless of servo motor speed 1 AL E9 at servo motor speed 50 r min 50 mm s or less AL 10 at over 50 r min 50 mm s 0h x _ _ _ For manufacturer setting 0h PC21 BPS Alarm history clear Used to clear the alarm history R...

Page 183: ...ation depending on the set value After an alarm that leads to a forced stop deceleration if an alarm that does not lead to a forced stop deceleration occurs or if the control circuit power supply is cut dynamic braking will start regardless of the deceleration time constant setting Set a longer time than deceleration time at quick stop of the controller If a shorter time is set AL 52 Error excessi...

Page 184: ...20 6 Z phase 1 Disabled x _ _ _ For manufacturer setting 0h PC29 COPB Function selection C B This is used to select the POL reflection at torque control Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ POL reflection selection at torque control 0 Enabled 1 Disabled 0h PC31 RSUP1 Vertical axis freefall pr...

Page 185: ...ror excessive will occur earlier than the warning Pr PC38 Error excessive warning level Pr PC01 Error excessive alarm level This parameter is used by servo amplifier with software version B4 or later 0 rev mm 0 to 1000 5 2 4 I O setting parameters Pr PD_ _ No Symbol Name and function Initial value unit Setting range PD02 DIA2 Input signal automatic on selection 2 Refer to the Name and function col...

Page 186: ..._ 0 F CDPS Variable gain selection _ _ 1 0 CLDS During fully closed loop control _ _ 1 1 ABSV Absolute position undetermined _ _ 1 7 MTTR During tough drive PD08 DO2 Output device selection 2 You can assign any output device to the CN3 9 pin INP In position is assigned as the initial value The devices that can be assigned and the setting method are the same as in Pr PD07 Refer to the Name and func...

Page 187: ... _ Servo motor or linear servo motor thermistor enabled disabled selection 0 Enabled 1 Disabled For servo motors or linear servo motor without thermistor the setting will be disabled This parameter setting is used with servo amplifier with software version A5 or later 0h PD13 DOP2 Function selection D 2 Select the INP In position on condition This parameter is supported with software version B4 or...

Page 188: ...ct master slave axis for the driver communication This is available only when the forced stop deceleration function is disabled When the forced stop deceleration function is enabled AL 37 will occur This parameter setting is used with servo amplifier with software version A8 or later Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x Master axis operation selecti...

Page 189: ...nd function column Setting digit Explanation Initial value _ _ x x Transmission data selection 00 Disabled 3A speed limit command 00h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD20 SLA1 Driver communication setting Slave Master axis No selection 1 Select a master axis when this amplifier is slave axis When setting this amplifier as slave axis Pr PD15 is _ _ 1 0 set the axis No of the servo am...

Page 190: ...LC Speed limit value of slave side 300 r min 1400 r min 1000 r min Speed limit command from master side driver communication Speed r min This parameter setting is used with servo amplifier with software version A8 or later PD32 VLL Master slave operation Speed limit adjusted value on slave This parameter is used to set a minimum value for internal speed limit value This parameter is enabled when t...

Page 191: ...rror reset selection 0 Reset disabled reset by powering off on enabled 1 Reset enabled 0h PE04 FBN Fully closed loop control Feedback pulse electronic gear 1 Numerator This is used to set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is convert...

Page 192: ...load side encoder Refer to section 16 3 1 5 for details 1 1 to 65535 PE35 FBD2 Fully closed loop control Feedback pulse electronic gear 2 Denominator This is used to set a denominator of electronic gear for the servo motor encoder pulse at the fully closed loop control Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolu...

Page 193: ...ands assuming torque offset for the torque control mode This parameter is supported with software version B4 or later 0 0 01 10000 to 10000 PE48 LMOP Lost motion compensation function selection Select the lost motion compensation function This parameter is supported with software version B4 or later Refer to the Name and function column Setting value Explanation Initial value _ _ _ x Lost motion c...

Page 194: ...The following shows safety levels at the time of parameter setting 0 s 0 to 60 Setting value STO input diagnosis by TOFB output Safety level 0 Execute EN ISO 13849 1 Category 3 PL d IEC 61508 SIL 2 EN 62061 SIL CL2 Not execute 1 to 60 Execute EN ISO 13849 1 Category 3 PL e IEC 61508 SIL 3 and EN 62061 SIL CL3 Not execute EN ISO 13849 1 Category 3 PL d IEC 61508 SIL 2 and EN 62061 SIL CL2 When the ...

Page 195: ...s power failure detection time Set the time of the AL 10 1 Voltage drop in the control circuit power occurrence This parameter setting range differs depending on the software version of the servo amplifier as follows Software version C0 or later Setting range 30 ms to 200 ms Software version C1 or earlier Setting range 30 ms to 500 ms To comply with SEMI F47 standard it is unnecessary to change th...

Page 196: ... pole detection at every servo on 1h _ _ x _ For manufacturer setting 0h _ x _ _ Stop interval selection at the home position return Set a stop interval of the home position returning The digit is enabled only for linear servo motors 0 213 8192 pulses 1 217 131072 pulses 2 218 262144 pulses 3 220 1048576 pulses 4 222 4194304 pulses 5 224 16777216 pulses 6 226 67108864 pulses 3h x _ _ _ For manufac...

Page 197: ... AL 42 Servo control error will occur However when 0 is set the level vary depending on the operation mode in Pr PA01 Linear servo motor 50 mm Direct drive motor 0 09 rev 0 mm 0 01 rev 0 to 1000 PL06 LB2 Speed deviation error detection level This is used to set the speed deviation error detection level of the servo control error detection When the deviation between a model feedback speed and actua...

Page 198: ...a ratio used at the minute position detection method Set a closest value to the actual load Refer to table 5 10 for settings 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h Table 5 9 Response of minute position detection method at magnetic pole detection Setting value Response Setting value Response _ _ _ 0 Low response _ _ _ 8 Middle response _ _ _ 1 _ _ _ 9 _ _ _ 2 _ _ _ A _ _ _ 3 _ _ _ B _ _ ...

Page 199: ...5 PARAMETERS 5 56 MEMO ...

Page 200: ...to section 7 1 5 4 for details 6 1 Different adjustment methods 6 1 1 Adjustment on a single servo amplifier The following table shows the gain adjustment modes that can be set on a single servo amplifier For gain adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the adjustment execute Auto tuning mode 2 and Manual mode in this order 1 Gain adjustment mode exp...

Page 201: ... Adjustment OK Auto tuning mode 2 No No No Adjustment OK Adjustment OK No 6 1 2 Adjustment using MR Configurator2 This section explains the functions and adjustment using the servo amplifier with MR Configurator2 Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command ...

Page 202: ...W2 1 is on write the tuning result to servo parameters of the servo system controller and then connect the servo system controller and the servo amplifier The amplifier command method can be used with the servo amplifier with software version C1 or later and MR Configurator2 with software version 1 45X or later When the one touch tuning is executed MR Configurator2 is required The one touch tuning...

Page 203: ...suppression control II PB20 VRF12 Vibration suppression control 1 Resonance frequency PB21 VRF13 Vibration suppression control 1 Vibration frequency damping PB06 GD2 Load to motor inertia ratio PB07 PG1 Model loop gain PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB23 VFBF Low pass filter selection PB10 VIC Speed integr...

Page 204: ...onfigurator2 and select User command method Select a response mode High mode Basic mode and Low mode in the one touch tuning window of MR Configurator2 Click Start during servo motor driving to execute one touch tuning Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be displayed in in MR Configurator2 When one touch tuning is completed normally...

Page 205: ...ouch tuning After the tuning is started the servo motor will reciprocate automatically Executing one touch tuning during servo motor rotation will cause an error After one touch tuning is executed using the amplifier command method control will not be performed by commands from the controller Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be d...

Page 206: ...GAIN ADJUSTMENT 6 7 6 2 2 Display transition and operation procedure of one touch tuning 1 Command method selection Select a command method from two methods in the one touch tuning window of MR Configurator2 a b ...

Page 207: ...s than 100 pulses will cause the one touch tuning error C004 Servo motor speed Set 150 r min mm s or higher Setting less than 150 r min mm s may cause the one touch tuning error C005 Acceleration time constant Deceleration time constant Set the time to reach 2000 r min mm s to 5 s or less Set an acceleration time constant deceleration time constant so that the acceleration deceleration torque is 1...

Page 208: ...ide the servo amplifier to start the tuning Servo motor speed Servo motor speed Note Forward rotation 0 r min Reverse rotation Dwell time Note Deceleration time constant Note Travel distance Note Acceleration time constant Note Note It will be automatically generated in the servo amplifier Fig 6 2 Command generated by one touch tuning in the amplifier command method Item Description Travel distanc...

Page 209: ...ponse mode from 3 modes in the one touch tuning window of MR Configurator2 Table 6 2 Response mode explanations Response mode Explanation High mode This mode is for high rigid system Basic mode This mode is for standard system Low mode This mode is for low rigid system ...

Page 210: ...istance within a range where moving part collision never occurs or execute the one touch tuning in a state in which the servo motor can immediately stop in emergency When one touch tuning is executed in the amplifier command method while magnetic pole detection is not being performed magnetic pole detection will be performed and then one touch tuning will start after the magnetic pole detection is...

Page 211: ...ol is performed by commands from the controller reset the controller or cycle the power During processing of one touch tuning the progress will be displayed as follows Tuning will be completed at 100 Completing the one touch tuning will start writing tuning parameters to the servo amplifier and the following window will be displayed Select whether or not to reflect the tuning result in the project...

Page 212: ...uch tuning When Stop is clicked during one touch tuning the tuning will be stopped At this time C000 will be displayed at status in error code When the one touch tuning is stopped the parameter setting will be returned to the values at the start of the one touch tuning Stop the servo motor before executing the one touch tuning again In addition execute it after the moving part is returned to the t...

Page 213: ...ime out 1 One cycle time during the operation has been over 30 s Set one cycle time during the operation time from the command start to the next command start to 30 s or less 2 The command speed is slow Set the servo motor speed to 100 r min or higher Error is less likely to occur as the setting speed is higher When one touch tuning by the amplifier command is used set a permissible travel distanc...

Page 214: ...to motor inertia ratio estimation When estimating the load to motor inertia ratio set the overspeed alarm detection level so that the speed becomes 150 r min or more 3 The torque limit has been set to 0 Set the torque limit value to greater than 0 C008 Stop signal EM2 was turned off during one touch tuning in the amplifier command method Review the one touch tuning start position and permissible t...

Page 215: ...meter to the initial value Refer to table 6 1 for the parameters which you can initialize Clicking Return to value before adjustment in the one touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking start When the initialization of one touch tuning is completed the following window will be displayed returning to initial value ...

Page 216: ...or cycle the power of the servo amplifier d During one touch tuning the permissible travel distance may be exceeded due to overshoot set a value sufficient to prevent machine collision e When Auto tuning mode 2 Manual mode or 2 gain adjustment mode 2 is selected in Pr PA08 Auto tuning mode the load to motor inertia ratio will not be estimated An optimum acceleration deceleration command will be ge...

Page 217: ...f the following conditions are not satisfied The acceleration deceleration time constant to reach 2000 r min mm s is 5 s or less Speed is 150 r min mm s or higher The load to servo motor mass of linear servo motor s primary side or direct drive motor inertia ratio is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impos...

Page 218: ... of the load to motor inertia ratio or failed to estimate set Gain adjustment mode selection to Auto tuning mode 2 _ _ _ 2 in Pr PA08 to stop the estimation turning off the switch in above diagram and set the load to motor inertia ratio or load to motor mass ratio Pr PB06 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PA09 the optimum loop gains are automaticall...

Page 219: ...re is as follows Auto tuning adjustment Acceleration deceleration repeated Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Load to motor inertia ratio estimation value stable Set Pr PA08 to _ _ _ 2 and set Pr PB06 Load to motor inertia ratio load to motor mass ratio manually Adjust response level setting so that desired response is achieved on vibrat...

Page 220: ...esonance may allow the response level setting to increase Refer to section 7 2 and 7 3 for settings of the adaptive tuning mode and machine resonance suppression filter Pr PA09 Setting value Machine characteristic Reference setting value of MR J3 Setting value Machine characteristic Reference setting value of MR J3 Response Guideline for machine resonance frequency Hz Response Guideline for machin...

Page 221: ...tio load to motor mass ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a small value to the model loop gain Set a large value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensat...

Page 222: ... the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 Speed loop gain 1 Load to motor inertia ratio 3 Pr PB07 Model loop gain This parameter determines the respo...

Page 223: ...be achieved response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of machine resonance Refer to section 7 2 and 7 3 10 While checking the settling characteristic and motor status fine adjust each gain Fine adjustment c Parameter adjustment 1 Pr PB09 Speed loop gain This parameter determin...

Page 224: ...on operation of servo motors of two or more axes for an X Y table or the like In this mode manually set the model loop gain that determines command trackability Other parameters for gain adjustment are set automatically 1 2 gain adjustment mode 1 interpolation mode The 2 gain adjustment mode 1 manually set the model loop gain that determines command trackability The mode constantly estimates the l...

Page 225: ...Model loop gain for the axis used in 2 gain adjustment mode Step Operation Description 1 Set to the auto tuning mode Select the auto tuning mode 1 2 During operation increase the response level setting value in Pr PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check value of the model loop gain and the load to motor inertia ratio in advance Check the upper setti...

Page 226: ...settling Number of droop pulses is determined by the following expression Number of droop pulses pulse Model loop gain setting Position command frequency pulse s Position command frequency differs depending on the operation mode Rotary servo motor and direct drive motor Position command frequency Speed r min 60 Encoder resolution number of pulses per servo motor revolution Linear servo motor Posit...

Page 227: ...6 NORMAL GAIN ADJUSTMENT 6 28 MEMO ...

Page 228: ...to motor mass ratio Torque Thrust Servo motor speed Linear servo motor speed 7 1 Filter setting The following filters are available with MR J4 servo amplifiers Command pulse train Command filter Low pass filter setting Encoder Servo motor PWM M Load Pr PB18 Machine resonance suppression filter 1 Pr PB13 Pr PB15 Pr PB46 Machine resonance suppression filter 2 Machine resonance suppression filter 3 M...

Page 229: ...sonance suppression but increases a phase delay and may increase vibration A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2 This allows the required notch frequency and notch characteristics to be determined If a mechanical system...

Page 230: ...ith one touch tuning Machine resonance suppression filter 1 PB01 PB13 PB14 The filter can be set automatically with Filter tuning mode selection in Pr PB01 PB13 PB01 PB13 PB14 Machine resonance suppression filter 2 PB15 PB16 PB15 PB15 PB16 Machine resonance suppression filter 3 PB46 PB47 PB46 PB47 Machine resonance suppression filter 4 PB48 PB49 Enabling the machine resonance suppression filter 4 ...

Page 231: ...n filter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 Pr PB14 d Machine resonance suppression filter 4 Pr PB48 Pr PB49 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 However enabling the machine resonance suppression filter ...

Page 232: ...n the manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics Adaptive tuning in the high accuracy mode is available with servo amplifiers with software version C5 or later The frequency is estimated more accurately in the high accuracy mode compared to the standard mode However the tuning sound may be larger in...

Page 233: ... In the high accuracy mode Execute or re execute adaptive tuning in the standard mode Set Pr PB01 to 0 _ _ 1 Tuning ends automatically after the predetermined period of time Pr PB01 will be _ _ _ 2 or _ _ _ 0 Adaptive tuning Operation Is the target response reached Decrease the response until vibration or unusual noise is resolved End Yes No No Yes Increase the response setting Has vibration or un...

Page 234: ...ng increases the response of the servo amplifier for high resonance frequency 2 Parameter Set Shaft resonance suppression filter selection in Pr PB23 Pr PB23 Shaft resonance suppression filter selection 0 Automatic setting 1 Manual setting 2 Disabled 0 0 0 To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manu...

Page 235: ...n control II POINT The function is enabled when Gain adjustment mode selection in Pr PA08 is Auto tuning mode 2 _ _ _ 2 Manual mode _ _ _ 3 or 2 gain adjustment mode 2 _ _ _ 4 The machine resonance frequency supported in the vibration suppression control tuning mode is 1 0 Hz to 100 0 Hz As for the vibration out of the range set manually Stop the servo motor before changing the vibration suppressi...

Page 236: ...he predetermined number of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PB52 to Pr PB55 2 Parameter Set Pr PB02 Vibration suppression control tuning mode advanced vibration suppression control II When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection When you u...

Page 237: ...nd device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side The respo...

Page 238: ...r PB20 Pr PB52 and Pr PB53 varies depending on the value in Pr PB07 If a value out of the range is set the vibration suppression control will be disabled Measure work side vibration and device shake with the machine analyzer or external measuring instrument and set the following parameters to adjust vibration suppression control manually Setting item Vibration suppression control 1 Vibration suppr...

Page 239: ...2π 0 9 Pr PB07 Pr PB19 1 2π 1 5 Pr PB07 Pr PB20 1 2π 1 5 Pr PB07 Vibration suppression control 2 When Pr PB19 Pr PB52 Pr PB52 5 0 0 1 Pr PB07 Pr PB53 5 0 0 1 Pr PB07 1 1 Pr PB52 Pr PB19 5 5 Pr PB07 2π 0 3 Pr PB19 1 8 Pr PB52 When Pr PB19 Pr PB52 Pr PB52 Pr PB53 6 25 Hz 1 1 Pr PB52 Pr PB19 4 Pr PB07 1 3 4 Pr PB19 2 Pr PB52 a When a vibration peak can be confirmed with machine analyzer using MR Conf...

Page 240: ...n of three frequencies can be suppressed The frequency range of machine vibration which can be supported by the command notch filter is between 4 5 Hz and 2250 Hz Set a frequency close to the machine vibration frequency and within the range When Pr PB45 Command notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 m...

Page 241: ... 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F Disabled 2250 1125 750 562 450 375 321 281 250 225 204 187 173 160 150 140 132 125 118 112 107 102 97 93 90 86 83 80 77 75 72 70 66 62 59 56 53 51 48 46 45 43 41 40 38 37 36 35 2 33 1 31 3 29 6 28 1 26 8 25 6 24 5 23 4 22 5 21 6 20 8 20 1 19 4 18 8 18 2 17 6...

Page 242: ... The following shows when you use the function 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using a control command from a controller to ensure stability of the servo system since the load to motor inertia ratio varies greatl...

Page 243: ...2B Pr PB29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PB60 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value VRF11 Pr PB19 VRF11B Pr PB33 Enabled VRF11 value VRF12 Pr PB20 VRF12B Pr PB34 Enabled VRF12 value CDL Pr PB27 VRF13 Pr PB21 VRF13B Pr PB35 Enabled VRF13 value VRF14 Pr PB22 VRF14B Pr PB36 Enabled VRF...

Page 244: ...rvo motor speed 0 Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Pr PB26 Gain switching time constant disabling condition selection Note 0 Switching time constant enabled 1 Switching time constant disabled 2 Return time constant disabled Note This digit is available with servo ...

Page 245: ...n control 1 Resonance frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB36 VRF14B Vibration suppression control 1 Resonance frequency damping after gain switching Vibration suppression control 2 Vibration frequency PB52 VRF21 Vibration suppression control 2 Vibration frequency PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switch...

Page 246: ...Pr PB32 Speed integral compensation after gain switching Set the values of after switching position loop gain speed loop gain and speed integral compensation e Vibration suppression control after gain switching Pr PB33 to Pr PB36 Pr PB56 to Pr PB59 and Pr PB60 Model loop gain after gain switching The gain switching vibration suppression control and gain switching model loop gain are used only with...

Page 247: ...equency damping 0 10 PB29 GD2B Load to motor inertia ratio load to motor mass ratio after gain switching 10 00 Multiplier PB60 PG1B Model loop gain after gain switching 50 rad s PB30 PG2B Position loop gain after gain switching 84 rad s PB31 VG2B Speed loop gain after gain switching 4000 rad s PB32 VICB Speed integral compensation after gain switching 50 ms PB26 CDP Gain switching function 0001 Sw...

Page 248: ...pression control 2 Vibration frequency damping 0 10 0 05 0 10 Vibration suppression control 2 Resonance frequency damping 0 10 0 05 0 10 2 When you choose switching by droop pulses The vibration suppression control after gain switching and model loop gain after gain switching cannot be used a Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio load to moto...

Page 249: ...3 When the gain switching time constant is disabled a Switching time constant disabled was selected The gain switching time constant is disabled The time constant is enabled at gain return The following example shows for Pr PB26 CDP 0103 Pr PB27 CDL 100 pulse and Pr PB28 CDT 100 ms Command pulses Droop pulses 100 pulses 100 pulses 0 Droop pulses pulse Switching time constant disabled Switching at ...

Page 250: ...nt is disabled at gain return The following example shows for Pr PB26 CDP 0201 Pr PB27 CDL 0 and Pr PB28 CDT 100 ms ON CDP Gain switching After switching gain Before switching gain Switching at Pr PB28 CDT 100 ms only when gain switching on when switching CDT 100 ms Return time constant disabled Switching at 0 ms OFF OFF 63 4 Gain switching ...

Page 251: ...n filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution section 6 1 2 Manual setting section 4 2 2 The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 To set a detection level of the function...

Page 252: ...erly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 Enabling the robust filter disables the machine resonance suppression filter 5 The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Servo motor PWM M Load Machine resonance suppression filter 1 P...

Page 253: ...tor in the servo amplifier by limiting torque at acceleration You can also delay the time until the occurrence of AL 10 2 Voltage drop in the main circuit power Doing this will enable you to set a longer time in Pr PF25 SEMI F47 function Instantaneous power failure detection time When the load of instantaneous power failure is large AL 10 2 caused by the bus voltage drop may occur regardless of th...

Page 254: ...ure detection time MTTR During tough drive turns on after detecting the instantaneous power failure MBR Electromagnetic brake interlock turns off when the alarm occurs Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction Pr PF25 Instantaneous power failure time of the control circuit power supply MTTR During tough drive MBR Electromagnetic brake interlock Base circuit O...

Page 255: ... the control circuit power supply AL 10 Undervoltage occurs when the bus voltage decrease lower than Undervoltage level regardless of the enabled instantaneous power failure tough drive Pr PF25 Instantaneous power failure time of the control circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction MTTR During tough dri...

Page 256: ...ration continues without alarming Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction MTTR During tough drive MBR Electromagnetic brake interlock Base circuit WNG Warning Pr PF25 Instantaneous power failure time of the control circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON energization OFF power failure Note Refer to table 7 1 for the undervoltage level ...

Page 257: ...ctor process equipment voltage sag immunity test of MR J4 series This function enables to avoid triggering AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation 1 Parameter setting Setting Pr PA20 and Pr PF25 as follows will enable SEMI F47 function Parameter Setting value Description PA20 _ 1 _ _ Enable SEMI F47...

Page 258: ...ure time is 200 ms Table 7 3 Tolerance against instantaneous power failure instantaneous power failure voltage rated voltage 50 instantaneous power failure time 200 ms Servo amplifier Instantaneous maximum output W Tolerance against instantaneous power failure W voltage drop between lines MR J4 10B RJ 350 250 MR J4 20B RJ 700 420 MR J4 40B RJ 1400 630 MR J4 60B RJ 2100 410 MR J4 70B RJ 2625 1150 M...

Page 259: ... against instantaneous power failure a Delta connection For the 3 phase L1 L2 L3 delta connection an instantaneous power failure occurs in the voltage between a pair of lines e g between L1 and L2 among voltages between three pairs of lines between L1 and L2 L2 and L3 or L3 and L1 b Star connection For the 3 phase L1 L2 L3 neutral point N star connection an instantaneous power failure occurs in th...

Page 260: ...C Speed integral compensation 2 Parameter setting Set Pr PB25 to _ _ _ 2 3 Restrictions The following functions are not available at model adaptive control disabled Function Explanation Forced stop deceleration function Pr PA04 Disabling the model adaptive control while the forced stop deceleration function is enabled AL 37 will occur The forced stop deceleration function is enabled at factory set...

Page 261: ...ensation function Lost motion compensation selection 0 Lost motion compensation disabled 1 Lost motion compensation enabled 0 Unit setting of lost motion compensation non sensitive band 0 1 pulse unit 1 1 kpulse unit Pr PE48 0 b Lost motion compensation Pr PE44 Pr PE45 Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and whe...

Page 262: ...ged Adjust the value of Lost motion compensation timing Pr PE49 f Lost motion filter setting Pr PE46 Changing the value of this parameter is usually unnecessary When a value other than 0 0 ms is set in this parameter the high pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues 2 Adjustment procedure of the lost motion compensation...

Page 263: ...an the standard setting value or the servo motor is rotating at high speed quadrant projections may occur behind the quadrant change points In this case you can suppress the quadrant projections by delaying the lost motion compensation timing with Pr PE49 Lost motion compensation timing Increase the setting value of Pr PE49 from 0 ms Initial value by approximately 0 5 ms to adjust the compensation...

Page 264: ...o amplifier the super trace control enables to set constant speed and uniform acceleration deceleration droop pulses to almost 0 that cannot be coped with by the feed forward gain Control Position command the same command Droop pulses Normal control Time Servo motor speed Time Droop pulses Droop pulses are always generated Feed forward gain Time Servo motor speed Time Droop pulses Droop pulses are...

Page 265: ... set to 1 s or more The following shows the adjustment procedure Step Operation 1 Execute the gain adjustment with one touch tuning auto tuning etc Refer to chapter 6 for details 2 Change the setting of auto tuning mode to the manual mode Pr PA08 _ _ _ 3 3 Change the setting of feed forward gain Pr PB04 and adjust that droop pulses will be 0 at a constant speed 4 Set the setting of INP In position...

Page 266: ...alarms or warnings 2 Stop method For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop deceleration For the alarms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After the cause of the alarm ha...

Page 267: ... process error 9 DB 14 A Control process error 10 DB 14 B Control process error 11 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB 15 2 EEP ROM error during operation DB 15 4 Home position information read error DB 16 1 Encoder initial communication Receive data error 1 DB 16 2 Encoder initial communication Receive data error 2 DB 16 3 Encoder initial communication Receive data erro...

Page 268: ...ide encoder malfunction DB 1F Encoder initial communication error 3 1F 1 Incompatible encoder DB 1F 2 Incompatible load side encoder DB 20 1 Encoder normal communication Receive data error 1 EDB 20 2 Encoder normal communication Receive data error 2 EDB 20 3 Encoder normal communication Receive data error 3 EDB 20 Encoder normal communication error 1 20 5 Encoder normal communication Transmission ...

Page 269: ...error DB 28 Linear encoder error 2 28 1 Linear encoder Environment error EDB 2A 1 Linear encoder error 1 1 EDB 2A 2 Linear encoder error 1 2 EDB 2A 3 Linear encoder error 1 3 EDB 2A Linear encoder error 1 2A 4 Linear encoder error 1 4 EDB 2A 5 Linear encoder error 1 5 EDB 2A 6 Linear encoder error 1 6 EDB 2A 7 Linear encoder error 1 7 EDB 2A 8 Linear encoder error 1 8 EDB 2B Encoder counter error ...

Page 270: ...ion error DB 3A Inrush current suppression circuit error 3A 1 Inrush current suppression circuit error EDB 3D Parameter setting error for driver communication 3D 1 Parameter combination error for driver communication on slave DB 3D 2 Parameter combination error for driver communication on master DB 3E Operation mode error 3E 1 Operation mode error DB 3E 6 Operation mode switch error DB 42 Servo co...

Page 271: ...r 4 during operation SD Note 1 Note 1 Note 1 50 4 Thermal overload error 1 during a stop SD Note 1 Note 1 Note 1 50 5 Thermal overload error 2 during a stop SD Note 1 Note 1 Note 1 50 6 Thermal overload error 4 during a stop SD Note 1 Note 1 Note 1 51 Overload 2 51 1 Thermal overload error 3 during operation DB Note 1 Note 1 Note 1 51 2 Thermal overload error 3 during a stop DB Note 1 Note 1 Note ...

Page 272: ...vation function DB 66 7 Encoder initial communication Transmission data error 1 safety observation function DB 66 9 Encoder initial communication Process error 1 safety observation function DB 67 1 Encoder normal communication Receive data error 1 safety observation function DB Encoder normal communication error 1 safety observation function 67 2 Encoder normal communication Receive data error 2 s...

Page 273: ...encoder initial communication Process error 1 DB 70 B Load side encoder initial communication Process error 2 DB 70 C Load side encoder initial communication Process error 3 DB 70 D Load side encoder initial communication Process error 4 DB 70 E Load side encoder initial communication Process error 5 DB 70 F Load side encoder initial communication Process error 6 DB 71 1 Load side encoder normal c...

Page 274: ... device error SD 79 6 Output device error SD 79 7 Mismatched input signal error SD 79 8 Position feedback fixing error DB 7A Parameter setting error safety observation function 7A 1 Parameter verification error safety observation function DB 7A 2 Parameter setting range error safety observation function DB 7A 3 Parameter combination error safety observation function DB 7A 4 Functional safety unit ...

Page 275: ...nk IE communication error 1 SD 8D 2 CC Link IE communication error 2 SD CC Link IE communication error 8D 3 Master station setting error 1 DB 8D 5 Master station setting error 2 DB 8D 8D 6 CC Link IE communication error 3 SD 8D 7 CC Link IE communication error 4 SD 8D 8 CC Link IE communication error 5 SD 8D 9 Synchronization error 1 SD 8D A Synchronization error 2 SD 8E 1 USB communication receiv...

Page 276: ...d for other than the specified servo motors will be DB Series Servo motor HG KR HG KR053 HG KR13 HG KR23 HG KR43 HG MR HG MR053 HG MR13 HG MR23 HG MR43 HG SR HG SR51 HG SR52 HG AK HG AK0136 HG AK0236 HG AK0336 SD Forced stop deceleration 3 This is applicable when Pr PA04 is set to the initial value The stop system of SD can be changed to DB using Pr PA04 4 The alarm can be canceled by setting as f...

Page 277: ... warning at home positioning 96 3 Servo off warning at home positioning 96 4 Home positioning warning during magnetic pole detection 97 Positioning specification warning 97 1 Program operation disabled warning 97 2 Next station position warning 98 Software limit warning 98 1 Forward rotation side software stroke limit reached 98 2 Reverse rotation side software stroke limit reached 99 1 Forward ro...

Page 278: ...nter warning E3 4 Absolute positioning counter EEP ROM writing frequency warning E3 5 Encoder absolute positioning counter warning E4 Parameter warning E4 1 Parameter setting range error warning E5 ABS time out warning E5 1 Time out during ABS data transfer E5 2 ABSM off during ABS data transfer E5 3 SON off during ABS data transfer E6 Servo forced stop warning E6 1 Forced stop warning SD E6 2 SS1...

Page 279: ...rror F6 Simple cam function Cam control warning F6 1 Cam axis one cycle current value restoration failed F6 2 Cam axis feed current value restoration failed F6 3 Cam unregistered error F6 4 Cam control data setting range error F6 5 Cam No external error F6 6 Cam control inactive F7 Machine diagnosis warning F7 1 Vibration failure prediction warning F7 2 Friction failure prediction warning F7 3 Tot...

Page 280: ...he servo series has not set in the simple motion module Check the value set in Servo series Pr 100 in the simple motion module Set it correctly Communication cycle does not match Check the communication cycle at the servo system controller side When using 8 axes or less 0 222 ms When using 16 axes or less 0 444 ms When using 32 axes or less 0 888 ms Set it correctly A SSCNET III cable was disconne...

Page 281: ...8 TROUBLESHOOTING 8 16 MEMO ...

Page 282: ...S 9 1 Servo amplifier POINT Only MR J4 _B_ RJ are shown for dimensions MR J4 _B_ does not have CN2L CN7 and CN9 connectors The dimensions of MR J4 _B_ are not different from those of MR J4 _B_ RJ except CN2L CN7 and CN9 connectors ...

Page 283: ...ox 69 3 168 161 With MR BAT6V1SET PE Lock knob φ6 mounting hole Mass 0 8 kg PE Terminal Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 6 2 M5 screw Mounting hole process drawing Approx 6 Approx 6 Approx 168 Approx 40 ...

Page 284: ...Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole Mass 1 0 kg PE Terminal Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 2 M5 screw 156 0 5 Mounting hole process drawing Approx 40 Approx 168 Approx 6 Approx 6 ...

Page 285: ...ox 38 5 Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole Mass 1 4 kg PE Terminal Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 42 0 3 3 M5 screw Mounting hole process drawing Approx 6 Approx 6 Approx 168 Approx 6 Approx 60 Approx 12 ...

Page 286: ...ET Lock knob φ6 mounting hole Cooling fan air intake Exhaust Mass 2 1 kg PE Terminal Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 3 M5 screw 78 0 3 156 0 5 Mounting hole process drawing Approx 6 Approx 6 Approx 168 Approx 90 Approx 6 Approx 6 ...

Page 287: ...MR BAT6V1SET Lock knob φ6 mounting hole Mass 2 3 kg Terminal Screw size M4 Tightening torque 1 2 N m L3 L1 P3 P4 N L2 PE CNP1 L11 L21 C D P CNP2 V W U CNP3 6 10 R φ13 hole Mounting hole dimensions Mounting screw Screw size M5 Tightening torque 3 24 N m 3 M5 screw 78 0 3 156 0 5 Mounting hole process drawing Approx 6 Approx 6 Approx 168 Approx 6 Approx 6 Approx 90 ...

Page 288: ...4 L3 L1 C D P PE TE2 TE1 V W U TE3 TE4 TE2 TE1 TE3 TE4 PE Screw size M3 5 Tightening torque 0 8 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 93 0 5 4 M5 screw 235 0 5 Mounting hole process drawing Approx 7 5 Approx 7...

Page 289: ...e M4 Tightening torque 1 2 N m Intake Mass 6 2 kg TE1 TE2 Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m PE TE3 PE Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 160 0 5 4 M5 screw 285 0 5 Mounting hole process drawing A...

Page 290: ...ake Approx 139 5 Approx 38 5 Mass 13 4 kg TE1 2 TE2 Screw size M6 Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m TE1 1 TE1 2 L11 L21 TE2 Terminal L1 L2 L3 V W C N P4P U P3 Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 196 380 0 5 Approx 10 Approx 400 Approx 10 Mounting hole ...

Page 291: ... 2 φ12 mounting hole Mass 18 2 kg TE1 2 TE2 Screw size M8 Tightening torque 6 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M8 Tightening torque 6 0 N m Screw size M8 Tightening torque 6 0 N m TE1 1 TE1 2 TE2 Terminal L1 L2 L3 V W C N P4 P U P3 L11 L21 Mounting screw Screw size M10 Tightening torque 26 5 N m Mounting hole process drawing Approx 12 Approx 12 4 M10 screw Appro...

Page 292: ... 21 Approx 38 5 Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole Mass 1 7 kg L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 42 0 3 156 0 5 Approx 60 Approx 6 Approx 168 3 M5 screw Approx 6 Approx 6 Approx 12 Mounting hole process drawing ...

Page 293: ...38 5 Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole Mass 2 1 kg L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 78 0 3 Approx 168 3 M5 screw Approx 90 Approx 6 Approx 6 Approx 6 Approx 6 Mounting hole process drawing ...

Page 294: ...ith MR BAT6V1SET Approx 73 5 Approx 69 3 Approx 34 Approx 38 5 Lock knob Mass 3 6 kg L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 235 0 5 93 0 5 Approx 6 Approx 6 4 M5 screw Approx 105 Approx 250 Mounting hole process drawing Approx 7 5 Approx 7 5 ...

Page 295: ... m Cooling fan exhaust Intake Approx 80 Approx 28 Mass 4 3 kg TE1 TE2 Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m PE TE3 PE Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 235 0 5 118 0 5 Mounting hole process drawing ...

Page 296: ...ze M4 Tightening torque 1 2 N m Intake Mass 6 5 kg TE1 TE2 Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m PE TE3 PE Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 160 Approx 300 285 0 5 Mounting hole process drawing ...

Page 297: ...ntake Approx 139 5 Approx 38 5 Mass 13 4 kg TE1 2 TE2 Screw size M6 Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m TE1 1 TE1 2 L11 L21 TE2 Terminal L1 L2 L3 V W C N P4P U P3 Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 196 380 0 5 Approx 10 Approx 400 Approx 10 Mounting hol...

Page 298: ... 2 φ12 mounting hole Mass 18 2 kg TE1 2 TE2 Screw size M8 Tightening torque 6 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M8 Tightening torque 6 0 N m Screw size M8 Tightening torque 6 0 N m TE1 1 TE1 2 TE2 Terminal L1 L2 L3 V W C N P4 P U P3 L11 L21 Mounting screw Screw size M10 Tightening torque 26 5 N m Mounting hole process drawing Approx 12 Approx 12 4 M10 screw Appro...

Page 299: ... Approx 38 5 Approx 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole Mass 0 8 kg PE Terminal Screw size M4 Tightening torque 1 2 N m N L11 L21 L2 L1 C D P CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 Approx 40 2 M5 screw Mounting hole process drawing Approx 6 Approx 168 156 0 5 Approx 6 ...

Page 300: ...pprox 69 3 With MR BAT6V1SET Lock knob φ6 mounting hole Mass 1 0 kg PE Terminal Screw size M4 Tightening torque 1 2 N m N L11 L21 L2 L1 C D P CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 Approx 40 2 M5 screw Mounting hole process drawing Approx 6 Approx 168 Approx 6 156 0 5 ...

Page 301: ...7 9 3 17 6 0 2 8 F0 PF2D103 S 2 3 1 7 4 8 13 4 15 6 7 9 3 17 6 0 2 20 9 0 2 8 2 Miniature delta ribbon MDR system 3M a One touch lock type Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D Connector Shell kit Each type of dimension A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 ...

Page 302: ... mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Connector Shell kit Each type of dimension A B C D E F 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 27 4 3 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 303: ...9 DIMENSIONS 9 22 MEMO ...

Page 304: ...ctronic thermal protection curve shown in fig 10 1 AL 51 Overload 2 occurs if the maximum current is applied continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be kept at 70...

Page 305: ...2 202 103 153 203 73 Note 103 Note 153 Note 203 Note 353 Characteristics c 421 502 702 352 502 353 503 353 Note 601 701M 503 Note 703 Characteristics d 801 12K1 15K1 20K1 25K1 11K1M 15K1M 22K1M 903 Characteristics e 524 1024 534 Note 734 1034 Characteristics b 1524 2024 3524 734 Note 1034 Note 1534 Note 2034 Note 3534 Characteristics c 5024 7024 3534 Note 6014 701M4 5034 Note 7034 Characteristics ...

Page 306: ...acteristics a 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio Note 1 2 3 Servo lock Operating Operation time s Characteristics b Load ratio Note 1 3 1000 100 10 1 0 1 100 200 300 400 0 Servo lock Operating Operation time s 50 150 250 350 Characteristics c 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio Note 1 3 Servo lock Operating Operation time s Characteristics d ...

Page 307: ...ncy in a servo motor stop status servo lock status or in a 50 r min or less low speed operation status the servo amplifier may malfunction regardless of the electronic thermal protection 2 The load ratio ranging from 300 to 350 applies to the HG KR servo motor 3 The operation time at the load ratio of 300 to 400 applies when the maximum torque of HG JR servo motor is increased to 400 of rated torq...

Page 308: ...ooled outside the cabinet Note 3 With servo off MR J4 10B RJ HG MR053 0 3 25 15 0 5 HG MR13 0 3 25 15 0 5 HG KR053 0 3 25 15 0 5 HG KR13 0 3 25 15 0 5 MR J4 20B RJ HG MR23 0 5 25 15 0 5 HG KR23 0 5 25 15 0 5 MR J4 40B RJ HG MR43 0 9 35 15 0 7 HG KR43 0 9 35 15 0 7 MR J4 60B RJ HG SR52 1 0 40 15 0 8 HG SR51 1 0 40 15 0 8 HG JR53 1 0 40 15 0 8 MR J4 70B RJ HG MR73 1 3 50 15 1 0 HG KR73 1 3 50 15 1 0...

Page 309: ... 9 HG JR5034 7 5 195 25 3 9 MR J4 700B4 RJ HG SR7024 10 300 25 6 0 HG JR7034 10 300 25 6 0 HG JR701M4 10 300 25 6 0 HG JR6014 8 6 250 25 5 0 MR J4 11KB4 RJ HG JR9034 13 435 130 45 8 7 HG JR11K1M4 16 530 160 45 11 0 HG JR8014 12 370 110 45 7 0 HG JR12K14 18 570 170 45 11 5 MR J4 15KB4 RJ HG JR15K1M4 22 640 195 45 13 0 HG JR15K14 22 640 195 45 12 8 MR J4 22KB4 RJ HG JR22K1M4 33 850 260 55 17 0 HG JR...

Page 310: ... 10 1 for heat generated by the servo amplifier 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 p...

Page 311: ...hine operating at the recommended load to motor inertia ratio or less the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes Be sure to enable EM1 Forced stop 1 after servo motor stops when using EM1 Forced stop 1 frequently in other than emergency Servo motors for MR J4 may have the different coasting ...

Page 312: ...ulated with the following equation V0 OFF ON Machine speed te Time EM1 Forced stop 1 Dynamic brake time constant τ Fig 10 3 Dynamic brake operation diagram Lmax 60 V0 te JM 1 JL 10 2 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 Dyna...

Page 313: ...50 200 150 250 300 350 352 202 702 152 502 Dynamic brake time constant τ ms Speed r min HG SR 1000 r min series HG SR 2000 r min series 0 20 10 30 40 50 60 70 80 90 100 0 500 1000 1500 2000 15K1 25K1 20K1 801 601 12K1 Speed r min Dynamic brake time constant τ ms Speed r min 80 0 70 60 50 40 30 20 10 500 1000 1500 2000 2500 3000 0 15K1M 11K1M 22K1M 701M Dynamic brake time constant τ ms HG JR1000 r ...

Page 314: ...e time constant τ ms 0 10 20 30 40 50 60 0 500 1000 1500 2000 6014 8014 25K14 12K14 20K14 15K14 Speed r min Dynamic brake time constant τ ms HG SR series HG JR1000 r min series Speed r min 50 0 40 30 20 10 500 1000 1500 2000 2500 3000 0 11K1M4 22K1M4 15K1M4 701M4 70 60 Dynamic brake time constant τ ms Speed r min 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 120 100 80 60 40 20 0 2034 353...

Page 315: ...G JR353 16 30 HG MR13 HG JR503 15 30 HG MR23 32 HG JR703 11 30 HG MR43 HG JR903 18 30 HG MR73 HG JR701M 5 HG SR51 30 HG JR11K1M 10 30 HG SR81 HG JR15K1M HG SR121 HG JR22K1M 20 30 HG SR201 HG JR601 5 HG SR301 16 HG JR801 30 HG SR421 15 HG JR12K1 20 30 HG SR52 30 HG JR15K1 17 30 HG SR102 HG JR20K1 26 30 HG SR152 21 HG JR25K1 21 30 HG SR202 HG JR534 HG SR352 13 15 HG JR734 HG SR502 HG JR1034 30 30 HG...

Page 316: ...ending life motor power cable Long bending life electromagnetic brake cable SSCNET III cable using long distance cable b Standard encoder cable Standard motor power cable Standard electromagnetic brake cable SSCNET III cable using inside panel standard cord SSCNET III cable using outside panel standard cable Number of bending times time 1 108 5 107 1 107 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1...

Page 317: ... 100B RJ 34 A attenuated to approx 7 A in 20 ms MR J4 200B RJ MR J4 350B RJ 113 A attenuated to approx 12 A in 20 ms MR J4 500B RJ 42 A attenuated to approx 20 A in 20 ms 34 A attenuated to approx 2 A in 20 ms MR J4 700B RJ 85 A attenuated to approx 20 A in 30 ms MR J4 11KB RJ 226 A attenuated to approx 30 A in 30 ms 42 A attenuated to approx 2 A in 30 ms MR J4 15KB RJ 226 A attenuated to approx 5...

Page 318: ... is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m Servo amplifier Inrush currents A0 P Main circuit power supply L1 L2 Control circuit power supply L11 L21 MR J4 10B1 RJ MR J4 20B1 RJ MR J4 40B1 RJ 38 A attenuated to approx 14 A in 10 ms 20 A to 30 A attenuated to approx 0 A in 1 ms to 2 ms ...

Page 319: ...10 CHARACTERISTICS 10 16 MEMO ...

Page 320: ...fied peripheral equipment and options to prevent a malfunction or a fire POINT We recommend using HIV wires to wire the servo amplifiers options and peripheral equipment Therefore the recommended wire sizes may differ from those used for the previous servo amplifiers 11 1 Cable connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and ra...

Page 321: ...fier Cap packed with the servo amplifier Note 1 Servo system controller Personal computer 1 packed with the servo amplifier Servo amplifier Note 2 To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Brake connector Power connector Linear servo motor Linear encoder Power connector Direct drive motor Encoder connector To CN2 To CN2 The connection method changes depending ...

Page 322: ... with the servo amplifier Note 1 Servo system controller Personal computer 1 packed with the servo amplifier Servo amplifier Note 2 To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Brake connector Linear servo motor Linear encoder Direct drive motor Encoder connector To CN2 To CN2 The connection method changes depending on incremental system and absolute position det...

Page 323: ...Insulator OD to 3 9 mm Open tool Quantity 1 Model J FAT OT EXL JST Supplied with 400 V class servo amplifiers of 3 5 kW or less CNP1 connector 06JFAT SAXGDK HT10 5 JST CNP2 connector 05JFAT SAXGDK HT7 5 JST CNP3 connector 03JFAT SAXGDK HT10 5 JST Applicable wire size 1 25 mm2 to 2 1 mm2 AWG 16 to 14 Insulator OD to 3 9 mm Open tool J FAT OT XL JST 2 SSCNET III cable MR J3BUS_M Cable length 0 15 m ...

Page 324: ...cable MR D05UDL3M B Connector set 2069250 1 TE Connectivity Connection cable for the CN8 connector 9 Short circuit connector Supplied with servo amplifier 10 Battery cable MR BT6V1CBL_M Cable length 0 3 1 m Refer to section 11 1 4 Housing PAP 02V O Contact SPHD 001G P0 5 JST Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent For connection with battery unit 11 Junction battery cable ...

Page 325: ...nnector 1 Configuration diagram Servo amplifier MR D05UDL3M B CN8 2 Internal wiring diagram 1 2 3 6 7 Plate STO2 TOFB1 TOFB2 Shield STO1 TOFCOM 8 4 5 STOCOM Yellow with black dots Yellow with red dots Gray with black dots Gray with red dots White with black dots White with red dots Note 2 1 6 4 8 CN8 connector 3 5 7 Viewed from the connection part Note Do not use the two core wires with orange ins...

Page 326: ...10 20 Standard Using standard cable outside cabinet Note MR J3BUS_M B 30 40 50 Long bending life Using long distance cable Note For cable of 30 m or shorter contact your local sales office 2 Specifications Description SSCNET III cable model MR J3BUS_M MR J3BUS_M A MR J3BUS_M B SSCNET III cable length 0 15 m 0 3 m to 3 m 5 m to 20 m 30 m to 50 m Optical cable cord Minimum bend radius 25 mm Enforced...

Page 327: ...te Protective tube Approx 100 Approx 100 Note Dimension of connector part is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table shown in 1 in this section for cable length L SSCNET III cable Variable dimensions mm A B MR J3BUS5M A to MR J3BUS20M A 100 30 MR J3BUS30M B to MR J3BUS50M B 150 50 Unit mm L Protective tube Note Approx A App...

Page 328: ... Standard For junction 2 MR BT6V1CBL_M a Appearance 2 1 3 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 b Internal wiring diagram BT LG 7 14 1 2 LG BT 1 2 3 SD White Black Plate 3 MR BT6V2CBL_M a Appearance 1 2 3 4 5 Components Description 1 Cable VSVC 7 0 18 2C 2 C...

Page 329: ...N 9 Ω MR RB31 6 7 Ω MR RB32 40 Ω Note 1 MR RB50 13 Ω Note 1 MR RB5N 9 Ω Note 1 MR RB51 6 7 Ω MR J4 10B RJ 30 MR J4 20B RJ 10 30 100 MR J4 40B RJ 10 30 100 MR J4 60B RJ 10 30 100 MR J4 70B RJ 20 30 100 300 MR J4 100B RJ 20 30 100 300 MR J4 200B RJ 100 300 500 MR J4 350B RJ 100 300 500 MR J4 500B RJ 130 300 500 MR J4 700B RJ 170 300 500 Servo amplifier Note 2 Regenerative power W External regenerati...

Page 330: ...00 MR J4 350B4 RJ 100 300 500 MR J4 500B4 RJ 130 300 500 MR J4 700B4 RJ 170 300 500 Servo amplifier Note 2 Regenerative power W External regenerative resistor accessory MR RB5K 4 10 Ω MR RB6K 4 10 Ω MR J4 11KB4 RJ 500 800 500 800 MR J4 15KB4 RJ 850 1300 850 1300 MR J4 22KB4 RJ 850 1300 850 1300 Note 1 Always install a cooling fan 2 Values in parentheses assume the installation of a cooling fan 3 1...

Page 331: ...eration tpsd2 t2 t3 t4 t1 tpsa2 tpsd1 tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Note Energy E J 1 T1 JL η JM V 9 55 104 tpsa1 1 TU TF E1 2 0 1047 V T1 tpsa1 2 T2 TU TF E2 0 1047 V T2 t1 3 T3 JL η JM V 9 55 104 tpsd1 1 TU TF E3 2 0 1047 V T3 tpsd1 4 8 T4 T8 TU E4 E8 0 No regeneration 5 T5 JL η JM V 9 55 104 tps...

Page 332: ... 70 MR J4 10B1 RJ 55 4 MR J4 11KB RJ 90 120 MR J4 20B1 RJ 75 4 MR J4 15KB RJ 90 170 MR J4 40B1 RJ 85 10 MR J4 22KB RJ 90 250 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 Since the characteristics of the electrolytic capacitor change...

Page 333: ... From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies b Losses of servo motor and servo amplifier in regenerative mode For inverse efficiency and capacitor charging energy refer to 1 b in this section c Regenerative energy calculation Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inver...

Page 334: ... is required 85 MR RB54 4 Cooling fan is required 91 MR RB3U 4 Cooling fan is required 92 MR RB5U 4 Cooling fan is required FA When the supplied regenerative resistors or the regenerative option is cooled by the cooling fan to increase the ability with the servo amplifier of 11 kW to 22 kW 0 0 Pr PA02 11 2 4 Connection of regenerative option POINT When MR RB50 MR RB51 MR RB5N MR RB3M 4 MR RB3G 4 M...

Page 335: ...cool it with a cooling fan 1 0 m3 min or more 92 mm 92 mm 2 When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60 in MR RB30 MR RB31 MR RB32 and MR RB3N forcefully cool the air with a cooling fan 1 0 m3 min or more 92 mm 92 mm A cooling fan is not required if the ambient temperature is 35 C or less A cooling fan is required for the shaded area in the follow...

Page 336: ... or less Servo amplifier Note 2 Cooling fan Note 1 Note 1 When using the MR RB51 MR RB34 4 MR RB54 4 MR RB3U 4 or MR RB5U 4 forcibly cool it with a cooling fan 1 0 m3 min or more 92 mm 92 mm 2 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA Wh...

Page 337: ... the resistors with two cooling fans 1 0 m3 min or more 92 mm 92 mm improves the regeneration capability In this case set _ _ F A in Pr PA02 P C Servo amplifier Cooling fan Note Series connection 5 m or less Note The number of resistors connected in series depends on the resistor type The thermal sensor is not mounted on the attached regenerative resistor An abnormal heating of resistor may be gen...

Page 338: ...rative capability G3 and G4 are thermal sensor s terminals Between G3 and G4 is opened when the regenerative option overheats abnormally Regenerative option Configure up a circuit which shuts off main circuit power when thermal protector operates Servo amplifier C P 5 m or less Note P C G3 G4 Note G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capac...

Page 339: ...ounting screw 4 M3 Top Bottom TE1 G4 G3 C P TE1 terminal block 2 cooling fans 1 0 m3 min or more 92 mm 92 mm 11 2 5 Dimensions 1 MR RB12 Unit mm 5 144 Approx 20 169 168 156 6 12 6 36 40 φ6 mounting hole TE1 15 Approx 6 149 2 TE1 terminal G3 G4 P C 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 Mass 1 1 k...

Page 340: ...iable dimensions Mass kg A B MR RB30 17 335 2 9 MR RB31 MR RB32 MR RB3N MR RB34 4 23 341 MR RB3M 4 MR RB3G 4 MR RB3U 4 3 MR RB50 MR RB51 MR RB5N MR RB54 4 MR RB5G 4 MR RB5U 4 Unit mm 2 3 133 82 5 49 82 5 Cooling fan mounting screw 2 M3 screw On opposite side 200 A B 8 120 108 12 12 5 162 5 350 162 5 12 5 7 Approx 30 7 14 slotted hole Intake Terminal block P C G3 G4 Terminal screw size M4 Tightenin...

Page 341: ...e M5 Tightening torque 3 24 N m Mass 0 5 kg 5 MR RB5R MR RB9F MR RB9T MR RB5K 4 MR RB6K 4 Unit mm 480 10 260 230 10 2 φ10 mounting hole 500 30 427 43 197 15 2 3 Cooling fan intake 215 15 230 15 10 15 15 82 5 82 5 82 5 Approx 42 Cooling fan mounting screw 4 M3 screw TE1 terminal block P C G3 G4 Terminal screw size M5 Tightening torque 2 0 N m Mounting screw Screw size M8 Tightening torque 13 2 N m ...

Page 342: ... Screw size M5 Tightening torque 3 24 N m Mass 1 1 kg 7 GRZG400 0 8Ω GRZG400 0 6Ω GRZG400 0 5Ω GRZG400 2 5Ω GRZG400 2 0Ω standard accessories Unit mm Approx K 1 6 Approx φ47 9 5 40 411 385 10 Approx φC Approx A Approx 2 4 40 Approx 330 Regenerative resistor Variable dimensions Mounting screw size Tightening torque N m Mass kg A C K GRZG400 0 8Ω 10 5 5 39 M8 13 2 0 8 GRZG400 0 6Ω 16 8 2 46 GRZG400 ...

Page 343: ...nation indicated in section 11 3 1 For executing a continuous regenerative operation use FR RC H power regeneration converter or FR CV H power regeneration common converter Brake unit and regenerative options Regenerative resistor cannot be used simultaneously Connect the brake unit to the bus of the servo amplifier As compared to the MR RB regenerative option the brake unit can return larger powe...

Page 344: ...ess 3 When the brake unit is selected by using the capacity selection software a brake unit other than the combinations listed may be shown Refer to the combinations displayed on the capacity selection software for detailed combinations 11 3 2 Brake unit parameter setting Whether a parameter can be changed or not is listed below Parameter Change possible impossible Remark No Name 0 Brake mode swit...

Page 345: ...ar between P3 and P4 Refer to section 11 11 for details Additionally a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously 4 Connect P and N terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110 V AC 5 A 220 V AC 3 A Normal conditio...

Page 346: ... and N terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 6 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal con...

Page 347: ... alarm occurrence or malfunction Always connect the terminals for master slave MSG to MSG SD to SD between the two brake units Do not connect the servo amplifier and brake units as below Connect the cables with a terminal block to distribute as indicated in this section N P Brake unit Brake unit Servo amplifier P N N P Connecting two cables to P and N terminals N P Brake unit Brake unit Servo ampl...

Page 348: ...servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 6 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one cable to each P and N term...

Page 349: ... destination results in servo amplifier and brake unit malfunction 5 Contact rating 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 6 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one ca...

Page 350: ...it malfunction 4 Contact rating 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 5 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 6 Do not connect more than one cable to each P and N terminals of the servo amplifier...

Page 351: ...rake unit 5 m or less 5 m or less Servo amplifier Brake unit 10 m or less 10 m or less P N P N P PR P PR P N P PR P PR Twist Twist Resistor unit Resistor unit P N 4 Wires a Wires for the brake unit For the brake unit HIV wire 600 V Grade heat resistant polyvinyl chloride insulated wire is recommended 1 Main circuit terminal N P PR Terminal block Brake unit Main circuit terminal screw size Crimp te...

Page 352: ...ibution terminal block when connecting two sets of the brake unit Brake unit Wire size HIV wire mm2 AWG FR BU2 15K 8 8 5 Crimp terminals for P and N terminals of servo amplifier a Recommended crimp terminals POINT Some crimp terminals may not be mounted depending on the size Make sure to use the recommended ones or equivalent ones Servo amplifier Brake unit Number of connected units Crimp terminal...

Page 353: ... H55K 1 FVD5 5 8 JST a FR BU2 H75K 1 FVD14 8 JST d Note 1 Symbols in the applicable tool field indicate applicable tools in 4 b in this section 2 Coat the crimping part with an insulation tube b Applicable tool Symbol Servo amplifier side crimp terminals Crimp terminal Applicable tool Manufacturer Body Head Dice a FDV5 5 S4 FDV5 5 6 YNT 1210S JST b 8 4NS YHT 8S c FVD8 6 YF 1 E 4 YNE 38 DH 111 DH 1...

Page 354: ... 35 FR BU2 30K FR BU2 H30K Unit mm 129 5 5 59 18 5 Rating plate 52 2 φ5 hole Screw size M4 128 5 5 118 5 108 6 6 96 FR BU2 55K FR BU2 H55K FR BU2 H75K Unit mm 18 5 Rating plate 52 72 5 142 5 128 118 5 5 5 6 158 6 170 2 φ5 hole Screw size M4 ...

Page 355: ...and the top The bottom is open Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass kg 200 V class FR BR 15K 170 100 450 410 20 432 220 3 2 6 15 FR BR 30K 340 270 600 560 20 582 220 4 10 30 FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 400 V class FR BR H30K 340 270 600 560 20 582 220 4 10 30 FR BR H55K 480 410 700 620 40 670 450 3 2 12 70 3 MT BR5 H resistor unit Unit mm 4φ15 mounting hole 300 ...

Page 356: ...o _ _ 0 1 and set Pr PC20 to _ _ _ 1 1 Selection The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the 5 kW to 22 kW Power regeneration converter Nominal regenerative power kW Servo amplifier Nominal regenerative power 50 75 100 150 0 500 300 200 100 50 30 20 Continuous energization time s FR RC 15K 15 MR J4 500B RJ MR J4 700B R...

Page 357: ...TX T R L1 S L2 T L3 B C EM1 DICOM CN3 DOCOM ALM CN3 RA B C FR RC ALM RA MC MC SK L11 L21 L1 L2 L3 A B C Note 1 Phase detection terminals Note 4 Ready Alarm output RDY output Note 7 Note 5 Power supply 24 V DC Note 9 Malfunction Note 3 Power factor improving reactor Note 10 Forced stop 1 Note 6 Power regeneration converter FR RC Operation ready OFF ON Forced stop 1 Note 6 Servo amplifier Note 2 5 m...

Page 358: ...er to section 1 3 6 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 Configure up the circuit which shuts off main circuit power with external circuit at EM1 Forced stop 1 off 7 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker 8 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 9 The illustration of...

Page 359: ...ection 1 3 6 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 Configure up the circuit which shuts off main circuit power with external circuit at EM1 Forced stop 1 off 7 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker 8 This diagram shows sink I O interface For source I O interface refer to section 3 8 3 9 The illustration of the 24...

Page 360: ...mmon converter POINT For details of the power regeneration common converter FR CV H refer to the FR CV Installation Guide IB NA 0600075 Do not supply power to the main circuit power supply terminals L1 L2 L3 of the servo amplifier Otherwise the servo amplifier and FR CV H will malfunction Connect the DC power supply between the FR CV H and servo amplifier with correct polarity Connection with inco...

Page 361: ...otor rated currents should be equal to or less than the applicable current A of the FR CV d Among the servo amplifiers connected to the FR CV the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity W The following table lists the restrictions Item FR CV _ 7 5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connec...

Page 362: ...servo amplifiers connected to the FR CV H the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity W The following table lists the restrictions Item FR CV H_ 22K 30K 37K 55K Maximum number of connected servo amplifiers 1 2 Total of connectable servo amplifier capacities kW 11 15 18 5 27 5 Total of connectable servo motor rated currents A 43 57 71...

Page 363: ... enabled 2 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 3 When using the servo amplifier of 7 kW or less make sure to disconnect the wiring of built in regenerative resistor 5 kW or less P and D 7 kW P and C 4 Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR CV...

Page 364: ...Forced stop 1 is enabled 2 For the servo amplifier configure a sequence that will switch the servo on after the FR CV H is ready 3 Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR CV H When the servo system controller does not have an emergency stop input use the forced stop input of the servo amplifier to make a s...

Page 365: ...es kW Wire mm2 1 or less 2 AWG 14 2 3 5 AWG 12 5 5 5 AWG 10 7 8 AWG 8 11 14 AWG 6 15 22 AWG 4 22 50 AWG 2 The following table indicates the connection wire sizes of the DC power supply P4 N terminals between the FR CV H and servo amplifier Total of servo amplifier capacities kW Wire mm2 11 8 AWG 8 15 8 AWG 8 22 14 AWG 6 2 Grounding For grounding use the wire of the size equal to or greater than th...

Page 366: ...f 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 FR CV 55K Servo amplifier 15 kW Servo amplifier 7 kW Servo amplifier 3 5 kW Servo amplifier 2 kW Note Note Note Note Note When using the servo amplifier of 7 kW or less make sure to disconnect the wiring of built in regenerative resis...

Page 367: ...mum servo amplifier capacity kW 3 5 5 7 11 15 15 22 Output Total of connectable servo motor rated currents A 33 46 61 90 115 145 215 Regenerative braking torque Short time rating Total capacity of applicable servo motors 300 torque 60 s Note 1 Continuous rating 100 torque Power Rated input AC voltage frequency 3 phase 200 V AC to 220 V AC 50 Hz 200 V AC to 230 V AC 60 Hz Permissible AC voltage flu...

Page 368: ...ote 2 kVA 41 52 66 100 IP rating JEM 1030 cooling method Open type IP00 forced cooling Environment Ambient temperature 10 C to 50 C non freezing Ambient humidity 5 RH to 90 RH non condensing Ambience Indoors no direct sunlight free from corrosive gas flammable gas oil mist dust and dirt Altitude vibration resistance 1000 m or less above sea level 5 9 m s2 Molded case circuit breaker or earth leaka...

Page 369: ...1 14 2 c 2 Connection of MR J2HBUS_M cable and junction terminal block LG DI1 1 2 DOCOM MO1 3 4 LZ 8 LB 7 9 SD Shell Note MR J2HBUS_M INP 5 6 10 DICOM DICOM LA LG DI2 11 12 MBR MO2 13 14 LZR 18 LBR 17 19 DI3 15 16 20 EM2 ALM LAR Shell Shell Shell 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 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 ...

Page 370: ...play Diagnosis Alarm display alarm onset data drive recorder no motor rotation system configuration life diagnosis machine diagnosis fully closed loop diagnosis Note 2 and linear diagnosis Note 3 Test operation JOG operation Note 4 positioning operation motor less operation Note 1 DO forced output and program operation Adjustment One touch tuning tuning and machine analyzer Others Servo assistant ...

Page 371: ...z or more Laptop personal computer Intel Pentium M processor 1 7 GHz or more Memory recommended 512 MB or more for 32 bit OS and 1 GB or more for 64 bit OS Hard Disk 1 GB or more Communication interface USB port Browser Windows Internet Explorer 4 0 or more Display One whose resolution is 1024 768 or more and that can provide a high color 16 bit display Connectable with the above personal computer...

Page 372: ...nect the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When the servo amplif...

Page 373: ...in battery MR BAT6V1SET Battery For absolute position data backup MR BAT6V1 MR BAT6V1BJ Battery for junction battery cable For transporting a servo motor and machine apart MR BT6VCASE Battery case For absolute position data backup of multi axis servo motor MR BAT6V1 2 Combinations of batteries and the servo amplifier Model MR J4 _B_ RJ MR BAT6V1SET MR BAT6V1BJ MR BT6VCASE 11 8 2 MR BAT6V1SET batte...

Page 374: ...ot always confirm it from the front of the servo amplifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand POINT Replacing battery with the control circuit power off will erase the absolute po...

Page 375: ... insert the plug into the CN4 connector Install a battery and insert the plug into the CN4 connector For the servo amplifier with a battery holder on the bottom For the servo amplifier with a battery holder on the front 2 Removal procedure CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of ...

Page 376: ...1SET reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET Cover Locking part 1 While pressing the locking part open the cover MR BAT6V1 2 Replace the battery with a new MR BAT6V1 Projection 3 Press the cover until it is fixed with the projection of the locking part to close the cover ...

Page 377: ...left in the number indicates the first digit of the year the third digit from left indicates a month Oct X Nov Y Dec Z For November 2013 the serial is like SERIAL _ 3Y _ _ _ _ _ _ 3 Specification list Item Description Battery pack 2CR17335A CR17335A 2 pcs 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 Merc...

Page 378: ...hine apart When the connector for branch cable connection black is not connected to the MR BT6VCBL03M junction battery cable no alarm will occur However the absolute position data will be erased when you transport a servo motor and machine apart When you transport a servo motor and machine apart disconnect only CN2 and CN4 of the servo amplifier When other connectors or cables are disconnected bet...

Page 379: ...o replace the MR BAT6V1BJ follow the procedures given in this section to avoid erasing absolute position data Before replacing batteries check that the new battery is within battery life For MR BAT6V1BJ the battery can be replaced with the control circuit power supply off a Battery installation and removal procedure The battery installation and removal procedure to the servo amplifier are the same...

Page 380: ...ery will trigger AL 9F 1 MR BT6VCBL03M CN4 CN2 Servo amplifier Old MR BAT6V1BJ New MR BAT6V1BJ Orange Orange Black 4 Remove the old MR BAT6V1BJ from servo amplifier and mount the new MR BAT6V1BJ When the control circuit power supply is on AL 9F 1 will occur after 3 MR BT6VCBL03M CN4 CN2 Servo amplifier New MR BAT6V1BJ Old MR BAT6V1BJ Orange Orange Black Black 5 Mount the connector for servo amplif...

Page 381: ...otors One MR BT6VCASE holds absolute position data up to eight axes servo motors For direct drive motors up to four axes can be connected Servo motors and direct drive motors in the incremental system are included as the axis Nos Linear servo motors are not counted as the axis Nos Refer to the following table for the number of connectable axes of each servo motor Servo motor Number of axes Rotary ...

Page 382: ...system are included as the axis Nos Linear servo motors are not counted as the axis Nos The MR J4W_ _B servo amplifiers can be combined with MR J4 _B_ RJ servo amplifiers However it cannot be used for MR J4W2 0303B6 a When using 1 axis servo amplifier CN1A CN1B Cap CN4 CN10 MR BT6VCASE MR BT6V1CBL_M Servo amplifier b When using up to 8 axis servo amplifiers CN4 CN10 MR BT6VCASE MR BT6V1CBL_M MR BT...

Page 383: ...plifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand POINT Replacing battery with the control circuit power off will erase the absolute position data Before replacing batteries check that t...

Page 384: ...Remark Battery case MR BT6VCASE 1 MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries Battery MR BAT6V1 5 Lithium battery primary battery nominal 6 V 2 Disassembly and assembly of the battery case MR BT6VCASE a Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled Threads Remove the two screws using a Phi...

Page 385: ...ly in the incorrect direction the connector will break Place the MR BAT6V1 lead wire to the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 Bring out the lead wire from the space between the ribs and bend it as shown above to store it in the duct Connect the lead wire to the connector Be careful not to get the lead wire caught i...

Page 386: ... Threads d Precautions 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 3 Battery cable removal CAUTION Pulling out the connector of the MR BT6V1CBL and the MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or...

Page 387: ...nufacture Item Description Battery pack 2CR17335A CR17335A 2 pcs 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 Refer to app 2 for details Operating humidity and storage humidity 5 RH to 90 RH non condensing No...

Page 388: ...used with the DC power supply input refer to app 15 3 Selection conditions of wire size are as follows Construction condition Single wire set in midair Wire length 30 m or less The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 5 Power regeneration converter lead Power regeneration converter N 3 Regenerative option lead Regenerative option 2 Con...

Page 389: ...2 a 5 5 AWG 10 a 8 AWG 8 b MR J4 11KB RJ Note 2 14 AWG 6 f 1 25 AWG 16 c 2 AWG 14 c Note 4 3 5 AWG 12 g 14 AWG 6 f 5 5 AWG 10 g Note 5 8 AWG 8 k MR J4 15KB RJ Note 2 22 AWG 4 h 5 5 AWG 10 g 22 AWG 4 h 8 AWG 8 k Note 5 MR J4 22KB RJ Note 2 38 AWG 2 i 5 5 AWG 10 j 38 AWG 2 i Note 1 Alphabets in the table indicate crimping tools For crimp terminals and applicable tools refer to 2 in this section 2 To...

Page 390: ...the terminal block 3 The wire size shows applicable size of the servo amplifier connector and terminal block For wires connecting to the servo motor refer to each servo amplifier instruction manual 4 Be sure to use the size of 2 mm2 when corresponding to IEC EN UL CSA standard 5 This is for connecting to the linear servo motor with natural cooling method 6 This is for connecting to the linear serv...

Page 391: ... 1210S k FVD8 6 YF 1 E 4 YNE 38 DH 121 DH 111 Note 1 Coat the crimping part with an insulation tube 2 Some crimp terminals may not be mounted depending on the size Make sure to use the recommended ones or equivalent ones b 400 V class Symbol Servo amplifier side crimp terminals Manufacturer Crimp terminal Note Applicable tool Body Head Dice a FVD5 5 4 YNT 1210S JST b FVD2 4 YNT 1614 c FVD2 M3 d FV...

Page 392: ...the servo amplifier from smoke and a fire select a molded case circuit breaker which shuts off with high speed Always use one molded case circuit breaker and one magnetic contactor with one servo amplifier POINT For the selection when the MR J4 _B RJ servo amplifier is used with the DC power supply input refer to app 15 4 ...

Page 393: ...A 100 A frame 100 A 200 MR J4 15KB RJ 125 A frame 125 A 125 A frame 125 A 250 S N65 S T65 MR J4 22KB RJ 225 A frame 175 A 225 A frame 175 A 350 S N95 S T100 MR J4 60B4 RJ 30 A frame 5 A 30 A frame 5 A 480 T 10 600 S N10 S T10 MR J4 100B4 RJ 30 A frame 10 A 30 A frame 5 A 15 MR J4 200B4 RJ 30 A frame 15 A 30 A frame 10 A 25 MR J4 350B4 RJ 30 A frame 20 A 30 A frame 15 A 35 S N20 Note 3 S T21 MR J4 ...

Page 394: ...rcuit power supply L11 L21 is thinner than that for the main circuit power supply L1 L2 L3 install an overcurrent protection device molded case circuit breaker or fuse to protect the branch circuit Servo amplifier Molded case circuit breaker Note Fuse Class T Fuse Class K5 Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J4 10B RJ MR J4 20B RJ MR J4 40B RJ MR J4 60...

Page 395: ...fect of the power factor improving DC reactor is not produced When used the power factor improving DC reactor generates heat To release heat therefore leave a 10 cm or more clearance at each of the top and bottom and a 5 cm or more clearance on each side 1 200 V class 2 d mounting hole Varnish is removed from right mounting hole face and back side Note 1 D or less W 2 W1 H P P1 Fig 11 1 4 d mounti...

Page 396: ... FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J4 700B RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 8 AWG 8 MR J4 11KB RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 14 AWG 6 MR J4 15KB RJ FR HEL 22K 105 64 93 175 117 104 115 Note 1 M6 M10 5 6 22 AWG 4 MR J4 22KB RJ FR HEL 30K Fig 11 3 114 72 100 200 125 101 135 Note 1 M6 M10 7 8 38 AWG 2 Note 1 Maximum dimensions The dimensio...

Page 397: ...L H15K Fig 11 6 105 75 152 125 115 95 62 M5 M6 5 0 5 5 AWG 10 MR J4 11KB4 RJ 8 AWG 8 MR J4 15KB4 RJ FR HEL H22K 133 90 178 120 95 75 53 M5 M6 6 0 8 AWG 8 MR J4 22KB4 RJ FR HEL H30K 133 90 178 120 100 80 56 M5 M6 6 5 14 AWG 6 Note Selection conditions of wire size are as follows Wire type 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in...

Page 398: ...2 Note 1 phase 200 V AC to 240 V AC L3 Y Z S T MC MCCB FR HAL Servo amplifier 1 phase 100 V class X R L1 1 phase 100 V AC to 120 V AC L2 Unassigned Note 1 Use this for grounding Note For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open 2 W 2 is applicable for FR HAL 0 4K to FR HAL 1 5K 4 d mounting hole Varnish is removed from front right mounting hole face and back...

Page 399: ... 7K 115 Note 40 115 83 81 67 M6 M4 2 2 MR J4 200B RJ 1 phase power supply input FR HAL 5 5K 115 Note 40 115 83 81 67 M6 M4 2 3 MR J4 350B RJ FR HAL 7 5K Fig 11 8 130 50 135 100 98 86 M6 M5 4 2 MR J4 500B RJ FR HAL 11K 160 75 164 111 109 92 M6 M6 5 2 MR J4 700B RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 11KB RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 15KB RJ FR HAL 22K 185 Note ...

Page 400: ... 11 160 145 142 91 91 75 M4 M4 5 0 MR J4 500B4 RJ FR HAL H11K 160 145 146 91 91 75 M4 M5 6 0 MR J4 700B4 RJ MR J4 11KB4 RJ FR HAL H15K 220 200 195 105 90 70 M5 M5 9 0 MR J4 15KB4 RJ FR HAL H22K Fig 11 12 220 200 215 170 90 70 M5 M8 9 5 MR J4 22KB4 RJ FR HAL H30K 220 200 215 170 96 75 M5 M8 11 Note Maximum dimensions The dimension varies depending on the input output lines 11 13 Relay recommended T...

Page 401: ...ic brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surg...

Page 402: ...together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid wiring the power lines input ...

Page 403: ...MHz to 500 MHz 80 150 b Surge killer recommended Use of a surge killer is recommended for AC relay magnetic contactor or the like near the servo amplifier Use the following surge killer or equivalent MC SK Surge killer Relay Surge killer MC ON OFF This distance should be short within 20 cm Ex CR 50500 Okaya Electric Industries Rated voltage AC V C µF 20 R Ω 30 Test voltage Dimensions Unit mm 250 0...

Page 404: ... against the grounding 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 Cable clamp A B Cable Earth plate External conductor Clamp section diagram 40 Strip the cable sheath of the clamped area cutter cable Dimensions Unit mm Earth plate Note M4 screw 11 3 6 C A 6 22 17 5 35 35 7 24 0 0 2 B 0 3 2 φ5 hole ...

Page 405: ...ould be appropriate For the servo motor power lines passes 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 by passing through the 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 filters to have the required number of passes as shown in Ex...

Page 406: ...imensions Unit mm Make the connection cables as short as possible Grounding is always required When using the FR BIF with a single phase power supply always insulate the lead wires that are not used for wiring MR J4 350B RJ or less MR J4 350B4 RJ or less MR J4 40B1 RJ or less Radio noise filter Servo amplifier Power supply MC MCCB L3 L2 L1 Terminal block MR J4 500B RJ or less MR J4 500B4 RJ or les...

Page 407: ...ing 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 class 100 V class TND20V 431K 275 350 10000 1 times 195 1 0 100 710 1300 430 387 to 473 TND20V 471K 300 385 7000 2 times 215 775 1200 470 423 to 517 400 V class TND20V 102K 6...

Page 408: ... with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 13 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 11 13 Ign Lea...

Page 409: ...t example Iga Servo amplifier capacity kW Leakage current mA 0 1 to 0 6 0 1 0 75 to 3 5 0 15 5 7 2 11 15 5 5 22 7 Table 11 6 Earth leakage current breaker selection example Servo amplifier Rated sensitivity current of earth leakage current breaker mA MR J4 10B RJ to MR J4 350B RJ MR J4 60B4 RJ to MR J4 350B4 RJ MR J4 10B1 RJ to MR J4 40B1 RJ 15 MR J4 500B RJ MR J4 500B4 RJ 30 MR J4 700B RJ MR J4 7...

Page 410: ...urrent breaker designed for suppressing harmonics surges Find the terms of equation 11 1 from the diagram Ig1 20 5 1000 0 1 mA Ig2 20 5 1000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in equation 11 1 Ig 10 0 1 0 0 1 1 0 1 0 1 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 An earth leak...

Page 411: ...R J4 500B RJ MR J4 700B RJ HF3040A UN Note 40 6 5 6 MR J4 11KB RJ MR J4 15KB RJ MR J4 22KB RJ HF3100A UN Note 100 12 MR J4 60B4 RJ MR J4 100B4 RJ TF3005C TX 5 6 MR J4 200B4 RJ to MR J4 700B4 RJ TF3020C TX 20 500 5 5 MR J4 11KB4 RJ TF3030C TX 30 7 5 MR J4 15KB4 RJ TF3040C TX 40 12 5 MR J4 22KB4 RJ TF3060C TX 60 MR J4 10B1 RJ to MR J4 40B1 RJ HF3010A UN Note 10 250 5 3 5 Note To use any of these EMC...

Page 412: ... 5 6 E Note 2 Surge protector Note 1 Power supply 1 2 3 MC EMC filter Note 1 Refer to section 1 3 for the power supply specifications 2 The example is when a surge protector is connected 3 Dimensions a EMC filter HF3010A UN Unit mm 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 ...

Page 413: ...PERIPHERAL EQUIPMENT 11 94 HF3030A UN HF 3040A UN Unit mm 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3 25 length 8 3 M5 M4 85 1 210 2 85 1 HF3100A UN Unit mm 2 6 5 8 M8 145 1 165 3 M6 380 1 400 5 160 3 M8 2 φ6 5 ...

Page 414: ...AND PERIPHERAL EQUIPMENT 11 95 TF3005C TX TX3020C TX TF3030C TX Unit mm 290 2 100 1 308 5 332 5 Approx 12 2 3 M4 16 6 R3 25 length 8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx 67 5 3 Approx 160 170 5 M4 3 M4 100 1 16 ...

Page 415: ... AND PERIPHERAL EQUIPMENT 11 96 TF3040C TX TF3060C TX Unit mm 180 2 Approx 91 5 Approx 190 200 5 M6 390 2 100 1 412 5 438 5 Approx 17 3 M6 22 22 8 R3 25 Length 8 for M6 M4 M4 145 2 3 M6 160 1 175 2 IN 100 1 100 1 ...

Page 416: ...xagon socket head cap screw Output Protective earth PE M6 option S hexagon socket head cap screw Input Protective earth PE 3 M8 option S hexagon socket head cap screw M6 option S hexagon socket head cap screw Terminal block cover Terminal block cover Mounting hole Mounting hole Mounting plate Note Model plate Note No heat radiation holes on the opposite face ...

Page 417: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 98 b Surge protector RSPD 250 U4 RSPD 500 U4 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 Lead Case Resin Unit mm 1 2 3 ...

Page 418: ...upply voltage is restricted to 1 phase 380 V AC to 463 V AC 50 Hz 60 Hz Dynamic brake operates at occurrence of alarm AL E6 Servo forced stop warning and AL E7 Controller forced stop warning and when power is turned off Do not use external dynamic brake to stop in a normal operation as it is the function to stop in emergency For a machine operating at the recommended load to motor inertia ratio or...

Page 419: ...the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 5 Turn off EM2 when the main power circuit power supply is off 6 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 7 Between P3 and ...

Page 420: ...ower supply is off 6 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 7 Between P3 and P4 is connected by default When using the power factor improving DC reactor remove the short bar between P3 and P4 Refer to section 11 11 for details Additionally a power factor improving DC reactor and power fact...

Page 421: ...ctro magnetic brake interlock Electro magnetic brake operation delay time MBR Electromagnetic brake interlock Base circuit ON OFF Servo motor speed ALM Malfunction Main circuit Control circuit ON OFF Power Dynamic brake ON OFF ON OFF Valid ON OFF Disabled Enabled DB Dynamic brake interlock Note 1 When powering off DB Dynamic brake interlock will be turned off and the base circuit is turned off ear...

Page 422: ...tening torque 1 2 N m External dynamic brake A B C D E F G Mass kg Note Connection wire mm2 U V W Except U V W DBU 11K 200 190 140 20 5 170 163 5 2 5 5 AWG 10 2 AWG 14 DBU 15K DBU 22K R1 250 238 150 25 6 235 228 6 5 5 AWG 10 2 AWG 14 Note Selection conditions of wire size are as follows 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in ...

Page 423: ...k TE1 a b 13 14 Screw M3 5 Tightening torque 0 8 N m TE2 W V U Screw M4 Tightening torque 1 2 N m External dynamic brake Note Connection wire mm2 U V W Except U V W DBU 11K 4 5 5 AWG 10 2 AWG 14 DBU 22K 4 5 5 AWG 10 2 AWG 14 Note Selection conditions of wire size are as follows Wire type 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in...

Page 424: ...install the servo amplifier to the cabinet Please prepare screws for mounting They do not come with The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment The panel through attachments are used for MR J4 11KB RJ to MR J4 22KB RJ and MR J4 11KB4 RJ to MR J4 22KB4 RJ The following shows the combinations Serv...

Page 425: ...HERAL EQUIPMENT 11 106 c Mounting method Attachment Attachment Fit using the assembling screws Servo amplifier a Assembling the panel through attachment Cabinet Punched hole Servo amplifier b Mounting it to inside cabinet ...

Page 426: ...t mm 12 510 580 Approx 58 188 145 Approx 400 78 35 196 240 3 2 155 108 3 Approx 263 3 Panel Panel 20 6 Attachment Mounting hole Servo amplifier Servo amplifier 2 MR J3ACN a Panel cut dimensions Unit mm 236 255 270 Approx 125 331 39 5 535 510 18 203 39 5 4 M10 Screw Punched hole ...

Page 427: ... attachment for panel through attachment Screw 2 places Attachment c Mounting method Fit using the assembling screws Attachment Servo amplifier Attachment Servo amplifier Punched hole Cabinet a Assembling the panel through attachment b Mounting it to inside cabinet ...

Page 428: ...EQUIPMENT 11 109 d Mounting dimensional diagram Unit mm Approx 58 510 580 12 236 280 Approx 260 84 194 20 145 Approx 400 35 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 429: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 110 MEMO ...

Page 430: ... setting before operation The absolute position data of the encoder will be erased in the followings Additionally when the battery is used out of specification the absolute position data can be erased MR BAT6V1SET and MR BT6VCASE The encoder cable was disconnected The battery was replaced when the control circuit power supply was off MR BAT6V1BJ A connector or cable was disconnected between the se...

Page 431: ...ery CN4 12 1 3 Parameter setting Set _ _ _ 1 in Pr PA03 to enable the absolute position detection system Absolute position detection system selection 0 Disabled used in incremental system 1 Enabled used in absolute position detection system Pr PA03 1 12 1 4 Confirmation of absolute position detection data You can check the absolute position data with MR Configurator2 Choose Monitor and ABS Data Di...

Page 432: ...s 0 1 s or more Note 2 Battery backup time Rotary servo motor Approximately 20 000 hours equipment power supply off ambient temperature 20 C Approximately 29 000 hours power on time ratio 25 ambient temperature 20 C Note 3 Direct drive motor Approximately 5 000 hours equipment power supply off ambient temperature 20 C Approximately 15 000 hours power on time ratio 25 ambient temperature 20 C Note ...

Page 433: ...m revolution range Home position 32767 rev Note 1 Maximum speed at power failure r min Rotary servo motor 6000 only when acceleration time until 6000 r min is 0 2 s or more Note 2 Battery backup time Rotary servo motor Approximately 20 000 hours equipment power supply off ambient temperature 20 C Approximately 29 000 hours power on time ratio 25 ambient temperature 20 C Note 3 Note 1 Maximum speed...

Page 434: ...000 hours 3 axes or 10 000 hours 8 axes equipment power supply off ambient temperature 20 C Approximately 55 000 hours 2 axes or less 38 000 hours 3 axes or 15 000 hours 8 axes power on time ratio 25 ambient temperature 20 C Note 3 Direct drive motor Approximately 10 000 hours 2 axes or less 7 000 hours 3 axes or 5 000 hours 4 axes equipment power supply off ambient temperature 20 C Approximately ...

Page 435: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 6 MEMO ...

Page 436: ...or damage to property Only qualified personnel are authorized to install start up repair or service 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 manual The staff responsible for this work must be given express permission fro...

Page 437: ... the drive part of the servo motor will not rotate due to external or other forces 6 Safety is not assured until safety related components of the system are completely installed or adjusted 7 When replacing this servo amplifier confirm that the model name of servo amplifiers are exactly the same as those being replaced Once installed make sure to verify the performance of the functions before comm...

Page 438: ...61800 5 2 EN 62061 Note 1 This is the value required by safety standards 2 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 the Function column of Pr PF18 in section 5 2 6 2 Function block diagram STO function Base power supply for upper arm Base power supply for lower...

Page 439: ...orts the Drive safety function Refer to chapter 8 13 2 STO I O signal connector CN8 and signal layouts 13 2 1 Signal layouts POINT The pin assignment of the connectors is as viewed from the cable connector wiring section TOFB2 STO2 TOFB1 STO1 STOCOM 2 CN8 STO I O signal connector Servo amplifier 1 4 3 6 5 8 7 TOFCOM ...

Page 440: ... CN8 7 Monitor output signal in STO2 state STO state base shut off Between TOFB2 and TOFCOM is closed STO release state in driving Between TOFB2 and TOFCOM is opened DO 1 2 Signals and STO state The following table shows the TOFB and STO states when the power is on in normal state and STO1 and STO2 are on closed or off opened Input signal State STO1 STO2 Between TOFB1 and TOFCOM Monitoring STO1 st...

Page 441: ... detection In addition the MR J3 D05 safety logic unit can be used instead of a safety relay for implementation of various safety standards Refer to app 5 for details The following diagram is for source interface For sink interface refer to section 13 4 1 Approx 3 0 kΩ 24 V DC 24 V DC STO1 STO2 Door Open Note 2 Note 2 Note 3 CN8 Note 1 STO1 CN8 Forced stop 2 4 STO2 5 STOCOM 3 Approx 3 0 kΩ Servo a...

Page 442: ...NCTION 13 7 13 3 2 External I O signal connection example using an MR J3 D05 safety logic unit POINT This connection is for source interface For the other I O signals refer to the connection examples in section 3 2 2 ...

Page 443: ...ier 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 MR J3 D05 Note 1 Note 1 Note 2 Note 2 S1 24 V 0 V RESA STOA S3 RESB STOB MC M Servo motor MC M Servo motor Control circuit Control circuit S4 S2 CN8A CN8B EM2 A axis EM2 B axis Note 1 Set the delay time of STO output with SW1 and SW2 These switches for MR J3 D05 are locat...

Page 444: ...3 D05 The switch status of STOB is input to SDI2B of MR J3 D05 and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR J3 D05 A axis shutdown 1 and 2 B axis shutdown 1 and 2 STO1 STO2 Stop Operation Energizing close Shut off open EM2 input STO shut off Normal close Shut off open 0 r min Servo motor drivable Servo motor speed Servo amplifier Shut off delay STO st...

Page 445: ... 0 V S2 S1 or EMG Note K3 Control circuit Power supply S1 STO shut off switch STO switch S2 Start switch STO release switch S3 On switch S4 Off switch KM1 Magnetic contactor K3 Safety relay EMG Emergency stop switch 24V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 K3 CN8 KM1 CN3 20 EM1 or EM2 Control circuit Servo amplifier STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM M Servo motor KM1 KM1 EMG S4 S3...

Page 446: ...the servo motor stops This connection diagram is an example of STO circuit configured with a servo amplifier and motion controller Use the switch that complies with the requirement of ISO EN ISO 13849 1 Category 3 PL d as an emergency stop switch This connection example complies with the requirement of ISO EN ISO 13849 1 Category 3 PL d The following shows an example of I O X and Y signal assignme...

Page 447: ...ut interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow 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 l...

Page 448: ...ne TOFB If polarity of diode is reversed servo amplifier will malfunction TOFCOM Servo amplifier TOFB2 Load TOFB1 Note 24 V DC 10 300 mA Note If the voltage drop maximum of 5 2 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source ...

Page 449: ...or is turned on current will be applied from the output to a load A maximum of 5 2 V voltage drop occurs in the servo amplifier a When outputting two STO states by using each TOFB Servo amplifier Load Note 24 V DC 10 300 mA TOFCOM TOFB2 TOFB1 Load If polarity of diode is reversed servo amplifier will malfunction Note If the voltage drop maximum of 2 6 V interferes with the relay operation apply hi...

Page 450: ...t Required for magnetic pole detection Not required Automatically turns on in the parameter setting Motor pole adjustment Magnetic pole detection Required Not required default setting Automatically executed at the first servo on after the power is turned on For the absolute position linear encoder Pr PL01 can disable the magnetic pole detection The timing of the magnetic pole detection can be chan...

Page 451: ... same as rotary servo motors except for connections of linear servo motors and linear encoders Refer to section 1 8 depending on servo amplifiers you use Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN8 CN1A CN1B CN2 W V U L1 L2 L3 Note 3 Magnetic contactor MC Note 1 Power factor improving DC reactor FR HEL Molded case circuit breaker ...

Page 452: ... open For power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 For the branch cable use the MR J4THCBL03M optional 5 Always connec...

Page 453: ...coder cable SCALE THM D Note 5 Note 6 Thermistor Note 1 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR J4 200B RJ or less For 1 phase 200 V AC to 240 V AC connect the p...

Page 454: ...ferential output linear encoder Linear servo motor Encoder cable D Note 4 Thermistor Note 5 Note 1 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR J4 200B RJ or less For...

Page 455: ...erminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM 24 V DC Servo amplifier RA For sink output interface Control output signal DOCOM Cont...

Page 456: ... the cables to the moving part etc Also use the cable that stands the long term bending action for the wiring to the servo amplifier This chapter does not describe the following items For details of the items refer to each section of the detailed description field Item Detailed explanations Input power supply circuit Section 3 1 Explanation of power supply system Section 3 3 Signal device explanat...

Page 457: ...efer to 3 of section 14 3 2 What is the type of the linear encoder Installation and wiring Note Perform the magnetic pole detection Refer to 3 of section 14 3 2 Note Positioning operation check using the test operation mode Refer to section 14 3 4 Positioning operation check using the controller Refer to section 14 3 5 Home position return operation Refer to section 14 3 3 Positioning operation In...

Page 458: ... direction 1 Negative direction Positive direction The positive negative directions of the linear servo motor are as follows Secondary side Primary side Positive direction Negative direction LM H3 and LM F series Negative direction Positive direction Secondary side Primary side LM U2 series Negative direction Positive direction Table Primary side Secondary side LM K2 series 2 Confirm the increasin...

Page 459: ... the parameter value cycle the power after setting If an incorrect value is set for Pr PL02 or Pr PL03 the linear servo motor may not operate properly or AL 27 or AL 42 may occur at the positioning operation or the magnetic pole detection Set the ratio of the electronic gear to the linear encoder resolution with Pr PL02 Linear encoder resolution Numerator and Pr PL03 Linear encoder resolution Deno...

Page 460: ... The position detection method is selected in the initial setting Magnetic pole detection Advantage Disadvantage Position detection method 1 The magnetic pole detection has a high degree of accuracy 2 The adjustment procedure at the magnetic pole detection is simple 1 The travel distance at the magnetic pole detection is large 2 For equipment with small friction the initial magnetic pole detection...

Page 461: ...tion travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time 8 Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled Note 2 3 4 5 The magnetic pole detection is carried out Is Pr PL09 the final value Has AL 27 Initial magnetic pole detection error occurred Reset the alarm or cycle the servo amplifier power Cycle the servo ...

Page 462: ... Magnetic pole detection disabled Note 1 2 3 4 5 The magnetic pole detection is carried out Is the response by the minute position detection method of Pr PL17 the final value Has an abnormal sound or vibration occurred during the magnetic pole detection Decrease the response by the minute position detection method of Pr PL17 by two as the final setting value Increase the response by the minute pos...

Page 463: ...detection completion servo on status 2 Preparation for the magnetic pole detection POINT When the test operation mode is selected with the test operation select switch SW2 1 the SSCNET III H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked For the magnetic pole detection use the test operation mode positioning operation of MR Configurat...

Page 464: ...tic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 When the absolute position linear encoder is used if a gap is generated to the positional relation between the linear encoder and the linear servo motor perform the magnetic pole detection again The accuracy of the magnetic pole detection improves with no load An alarm may o...

Page 465: ...peration time when FLS Upper stroke limit and RLS Lower stroke limit are on 2 Linear servo motor movement when FLS Upper stroke limit and RLS Lower stroke limit are on RLS Note 1 FLS Note 1 Note 2 Magnetic pole detection completion position Servo on position Magnetic pole detection start position Note 1 When you turn off FLS Upper stroke limit or RLS Lower stroke limit during the magnetic pole det...

Page 466: ...inst magnetic pole from the start position Note For the pitch against magnetic pole refer to 3 a 2 Note 2 in this section b For the absolute position linear encoder POINT The magnetic pole detection is required in the following timings When the system is set up at the first startup of equipment After a servo amplifier is replaced After a linear servo motor primary side or secondary side is replace...

Page 467: ...detection method For the magnetic pole detection by the position detection method set the voltage level with Pr PL09 Magnetic pole detection voltage level For the magnetic pole detection by the minute position detection method the voltage level setting is not required a Guideline of parameter settings Set the parameters by referring to the following table Pr PL09 setting guide value Servo status S...

Page 468: ...rvoltage AL E1 Overload warning 1 and AL EC Overload warning 2 and the value set at the magnetic pole detection alarm as the final setting value 3 Perform the magnetic pole detection again with the final setting value to check there is no problem c Setting example Occurring Not occurring Linear encoder magnetic pole detection Pr PL09 setting Alarm An alarm has occurred when the setting value of Pr...

Page 469: ...lue 4 4194304 5 16777216 6 67108864 The following shows the relation between the stop interval at the home position return and the linear encoder resolution For example when the linear encoder resolution is 0 001 μm and the parameter for the stop interval at the home position return Pr PL01 is set to _ 5 _ _ 16777216 pulses the stop interval is 16 777 mm The value inside a bold box indicates the r...

Page 470: ...return start LZ Encoder Z phase pulse cannot be used When two or more reference marks exist during the full stroke of the linear encoder select Enabled _ _ 1 _ of Linear scale multipoint Z phase input function selection in Pr PC17 Linear encoder home position Home position Home position return speed Creep speed Home position return direction ON OFF Proximity dog signal Linear servo motor Reference...

Page 471: ... the linear encoder does not exist in the home position return direction a home position return error occurs on the controller The error contents differ according to the controller type Move the linear servo motor to the stroke end on the opposite side of the home position return direction with the JOG operation from the controller and others and then perform a home position return Stroke end Home...

Page 472: ... a proximity dog type home position return the nearest reference home position after proximity dog off is the home position The linear encoder home position can be set in any position LZ Encoder Z phase pulse is outputted based on Stop interval selection at the home position return in Pr PL01 1048576 pulses n Linear encoder home position Home position Home position return speed Creep speed Home po...

Page 473: ...mode type a Positioning operation Positioning operation can be performed without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the positioning operation screen of MR Configurator2 1 Operation pattern Item Initia...

Page 474: ... or not Exercise control on the program operation screen of MR Configurator2 For details refer to Help of MR Configurator2 Operation Screen control Start Click Operation start Pause Click Pause Stop Click Stop Forced stop Click Forced stop 2 Operation procedure 1 Turn off the power 2 Turn ON up SW2 1 Set SW2 1 to ON up 1 ON 2 3 4 Turning ON up SW2 1 during power on will not enable the test operati...

Page 475: ...rror excessive alarm level 0 Set the items as required PC03 ENRS Encoder output pulse selection 0000h PC27 COP9 Function selection C 9 0000h PL01 LIT1 Linear servo motor DD motor function selection 1 0301h PL02 LIM Linear encoder resolution Numerator 1000 PL03 LID Linear encoder resolution Denominator 1000 PL04 LIT2 Linear servo motor DD motor function selection 2 0003h PL05 LB1 Position deviation...

Page 476: ... linear servo control gets unstable for some reasons the linear servo motor may not operate properly To detect this state and to stop operation the linear servo control error detection function is used as a protective function The linear servo control error detection function has three different detection methods the position deviation speed deviation and thrust deviation An error is detected when...

Page 477: ...ion error detection level 1 mm s to 5000 mm s AL 42 2 Servo control error by speed deviation will occur and the linear servo motor will stop The initial value of this detection level is 1000 mm s Replace the set value as required c Thrust deviation error detection level Set Pr PL04 to _ _ _ 4 to enable the thrust deviation error detection Pr PL04 Thrust deviation error detection enabled 4 When you...

Page 478: ...ass of linear servo motor primary side Load mass excluding the mass of the linear servo motor primary side Mass ratio 2 kg 4 kg 4 2 2 times For the parameters set by the auto tuning function refer to chapter 6 3 Machine analyzer function POINT Make sure to perform the machine analyzer function after the magnetic pole detection If the magnetic pole detection is not performed the machine analyze fun...

Page 479: ...0 or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion This servo amplifier has solid state linear servo motor overload protection The servo motor overload current full load current is set on the basis of 120 rated current of the servo amplifier 1000 100 10 1 0 1 0 50 150 200 250 300 100 Operation time s Load ratio Servo lock Operating 1000 100 ...

Page 480: ...SS0 3 8 100 20 1 1 LM H3P7D 96P ASS0 MR J4 350B RJ 5 5 130 20 2 7 LM U2PAB 05M 0SS0 MR J4 20B RJ MR J4 20B1 RJ 0 5 25 15 0 5 LM U2PAD 10M 0SS0 MR J4 40B RJ MR J4 40B1 RJ 0 9 35 15 0 7 LM U2PAF 15M 0SS0 0 9 35 15 0 7 LM U2PBB 07M 1SS0 MR J4 20B RJ MR J4 20B1 RJ 0 5 25 15 0 5 LM U2PBD 15M 1SS0 MR J4 60B RJ 1 0 40 15 0 8 LM U2PBF 22M 1SS0 MR J4 70B RJ 1 3 50 15 1 0 LM U2P2B 40M 2SS0 MR J4 200B RJ 3 5...

Page 481: ...icient Refer to the following tables B Coefficient Refer to the following tables Linear servo motor primary side Coefficient A Coefficient B Linear servo motor primary side Coefficient A Coefficient B LM H3P2A 07P BSS0 7 15 10 3 2 94 10 3 LM U2PAB 05M 0SS0 5 72 10 2 1 72 10 4 LM H3P3A 12P CSS0 2 81 10 3 1 47 10 3 LM U2PAD 10M 0SS0 2 82 10 2 8 60 10 5 LM H3P3B 24P CSS0 7 69 10 3 2 27 10 4 LM U2PAF ...

Page 482: ...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 When actual speed does not reach the maximum speed of the linear servo motor calculate the permissible load to motor mass ratio at the time of using the dynamic brake by the following equation The upper limit is 300 times Permissible load to motor mass ratio ...

Page 483: ...14 USING A LINEAR SERVO MOTOR 14 34 MEMO ...

Page 484: ...led d Since reducer is no longer required the motor does not deteriorate with time by reducer 2 Mechanism a The motor s low profile design contributes to compact moving part of the machine and a low center of gravity for enhanced equipment stability b The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed through c Lubrication and the maintenance due to abrasion...

Page 485: ... as rotary servo motors except for connections of direct drive motors Refer to section 1 8 depending on servo amplifiers you use Note 4 Battery unit CN4 Note 6 Absolute position storage unit MR BTAS01 Direct drive motor Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN8 CN1A CN1B CN2 W V U L1 L2 L3 Note 1 Power factor improving DC reacto...

Page 486: ...the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier Ground the servo amplifier and the direct drive motor securely Do not attempt to wire the servo amplifier and the direct drive motor until they have been installed Otherwi...

Page 487: ...lfunction This chapter does not describe the following items For details of the items refer to each section of the detailed description field Item Detailed explanation Input power supply circuit Section 3 1 Explanation of power supply system Section 3 3 Signal device explanations Section 3 5 Alarm occurrence timing chart Section 3 7 Interfaces Section 3 8 SSCNET III cable connection Section 3 9 Gr...

Page 488: ...me position return operation Refer to the manual of the controller Positioning operation No Yes Perform this procedure once at startup Note 1 Use MR Configurator2 2 For the absolute position detection system always turn on the Z phase pulse of the direct drive motor while the servo amplifier power is on and then turn the servo amplifier power supply off and on again By turning off and on the power...

Page 489: ...e safety When performing a magnetic pole detection without using FLS Upper stroke limit and RLS Lower stroke limit set Pr PL08 Linear servo motor DD motor function selection 3 to _ 1 _ _ to disable FLS and RLS Set Pr PE47 Torque offset to 0 initial value before executing the magnetic pole detection For the magnetic pole detection of vertical axis with direct drive motors refer to section 2 1 of Di...

Page 490: ... motor function selection 3 to _ _ _ 0 to set the magnetic pole detection method to Position detection method Set Pr PL01 Linear servo motor DD motor function selection 1 to _ _ _ 1 to set Magnetic pole detection always enabled Note Turn the servo amplifier power off and on again The magnetic pole detection is carried out Is Pr PL09 the final value Has AL 27 Initial magnetic pole detection error o...

Page 491: ...agnetic pole detection End Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled Note 1 Check that FLS Upper stroke limit RLS Lower stroke limit and EM2 Forced stop 2 are on and turn the servo amplifier power off and on again Turn On up the test operation select switch SW2 1 of the servo amplifier and then cycle the power of the servo amplifier Set Pr PL01 Linear servo motor DD motor func...

Page 492: ...tatus 2 Preparation for the magnetic pole detection POINT When the test operation mode is selected with the test operation select switch SW2 1 the SSCNET III H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked For the magnetic pole detection use the test operation mode positioning operation of MR Configurator2 Turn off the servo amplifie...

Page 493: ...e magnetic pole detection and the servo on status then outputs the positioning command If the controller outputs the positioning command before RD Ready turns on the command may not be accepted or a servo alarm may occur After the magnetic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 The accuracy of the magnetic pole detec...

Page 494: ...ere the stroke limit FLS or RLS is set the magnetic pole detection starts Servo on position Center of direct drive motor rotation part FLS RLS 10 degrees or less b Absolute position detection system POINT The magnetic pole detection is required in the following timings When the system is set up at the first startup of equipment When the Z phase pulse of the direct drive motor is not turned on at t...

Page 495: ...thod set the voltage level with Pr PL09 Magnetic pole detection voltage level For the magnetic pole detection by the minute position detection method the voltage level setting is not required a Guideline of parameter settings Set the parameters by referring to the following table Pr PL09 setting Guide value Servo status Small Medium Large 10 or less initial value 50 or more Torques required for op...

Page 496: ...Overload 2 AL E1 Overload warning 1 or AL EC Overload warning 2 and the value set at the magnetic pole detection alarm as the final setting value 3 Perform the magnetic pole detection again with the final setting value c Setting example Existent Non existent Alarm Magnetic pole detection Pr PL09 setting value An alarm has occurred when the setting value of Pr PL09 is set to 70 While increasing the...

Page 497: ...D77MS_ LD77MS_ Parameter Amplifier setting MR J4 B DD Motor setting Automatic setting No Note Symbol Name Initial value PA01 STY Operation mode 1000h 1060h PC01 ERZ Error excessive alarm level 0 Set the items as required PC03 ENRS Encoder output pulse selection 0000h PL01 LIT1 Linear servo motor DD motor function selection 1 0301h PL04 LIT2 Linear servo motor DD motor function selection 2 0003h PL...

Page 498: ...The detection level can be changed with Pr PL05 Pr PL06 and Pr PL07 Servo amplifier internal value 1 Model feedback position rev 3 Model feedback speed r min 5 Command torque Encoder 2 Feedback position rev 4 Feedback speed r min 6 Feedback torque Servo amplifier Direct drive motor Encoder Figure 15 1 Outline of servo control error detection function a Position deviation error detection Set Pr PL0...

Page 499: ... Set Pr PL04 to _ _ _ 4 to enable the torque deviation error detection Pr PL04 Torque deviation error detection enabled 4 When you compare the command torque 5 and the feedback torque 6 in figure 15 1 if the deviation is more than the value of Pr PL07 Torque thrust deviation error detection level 1 to 1000 AL 42 3 Servo control error by torque thrust deviation will occur and the linear servo motor...

Page 500: ... 15 2 AL 51 Overload 2 occurs if the maximum current is applied continuously for several seconds due to machine collision etc Use the equipment on the left side area of the continuous or broken line in the graph When unbalanced torque is generated such as in a vertical lift machine the unbalanced torque of the machine should be kept at 70 or lower of the motor s rated torque This servo amplifier h...

Page 501: ...rvo lock Operation time s Note Load ratio Operating TM RFM240J10 0 50 100 150 200 250 300 350 1000 100 10 1 0 1 Operation time s Servo lock Note Load ratio Operating TM RG2M002C30 TM RU2M002C30 TM RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a direct drive motor stop status...

Page 502: ...ply capacity kVA Servo amplifier generated heat W Area required for heat dissipation m2 At rated output With servo off TM RG2M002C30 MR J4 20B RJ MR J4 20B1 RJ 0 25 25 15 0 5 TM RU2M002C30 TM RG2M004E30 MR J4 20B RJ MR J4 20B1 RJ 0 5 25 15 0 5 TM RU2M004E30 TM RG2M004E30 Note MR J4 40B RJ MR J4 40B1 RJ 0 7 35 15 0 7 TM RU2M004E30 Note TM RG2M009G30 MR J4 40B RJ MR J4 40B1 RJ 0 9 35 15 0 7 TM RU2M0...

Page 503: ...speed to a stop once in 10 minutes Be sure to enable EM1 Forced stop 1 after the direct drive motor stops when using EM1 Forced stop 1 frequently in other than emergency 1 Dynamic brake operation a Calculation of coasting distance Fig 15 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 15 1 to calculate an approximate coasting distance to...

Page 504: ...TM RFM_E20 0 0 10 30 40 50 60 20 100 200 300 400 500 Speed r min 072 048 012 Time constant τ ms 0 0 60 50 100 150 200 70 80 50 40 30 20 10 Speed r min 120 040 240 Time constant τ ms TM RFM_G20 TM RFM_J10 0 0 25 30 20 15 10 5 0 100 200 300 400 500 600 Speed r min Time constant τ ms 0 0 5 15 20 25 30 10 0 100 200 300 400 500 600 Speed r min Time constant τ ms TM RG2M002C30 TM RU2M002C30 TM RG2M004E3...

Page 505: ...atio exceeds the indicated value contact your local sales office The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the direct drive motor The value in the parenthesis shows the value at the rated speed of the direct drive motor Direct drive motor Permissible load to motor inertia ratio multiplier TM RFM_C20 100 300 TM RFM_E20 TM ...

Page 506: ...s controlled in the load side encoder unit Servo motor side cumulative feedback pulses load side encoder resolution unit Servo motor side Droop pulses Servo motor side Cumulative feedback pulses Load side droop pulses Cumulative load side feedback pulses Fully closed loop dual feedback filter Pr PE08 Note 2 FBD Servo motor Linear encoder Controller Note 1 2 Fully closed loop selection Pr PE01 and ...

Page 507: ... obtained Dual feedback control Feature Position is controlled according to the servo motor side data and load side data Advantage Control is performed according to the servo motor side data during operation and according to the load side data at a stop in sequence to raise the gains during operation and shorten the settling time A stop is made with the load side accuracy Fully closed loop control...

Page 508: ...tion 16 3 1 2 a Semi closed fully closed switching command Refer to the controller user s manual OFF ON Refer to section 16 3 1 2 b Dual feedback control Semi closed loop control Fully closed loop system Fully closed loop dual feedback filter Pr PE08 Semi closed loop system 2 Dual feedback filter equivalent block diagram A dual feedback filter equivalent block diagram on the dual feedback control ...

Page 509: ...lute position linear encoder is used In that case a battery is not required b MR J4 _B_ RJ servo amplifier CN2 Note A B Z phase pulse train interface compatible linear encoder or two wire four wire type serial interface compatible linear encoder CN2L A B Z phase pulse train interface or serial interface Servo amplifier SSCNET III H controller SSCNET III H Position command control signal Table To t...

Page 510: ...ignal Servo motor encoder signal Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used b MR J4 _B_ RJ servo amplifier CN2 CN2L Servo motor A B Z phase differential output two wire type or four wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev or synchronous encoder Q171ENC W8 4194304 pulses rev Drive part Servo amplifier SSCNET III H controll...

Page 511: ... wire type 16 2 3 Configuration diagram of encoder cable Configuration diagram for servo amplifier and load side encoder is shown below Cables used vary depending on the load side encoder 1 Linear encoder Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder a MR J4 _B_ servo amplifier Servo amplifier Linear encoder CN2 MR J4FCCBL03M branch cable Refer to section 16 2 4 ...

Page 512: ...al Vol 3 CN2 MOTOR SCALE Note Note Load side encoder Servo motor HG KR HG MR Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used b MR J4 _B_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in a for MR J4 _B_ RJ servo amplifier You can also use a four wire type linear encoder CN2 CN2L Servo amplifier Encoder cable Refe...

Page 513: ... 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 MOTOR Plate Note 1 Note 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from wiring side 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 View seen from wiring side 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 5 THM1 6 THM2 9 BAT 10 SEL SCALE Note 2 P5 SD SEL LG 1 2 10 Plate 4 MXR BAT 9 3 MX BAT SEL LG ...

Page 514: ...d operation check in fully closed loop system Selection of fully closed loop system Refer to 2 in this section Selection of load side encoder communication system Refer to 3 in this section Adjustment of dual feedback switching filter for dual feedback control Refer to 5 in this section Setting of load side encoder polarity Refer to 4 in this section Home position return operation Refer to section...

Page 515: ...Applicable when the load side encoder is set as the absolute position encoder a Operation mode selection Select a operation mode Operation mode selection Pr PA01 1 0 0 Semi closed loop system Standard control mode Fully closed loop system Fully closed loop control mode Load side encoder resolution unit Set value 0 1 Operation mode Servo motor side resolution unit Control unit b Semi closed loop co...

Page 516: ...e a fault and parts damaged POINT Encoder pulse count polarity selection in Pr PC27 is not related to Pr PA14 Rotation direction selection Make sure to set the parameter according to the relationships between servo motor and linear encoder rotary encoder Do not set an incorrect direction to Encoder pulse count polarity selection in Pr PC27 Doing so may cause AL 42 Fully closed loop control error d...

Page 517: ...r PE35 Number of motor encoder pulses per servo motor revolution Number of load side encoder pulses per servo motor revolution Select the load side encoder so that 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 a When the servo motor is directly coupled with a ball s...

Page 518: ...the servo motor side 30 mm Pulley diameter on the rotary encoder side 20 mm Rotary encoder resolution 4194304 pulse rev Servo motor Rotary encoder HG KR or HG MR servo motor 4194304 pulses rev Drive part Pulley diameter d1 30 mm Pulley diameter d2 20 mm When the pulley diameters or reduction ratios differ consider that in calculation Pr PE04 Pr PE34 Pr PE05 Pr PE35 4194304 20 1 1 4194304 30 3 2 ...

Page 519: ...r Z phase is passed through by moving the load side encoder 1 The installation of the load side encoder was not correct 2 The encoder cable was not wired correctly 3 Confirmation of load side encoder feedback direction Setting of load side encoder polarity Confirm that the directions of the cumulative feedback pulses of servo motor encoder after gear and the load side cumulative feedback pulses ar...

Page 520: ...Control mode Vibration Settling time 0 Semi closed loop 1 to 4499 Dual feedback Not frequently occurs to Frequently occurs Long time to Short time 4500 Fully closed loop Increasing the dual feedback filter setting shortens the settling time but increases servo motor vibration since the motor is more likely to be influenced by the load side encoder vibration The maximum setting of the dual feedback...

Page 521: ...gnal turns off 2 Load side encoder types and home position return methods a About proximity dog type home position return using absolute type linear encoder When an absolute type linear encoder is used the home position reference position is the position per servo motor revolution to the linear encoder home position absolute position data 0 In the case of a proximity dog type home position return ...

Page 522: ... in the position that can always be passed through after a home position return start Servo motor speed Linear encoder home position Home position Home position return speed Creep speed Home position return direction ON OFF Proximity dog signal Reference home position Machine position Equivalent to one servo motor revolution 0 r min 2 When the linear encoder home position does not exist in the hom...

Page 523: ...able area Home position non returnable area Servo motor speed 0 r min c About dog type home position return when using the rotary encoder of a serial communication servo motor The home position for when using the rotary encoder of a serial communication servo motor for the load side encoder is at the load side Z phase position Servo amplifier power on position Home position ON OFF Load side encode...

Page 524: ...n to the servo amplifier and then are enabled using any of the methods indicated by in Parameter enabled conditions Pr PE06 to Pr PE08 are enabled at setting regardless of the valid conditions Setting item Parameter enabled conditions Settings Controller reset Power supply Off on Motion controller R_MTCPU Q17_DSCPU Simple motion module RD77MS_ QD77MS_ LD77MS_ Command resolution Load side encoder r...

Page 525: ...tion 20 mm 0 05 µm 400000 pulses Number of pulses per revolution pulse AP Travel distance per revolution µm AL 400000 pulses 20 mm 400000 20000 b When using a rotary encoder unit setting degree Servo motor Rotary encoder HG KR or HG MR servo motor 4194304 pulses rev AP AL Position feedback degree Command degree Speed feedback r min AL AP Electronic gear User Control Servo amplifier Load side encod...

Page 526: ...tion function 0 Disabled 1 Speed deviation error detection 2 Position deviation error detection 3 Speed deviation error position deviation error detection Initial value Pr PE03 2 Fully closed loop control error detection functions Servo motor Linear encoder 1 Servo motor side feedback speed r min 2 Servo motor side feedback position pulse load side equivalent value 3 Load side feedback speed r min...

Page 527: ...ion errors can be detected For the error detection method refer to 2 a b in this section Pr PE03 Setting value Speed deviation error detection Position deviation error detection 1 2 3 16 3 5 Auto tuning function Refer to section 6 3 for the auto tuning function 16 3 6 Machine analyzer function Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2 16 3 7 Test opera...

Page 528: ...pplied to the two encoders of motor side and load side For the absolute position detection system with linear encoder the restrictions mentioned in this section apply Enable the absolute position detection system with Pr PA03 Absolute position detection system and use this servo within the following restrictions 1 Using conditions a Use an absolute type linear encoder with the load side encoder b ...

Page 529: ...ad side encoder unit When the set value exceeds 999999999 it starts with 0 Click Clear to reset the value to 0 The symbol is indicated for reverse pulse b Motor side droop pulses Droop pulses of the deviation counter between a servo motor side position and a command are displayed The symbol is indicated for reverse pulse c Cumu Com pulses Position command input pulses are counted and displayed Cli...

Page 530: ...d side encoder is displayed j Fully closed loop changing device Only if the fully closed loop system is Semi closed loop control fully closed loop control switching the device is displayed The state of the semi closed loop control fully closed loop control switching signal and the inside state during selection are displayed k Parameter Feedback pulse electronic gear The feedback pulse electronic g...

Page 531: ...16 FULLY CLOSED LOOP SYSTEM 16 26 MEMO ...

Page 532: ...ine of J3 compatibility mode MR J4W_ _B servo amplifiers and MR J4 _B_ RJ servo amplifiers have two operation modes J4 mode is for using all functions with full performance and J3 compatibility mode for using the conventional MR J3 B servo amplifiers When you connect an amplifier with SSCNET III H communication for the first controller communication by factory setting the operation mode will be fi...

Page 533: ...on Each function is used with servo amplifiers with these software versions or later Compatibility J4 new Equivalent to J3 Not available Function Name MR J4 series MR J3 MR J3W series Note 8 J4 mode J3 compatibility mode Basic specification Speed frequency response 2 5 kHz 2 1 kHz 2 1 kHz Encoder resolution 22 bits Note 1 18 bits Note 1 18 bits SSCNET III H communication or SSCNET III communicatio...

Page 534: ...A0 A0 PI PID switching control A0 A0 Feed forward A0 A0 Applied control Torque limit A0 A0 Master slave operation function A8 Note 5 Scale measurement function A8 Note 3 Model adaptive control disabled B4 B4 Lost motion compensation function B4 Note 5 Note 5 15 Super trace control B4 Note 5 One touch tuning A0 B0 Note 15 Adjustment function Adaptive tuning A0 A0 Vibration suppression control 1 tun...

Page 535: ...ol mode linear servo motor control mode or DD motor control mode 3 It is not available with MR J4W3 _B servo amplifiers 4 It is not available with the MR J3W _B MR J4W2 _B and MR J4W3 _B servo amplifiers 5 It is not available with the MR J4W2 _B and MR J4W3 _B servo amplifiers 6 The minute position detection method is available instead 7 Alarm history will be saved up to six times 8 The functions ...

Page 536: ...it will be J3 compatibility mode For the J3 compatibility mode standard control linear servo motor control or direct drive motor control will be identified automatically with a motor encoder connected to the servo amplifier For the J4 mode the operation mode will be the setting of Pr PA01 J4 mode J3 compatibility mode automatic identification Controller connection check J4 mode J3 compatibility mo...

Page 537: ...ty mode Linear servo motor control Equivalent to MR J3 B RJ004 Fixed to the J3 compatibility mode Direct drive motor control Equivalent to MR J3 B RJ080W 17 1 5 How to use the J3 compatibility mode 1 Setting of the controller To use in the J3 compatibility mode select MR J3 series in the system setting window Operation mode in J3 compatibility mode System setting MR J3 B standard control mode rota...

Page 538: ... compensation cannot be used 17 1 6 Cautions for switching J4 mode J3 compatibility mode The J3 compatibility mode of the operation mode is automatically identified by factory setting depending on a connected encoder If a proper encoder is not connected at the first connection the system will not start normally due to a mismatch with a set mode with the controller For the J4 mode you can set the o...

Page 539: ...n MELSEC iQ R Simple Motion Module User s Manual Application RD77MS2 RD77MS4 RD77MS8 RD77MS16 IB 0300247 8 12 Connect Disconnect Function of SSCNET Communication MELSEC Q QD77MS Simple Motion Module User s Manual IB 0300185 14 12 Connect disconnect function of SSCNET communication MELSEC L LD77MH Simple Motion Module User s Manual IB 0300172 14 13 Connect disconnect function of SSCNET communicatio...

Page 540: ...et Table 17 1 Controller reset required not required list before change of specifications Controller Model Controller reset required not required Single axis connection Multi axis connection Motion controller R_MTCPU Not required Not required Q17_DSCPU Not required Not required Q17_DCPU Not required Not required Q17_HCPU Not required Not required Q170MCPU Not required Not required Simple motion mo...

Page 541: ...ired Single axis connection Multi axis connection Motion controller R_MTCPU Not required Not required Q17_DSCPU Not required Not required Q17_DCPU Not required Not required Q17_HCPU Not required Not required Q170MCPU Not required Not required Simple motion module Positioning module RD77MS_ Not required Not required QD77MS_ Not required Not required LD77MS_ Not required Not required QD75MH_ Not req...

Page 542: ...ion is used with servo amplifiers with software version B0 or later To enable the J3 extension function MR Configurator2 with software version 1 25B or later is necessary The J3 extension function of the amplifier differs from MR J3 B in motion The J3 extension function is for using functions of J4 mode with J3 compatibility mode By enabling the J3 extension function control response will be equal...

Page 543: ...pacitor in case that an instantaneous power failure occurs during operation Use a 3 phase for the input power supply of the servo amplifier Using a 1 phase 200 V AC for the input power supply will not comply with SEMI F47 standard Pr PX25 Pr PX28 Section 17 1 9 8 Drive recorder function This function continuously monitors the servo status and records the status transition before and after an alarm...

Page 544: ...ersion 1 25B or later to the servo amplifier with USB cable The extension control 2 parameters Pr PX_ _ cannot be set from a controller To use the J3 the extension function enable the setting of the extension control 2 parameters Pr PX_ _ Set as follows using MR Configurator2 a Setting to enable the extension control 2 parameters Pr PX_ _ 1 Open the Project menu and click New in MR Configurator2 T...

Page 545: ...indow will be displayed 3 Click Change to MR J3 B extension function in the Extension function change window and click OK Now you can set the extension control 2 parameters Pr PX_ _ b Setting to enable the J3 extension function To enable the J3 extension function set Pr PX01 to _ _ _ 1 0 0 0 Pr PX01 J3 extension function selection 0 Disabled 1 Enabled ...

Page 546: ... closed loop system use of the rotary servo motor Lin Linear servo motor use DD Direct drive DD motor use No Symbol Name Initial value Unit J3 compatibility mode Standard Full Lin DD PX01 J3EX J3 extension function 0000h PX02 XOP1 Function selection X 1 0000h PX03 VRFTX Vibration suppression control tuning mode advanced vibration suppression control II 0000h PX04 VRF21 Vibration suppression contro...

Page 547: ...arbitrary alarm trigger setting 0000h PX30 DRT Drive recorder switching time setting 0 s PX31 XOP4 Function selection X 4 0000h PX32 For manufacturer setting 0 PX33 0 0 PX34 0 0 PX35 50 PX36 LMCP Lost motion compensation positive side compensation value selection 0 0 01 PX37 LMCN Lost motion compensation negative side compensation value selection 0 0 01 PX38 LMFLT Lost motion filter setting 0 0 1 ...

Page 548: ... select 3 inertia mode _ _ _ 1 When the load to motor inertia ratio exceeds the recommended load to motor inertia ratio select Low response mode _ _ _ 2 When you select the standard mode or low response mode Vibration suppression control 2 is not available When you select the 3 inertia mode the feed forward gain is not available Before changing the control mode with the controller during the 3 ine...

Page 549: ...rol 2 to suppress low frequency machine vibration To enable the setting value set Vibration suppression mode selection to 3 inertia mode _ _ _ 1 in Pr PX02 When Vibration suppression control 2 tuning mode selection is set to Automatic setting _ _ 1 _ in Pr PX03 this parameter will be set automatically When Manual setting _ _ 2 _ is selected the setting written to the parameter is used Refer to sec...

Page 550: ...suppression control 2 tuning mode selection in Pr PX03 is Manual setting _ _ 2 _ Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops 0 00 0 00 to 0 30 PX11 VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching Se...

Page 551: ... Set the notch frequency of the machine resonance suppression filter 3 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 3 selection in Pr PX18 4500 Hz 10 to 4500 PX18 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3 Refer to the Name and function column Setting digit Explanation Initial value _ _ _ x Machine resonanc...

Page 552: ...ing 0h PX21 NH5 Machine resonance suppression filter 5 Set the notch frequency of the machine resonance suppression filter 5 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 5 selection in Pr PX22 4500 Hz 10 to 4500 PX22 NHQ5 Notch shape selection 5 Set the shape of the machine resonance suppression filter 5 When you select Enabled _ _ _ 1 of Robust filter...

Page 553: ...n Pr PX28 SEMI F47 function Instantaneous power failure detection time To enable the torque limit function at instantaneous power failure select Enabled _ 1 _ _ of SEMI F47 function selection in Pr PX25 This parameter setting is used with servo amplifier with software version B0 or later 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PX24 FRIC Machine diagnosis function Friction judg...

Page 554: ...ilure occurs during operation In Pr PX28 SEMI F47 function Instantaneous power failure detection time set the time until the occurrence of AL 10 1 Voltage drop in the control circuit power 0h x _ _ _ For manufacturer setting 0h PX26 OSCL1 Vibration tough drive Oscillation detection level Set a filter readjustment sensitivity of Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine res...

Page 555: ...gger of the drive recorder will be disabled 00h Setting example To activate the drive recorder when AL 50 Overload 1 occurs set 5 0 0 0 To activate the drive recorder when AL 50 3 Thermal overload error 4 during operation occurs set 5 0 0 3 PX30 DRT Drive recorder switching time setting Set the drive recorder switching time When a USB communication is cut during using a graph function the function...

Page 556: ...on selection 0 Disabled 1 Enabled 0h _ _ x _ Unit setting of lost motion compensation non sensitive band 0 1 pulse unit 1 1 kpulse unit 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PX41 LMCD Lost motion compensation timing Set the lost motion compensation timing in increments of 0 1 ms You can delay the timing to perform the lost motion compensation for the set time This parameter is supporte...

Page 557: ... 2 gain adjustment mode 1 interpolation mode _ _ _ 0 of Gain adjustment mode selection is selected in Pr PA08 Pr PB06 Load to motor inertia ratio load to motor mass ratio will be estimated Execute the one touch tuning while the servo system controller and the servo amplifier are connected When executing the one touch tuning in the test operation mode SW2 1 is on write the tuning result to servo pa...

Page 558: ...tomatically set with one touch tuning Parameter Symbol Name Parameter Symbol Name PA08 ATU Auto tuning mode PB18 LPF Low pass filter setting PA09 RSP Auto tuning response PB19 VRF11 Vibration suppression control 1 Vibration frequency PB01 FILT Adaptive tuning mode adaptive filter II PB02 VRFT Vibration suppression control tuning mode advanced vibration suppression control II PB20 VRF12 Vibration s...

Page 559: ...rator2 and select User command method Select a response mode High mode Basic mode and Low mode in the one touch tuning window of MR Configurator2 Click Start during servo motor driving to execute one touch tuning Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be displayed in in MR Configurator2 When one touch tuning is completed normally the p...

Page 560: ... tuning After the tuning is started the servo motor will reciprocate automatically Executing one touch tuning during servo motor rotation will cause an error After one touch tuning is executed using the amplifier command method control will not be performed by commands from the controller Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be displ...

Page 561: ...TION OF FUNCTIONS 17 30 b Display transition and operation procedure of one touch tuning 1 Command method selection Select a command method from two methods in the one touch tuning window of MR Configurator2 a b ...

Page 562: ...less than 100 pulses will cause the one touch tuning error C004 Servo motor speed Set 150 r min mm s or higher Setting less than 150 r min mm s may cause the one touch tuning error C005 Acceleration time constant Deceleration time constant Set the time to reach 2000 r min mm s to 5 s or less Set an acceleration time constant deceleration time constant so that the acceleration deceleration torque i...

Page 563: ...nside the servo amplifier to start the tuning Servo motor speed Servo motor speed Note Forward rotation 0 r min Reverse rotation Dwell time Note Deceleration time constant Note Travel distance Note Acceleration time constant Note Note It will be automatically generated in the servo amplifier Fig 17 2 Command generated by one touch tuning in the amplifier command method Item Description Travel dist...

Page 564: ...esponse mode from 3 modes in the one touch tuning window of MR Configurator2 Table 17 6 Response mode explanations Response mode Explanation High mode This mode is for high rigid system Basic mode This mode is for standard system Low mode This mode is for low rigid system ...

Page 565: ...and improve the response When executing one touch tuning in the amplifier command method turn on EM2 When you turn off EM2 during one touch tuning C008 will be displayed at status in error code and the one touch tuning will be canceled When executing the one touch tuning in the amplifier command method FLS Upper stroke limit and RLS Lower stroke limit will be disabled Thus set a permissible travel...

Page 566: ...m tuning command will be generated in the servo amplifier after servo on Then the servo motor will reciprocate and the one touch tuning will be executed After the tuning is completed or canceled the servo amplifier will be the servo off status When the servo on command is inputted from outside the amplifier will be the servo on status After one touch tuning is executed using the amplifier command ...

Page 567: ... In addition settling time and overshoot amount will be displayed in Adjustment result 4 Stop of one touch tuning When Stop is clicked during one touch tuning the tuning will be stopped At this time C000 will be displayed at status in error code When the one touch tuning is stopped the parameter setting will be returned to the values at the start of the one touch tuning Stop the servo motor before...

Page 568: ... Time out 1 One cycle time during the operation has been over 30 s Set one cycle time during the operation time from the command start to the next command start to 30 s or less 2 The command speed is slow Set the servo motor speed to 100 r min or higher Error is less likely to occur as the setting speed is higher When one touch tuning by the amplifier command is used set a permissible travel dista...

Page 569: ...d to motor inertia ratio estimation When estimating the load to motor inertia ratio set the overspeed alarm detection level so that the speed becomes 150 r min or more 3 The torque limit has been set to 0 Set the torque limit value to greater than 0 C008 Stop signal EM2 was turned off during one touch tuning in the amplifier command method Review the one touch tuning start position and permissible...

Page 570: ...rameter to the initial value Refer to table 17 5 for the parameters which you can initialize Clicking Return to value before adjustment in the one touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking start When the initialization of one touch tuning is completed the following window will be displayed returning to initial value ...

Page 571: ...le the power of the servo amplifier d During one touch tuning the permissible travel distance may be exceeded due to overshoot set a value sufficient to prevent machine collision e When Auto tuning mode 2 Manual mode or 2 gain adjustment mode 2 is selected in Pr PA08 Auto tuning mode the load to motor inertia ratio will not be estimated An optimum acceleration deceleration command will be generate...

Page 572: ... or too wide If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A wider notch has a higher effect on machine resonance suppression but incre...

Page 573: ...ith one touch tuning Machine resonance suppression filter 1 PB01 PB13 PB14 The filter can be set automatically with Filter tuning mode selection in Pr PB01 PB13 PB01 PB13 PB14 Machine resonance suppression filter 2 PB15 PB16 PB15 PB15 PB16 Machine resonance suppression filter 3 PX17 PX18 PX17 PX18 Machine resonance suppression filter 4 PX19 PX20 Enabling the machine resonance suppression filter 4 ...

Page 574: ...n filter 3 selection in Pr PX18 How to set the machine resonance suppression filter 3 Pr PX17 Pr PX18 is the same as for the machine resonance suppression filter 1 Pr PB13 Pr PB14 d Machine resonance suppression filter 4 Pr PX19 Pr PX20 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PX20 However enabling the machine resonance suppression filter ...

Page 575: ...increases the response of the servo amplifier for high resonance frequency 2 Parameter Set Shaft resonance suppression filter selection in Pr PB23 Pr PB23 Shaft resonance suppression filter selection 0 Automatic setting 1 Manual setting 2 Disabled 0 0 0 To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manuall...

Page 576: ...n suppression control related parameters Otherwise it may cause an unexpected operation For positioning operation during execution of vibration suppression control tuning provide a stop time to ensure a stop after vibration damping Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small Vibration suppression control tuning sets...

Page 577: ...r of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PX04 to Pr PX07 2 Parameter Set the advanced vibration suppression control II Pr PB02 and Pr PX03 When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection in Pr PB02 When you use two vibration suppression controls...

Page 578: ...d device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side The respon...

Page 579: ...y Pr PB19 Pr PX04 Vibration suppression control Resonance frequency Pr PB20 Pr PX05 Vibration suppression control Vibration frequency damping Pr PB21 Pr PX06 Vibration suppression control Resonance frequency damping Pr PB22 Pr PX07 Step 1 Select Manual setting _ _ _ 2 of Vibration suppression control 1 tuning mode selection in Pr PB02 or Manual setting _ _ 2 _ of Vibration suppression control 2 tu...

Page 580: ...sion control Vibration frequency Vibration suppression control Resonance frequency Set the same value Vibration cycle Hz Vibration cycle Hz Step 3 Fine adjust Vibration suppression control Vibration frequency damping and Vibration suppression control Resonance frequency damping 6 Gain switching function You can switch gains with the function You can switch gains during rotation and during stop and...

Page 581: ...Pr PB29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PX12 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value VRF11 Pr PB19 VRF11B Pr PB33 Enabled VRF11 value VRF12 Pr PB20 VRF12B Pr PB34 Enabled VRF12 value CDL Pr PB27 VRF13 Pr PB21 VRF13B Pr PB35 Enabled VRF13 value VRF14 Pr PB22 VRF14B Pr PB36 Enabled VRF14 ...

Page 582: ...Droop pulses 4 Servo motor speed linear servo motor speed 0 Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Pr PB26 Gain switching time constant disabling condition selection 0 Switching time constant enabled 1 Switching time constant disabled 2 Return time constant disabled b P...

Page 583: ...ency after gain switching Vibration suppression control 1 Vibration frequency damping PB21 VRF13 Vibration suppression control 1 Vibration frequency damping PB35 VRF13B Vibration suppression control 1 Vibration frequency damping after gain switching Vibration suppression control 1 Resonance frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB36 VRF14B Vibrati...

Page 584: ...io after gain switching If the load to motor inertia ratio does not change set it to the same value as Pr PB06 Load to motor inertia ratio load to motor mass ratio d Pr PB30 Position loop gain after gain switching Pr PB31 Speed loop gain after gain switching and Pr PB32 Speed integral compensation after gain switching Set the values of after switching position loop gain speed loop gain and speed i...

Page 585: ...trol 2 Vibration frequency damping 0 10 PX07 VRF24 Vibration suppression control 2 Resonance frequency damping 0 10 PB29 GD2B Load to motor inertia ratio load to motor mass ratio after gain switching 10 00 Multiplier PX12 PG1B Model loop gain after gain switching 50 rad s PB30 PG2B Position loop gain after gain switching 84 rad s PB31 VG2B Speed loop gain after gain switching 4000 rad s PB32 VICB ...

Page 586: ...o motor mass ratio 4 00 10 00 4 00 Position loop gain 120 84 120 Speed loop gain 3000 4000 3000 Speed integral compensation 20 50 20 Vibration suppression control 1 Vibration frequency 50 60 50 Vibration suppression control 1 Resonance frequency 50 60 50 Vibration suppression control 1 Vibration frequency damping 0 20 0 15 0 20 Vibration suppression control 1 Resonance frequency damping 0 20 0 15 ...

Page 587: ... switching 10 00 Multiplier PB30 PG2B Position loop gain after gain switching 84 rad s PB31 VG2B Speed loop gain after gain switching 4000 rad s PB32 VICB Speed integral compensation after gain switching 50 ms PB26 CDP Gain switching selection 0003 switching by droop pulses PB27 CDL Gain switching condition 50 pulse PB28 CDT Gain switching time constant 100 ms b Switching timing chart After switch...

Page 588: ...ms After switching gain Before switching gain Switching at Pr PB28 CDT 100 ms only when gain switching off when returning CDT 100 ms 63 4 Switching at 0 ms After switching gain Gain switching b Return time constant disabled was selected The gain switching time constant is enabled The time constant is disabled at gain return The following example shows for Pr PB26 CDP 0201 Pr PB27 CDL 0 and Pr PB28...

Page 589: ...filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution Refer to 4 in this section 2 Manual setting Refer to 2 in this section The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 To set a detec...

Page 590: ...rly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PX21 PX22 Enabling the robust filter disables the machine resonance suppression filter 5 The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Servo motor PWM M Load Machine resonance suppression filter 1 Pr...

Page 591: ... in the servo amplifier by limiting torque at acceleration You can also delay the time until the occurrence of AL 10 2 Voltage drop in the main circuit power Doing this will enable you to set a longer time in Pr PX28 SEMI F47 function Instantaneous power failure detection time When the load of instantaneous power failure is large AL 10 2 caused by the bus voltage drop may occur regardless of the s...

Page 592: ...detection time MTTR During tough drive turns on after the instantaneous power failure is detected MBR Electromagnetic brake interlock turns off when the alarm occurs Bus voltage Undervoltage level Note ALM Malfunction Pr PX28 Instantaneous power failure time of the control circuit power supply MTTR During tough drive MBR Electromagnetic brake interlock Base circuit ON OFF ON OFF WNG Warning ON OFF...

Page 593: ...e control circuit power supply AL 10 Undervoltage occurs when the bus voltage decrease lower than Undervoltage level regardless of the enabled instantaneous power failure tough drive Pr PX28 Instantaneous power failure time of the control circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF Bus voltage Undervoltage level Note ALM Malfunction MTTR During tough drive MBR Electromagnetic brake int...

Page 594: ...tantaneous power failure in the main circuit power supply depending on the power supply impedance and operating situation Use a 3 phase for the input power supply of the servo amplifier Using a 1 phase 100 V AC 200 V AC for the input power supply will not comply with SEMI F47 standard The external dynamic brake cannot be used for compliance with SEMI F47 standard Do not assign DB Dynamic brake int...

Page 595: ...occur when bus voltage is as follows Table 17 8 Voltages which trigger AL 10 2 Voltage drop in the main circuit power Servo amplifier Bus voltage which triggers alarm MR J4 10B RJ to MR J4 700B RJ 158 V DC MR J4 11KB RJ to MR J4 22KB RJ 200 V DC MR J4 60B4 RJ to MR J4 22KB4 RJ 380 V DC 3 MBR Electromagnetic brake interlock will turn off when AL 10 1 Voltage drop in the control circuit power occurs...

Page 596: ...000 890 MR J4 700B4 RJ 21000 1500 MR J4 11KB4 RJ 40000 2400 MR J4 15KB4 RJ 50000 3200 MR J4 22KB4 RJ 56000 4200 Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed You can examine margins to compare the values of following conditions and instantaneous maximum output Even if driving at maximum torque with low speed in actual operation the motor...

Page 597: ...sation function Lost motion compensation selection 0 Lost motion compensation disabled 1 Lost motion compensation enabled 0 Unit setting of lost motion compensation non sensitive band 0 1 pulse unit 1 1 kpulse unit Pr PX40 0 2 Lost motion compensation Pr PX36 Pr PX37 Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and when ...

Page 598: ... motion compensation timing Pr PX41 6 Lost motion filter setting Pr PX38 Changing the value of this parameter is usually unnecessary When a value other than 0 0 ms is set in this parameter the high pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues b Adjustment procedure of the lost motion compensation function 1 Measuring the lo...

Page 599: ... the standard setting value or the servo motor is rotating at high speed quadrant projections may occur behind the quadrant change points In this case you can suppress the quadrant projections by delaying the lost motion compensation timing with Pr PX41 Lost motion compensation timing Increase the setting value of Pr PX41 from 0 ms Initial value by approximately 0 5 ms to adjust the compensation t...

Page 600: ...37 will occur The master slave operation function cannot be used with the continuous operation to torque control Use the master slave operation function with the following controllers Refer to the manuals for each servo system controller for compatible software versions and other details RD77MS QD77MS_ LD77MS_ R_MTCPU Q17_DSCPU Q170MSCPU When the function is used in vertical axis system set the sa...

Page 601: ...ing for the master slave operation is set to an axis which is not compatible with the master slave operation function AL 37 will occur The master axis and slave axis are recommended to use for a linked condition on a mechanical constitution When they are not linked they can reach a speed limit level Doing so may cause AL 31 Overspeed The slave axes use the control command from the master axis Ther...

Page 602: ... settings are necessary For details of the parameters refer to section 5 2 1 and 5 2 4 No Name Initial value Setting value Setting Master axis Slave axis PA04 Forced stop deceleration function selection 2000 0 _ _ _ 0 _ _ _ Used to disable the forced stop deceleration function PA14 Rotation direction selection travel direction selection 0 Refer to section 5 2 1 Used to set a torque generation dire...

Page 603: ...Symbol Name and function PA14 POL Rotation direction selection 1 For master axis Select a servo motor rotation direction of master axis to SSCNET controller command 0 Servo motor CCW rotation in positioning address increase direction 1 Servo motor CW rotation in positioning address increase direction 2 For slave axis Select servo motor rotation direction to a command from master axis 0 Torque comm...

Page 604: ...G MR series for driving and scale measurement encoder the optional four wire type encoder cables MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H and MR EKCBL50M H cannot be used When an encoder cable of 30 m to 50 m is needed fabricate a two wire type encoder cable according to app 8 The scale measurement function compatible servo amplifier can be used with any of the following controllers Motion contro...

Page 605: ...encoder signal Servo motor encoder signal Linear encoder head Servo motor 2 MR J4 _B_ RJ servo amplifier Servo amplifier CN2 SSCNET III H controller SSCNET III H Position command Control signal Table To the next servo amplifier A B Z phase pulse train interface compatible linear encoder or two wire four wire type serial interface compatible linear encoder Load side encoder signal Servo motor encod...

Page 606: ...oder signal Load side encoder signal Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used 2 MR J4 _B_ RJ servo amplifier Servo motor A B Z phase differential output two wire four wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev or synchronous encoder Q171ENC W8 4194304 pulses rev Drive part Servo amplifier CN2 SSCNET III H controller SSCNET...

Page 607: ...he servo amplifier for backing up the absolute position data of the servo motor side 2 Rotary encoder When a rotary encoder is used as a scale measurement encoder use the following servo motor or synchronous encoder as the encoder Servo motor and synchronous encoder that can be used as encoder HG KR HG MR Synchronous encoder Q171ENC W8 MR J4 _B_ MR J4 _B_ RJ Use a two wire type encoder cable for M...

Page 608: ... amplifier Linear encoder CN2 MR J4FCCBL03M branch cable Refer to section 16 2 4 Encoder of rotary servo motor Encoder cable Refer to Linear Encoder Instruction Manual CN2 MOTOR SCALE Scale measurement encoder 2 MR J4 _B_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in 1 for MR J4 _B_ RJ servo amplifier You can also use a four wire type linear encoder Se...

Page 609: ...oder Servo motor HG KR HG MR Note Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used 2 MR J4 _B_ RJ servo amplifier You can connect the rotary encoder without using a branch cable shown in 1 for MR J4 _B RJ servo amplifier You can also use a four wire type rotary encoder Servo amplifier CN2 Encoder of rotary servo motor Encoder cable Refer to Servo Motor In...

Page 610: ... P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2 MOTOR Plate Note 1 Note 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from the wiring side 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 View seen from the wiring side 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 5 THM1 6 THM2 9 BAT 10 SEL SCALE Note 2 P5 SD SEL LG 1 2 10 Plate 4 MXR BAT 9 3 MX BAT SEL LG P5 ...

Page 611: ... system according to the encoder you use Scale measurement function selection 0 Disabled 1 Used in absolute position detection system 2 Used in incremental system 0 0 0 Pr PA22 2 Selection of scale measurement encoder communication method and polarity The communication method differs depending on the scale measurement encoder type For the communication method for using a linear encoder as scale me...

Page 612: ... Linear encoder Servo motor CCW direction Address increasing direction of linear encoder 2 A B Z phase input interface encoder Z phase connection judgment function This function can trigger an alarm by detecting non signal for Z phase The Z phase connection judgment function is enabled by default To disable the Z phase connection judgment function set Pr PC27 0 0 0 Pr PC27 Selection of A B Z phase...

Page 613: ...17 APPLICATION OF FUNCTIONS 17 82 MEMO ...

Page 614: ...angerous Goods United Nations Recommendations on the Transport of Dangerous Goods Rev 15 hereinafter Recommendations of the United Nations has been issued To reflect this transport regulations for lithium metal batteries are partially revised in the Technical Instruction ICAO TI by the International Civil Aviation Organization ICAO and the International Maritime Dangerous Goods Code IMDG Code by t...

Page 615: ...d batteries contained in or packed with equipment are classified as UN3091 a Transportation of lithium metal batteries alone Packaging requirement Classification Main requirement Less than eight cells per package with less than one gram of lithium content UN3090 PI968 Section II The package must pass a 1 2 m drop test and the handling label with battery illustration size 120 110 mm must be attache...

Page 616: ...l shown in Fig app 1 may be used until December 31 2018 for two years as an interim measure 4 Details of the package change The following caution is added to the packages of the target batteries Containing lithium metal battery Regulations apply for transportation 5 Transportation precaution for customers For sea or air transportation attaching the handling label Fig app 1 must be attached to the ...

Page 617: ...ed and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 00...

Page 618: ...n connected to the safety control system App 4 2 2 Applications of the devices MR J4 servo amplifiers comply with the following standards IEC EN 61800 5 1 IEC EN 61800 3 IEC EN 60204 1 ISO EN ISO 13849 1 Category 3 PL e IEC EN 62061 SIL CL 3 IEC EN 61800 5 2 STO For combinations of the servo amplifiers and MR D30 or MR J3 D05 refer to each servo amplifier instruction manual MR J4 servo amplifiers ...

Page 619: ...J4W_ _B 14 14 Note 4 14 14 14 14 14 14 Note 1 To connect these models to a terminal block be sure to use the screws that come with the terminal block 2 Alphabets in the table indicate crimping tools Refer to table app 2 for the crimp terminals and crimping tools 3 Select wire sizes depending on the rated output of the servo motors The values in the table are sizes based on rated output of the serv...

Page 620: ...F50 SVFU 20A 50 A frame 20 A 40 A MR J4 500_ NF50 SVFU 30A 50 A frame 30 A 60 A MR J4 700_ NF50 SVFU 40A 50 A frame 40 A 80 A MR J4 11K_ NF100 CVFU 60A 100 A frame 60 A 125 A MR J4 15K_ NF100 CVFU 80A 100 A frame 80 A 150 A MR J4 22K_ NF225 CWU 125A 225 A frame 125 A 300 A Note S means 1 phase 200 V AC power input and T means 3 phase 200 V AC power input in the table Servo amplifier 400 V class Mo...

Page 621: ...max length 50 m use shielded wires and ground the shields Install an EMC filter and surge protector on the primary side for input and output of 200 V class and for output of 400 V class servo amplifiers In addition use a line noise filter for outputs of the 11 kW and 15 kW of 400 V class servo amplifiers The following shows recommended products EMC filter Soshin Electric HF3000A UN series TF3000C ...

Page 622: ...rvo motor overload protection It is set on the basis full load current of 120 rated current of the servo amplifier d Over temperature protection for motor Motor Over temperature sensing is not provided by the drive Integral thermal protection s is necessary for motor and refer to app 4 4 for the proper connection e Branch circuit protection For installation in United States branch circuit protecti...

Page 623: ...tall start up repair or service the machines in which these components are installed Only trained engineers should install and operate the equipment ISO 13849 1 Table F 1 No 5 5 Separate the wiring for safety observation function from other signal wirings ISO 13849 1 Table F 1 No 1 6 Protect the cables with appropriate ways routing them in a cabinet using a cable guard etc 7 Keep the required clea...

Page 624: ...llowing reasons It may cause a burn injury due to very high temperature without cooling It may cause an electric shock due to charged capacitor of the servo amplifier To adapt your machine using MR J4 03A6 or MR J4W2 0303B6 to IEC EN 60950 1 either supply the amplifier with a power supply complying with the requirement of 2 5 stated in IEC EN 60950 1 Limited Power Source or cover the amplifier and...

Page 625: ...ethod and tighten them with the specified torque Otherwise the servo motor may operate unexpectedly The following shows representative configuration examples to conform to the IEC EN UL CSA standards 1 3 phase input for MR J4 1 axis servo amplifier MCCB or fuse Controller STO Encoder cable 3 phase 230 V AC Power supply 3 phase 400 V AC Transformer Note 3 star connected Note 1 MCCB or fuse PE L11 L...

Page 626: ...pply lines to L1 and L2 For 1 phase 200 V AC servo amplifiers connect the lines to L1 and L3 3 Please use a thermal sensor etc for thermal protection of the servo motor 3 Main circuit 48 V DC input for MR J4 1 axis servo amplifier Controller Encoder cable CNP1 48 V DC 24 V DC Servo amplifier Encoder Servo motor CN2 CN1 Cabinet side Machine side To protective equipment Thermal signal Note 0 PM 24 U...

Page 627: ... 8 7 TOFCOM STO I O signal connector App 4 5 2 I O device Input device Symbol Device Connector Pin No EM2 Forced stop 2 CN3 20 STOCOM Common terminal for input signals STO1 STO2 3 STO1 STO1 state input CN8 4 STO2 STO2 state input 5 Output device Symbol Device Connector Pin No TOFCOM Common terminal for monitor output signal in STO state 8 TOFB1 Monitor output signal in STO1 state CN8 6 TOFB2 Monit...

Page 628: ... MR J4 500_ 1 2 0 8 1 2 MR J4 700_ 4 MR J4 500_4 1 2 0 8 1 2 MR J4 11K_ 4 MR J4 15K_ 4 3 0 1 2 3 0 MR J4 22K_ 4 6 0 1 2 6 0 MR J4W_ _B 1 2 2 Servo motor bearings brake section etc for unusual noise 3 Check the cables and the like for scratches or cracks Perform periodic inspection according to operating conditions 4 Check that the connectors are securely connected to the servo motor 5 Check that t...

Page 629: ...ower supply off ambient temperature 20 C Note 2 Battery life 5 years from date of manufacture Note 1 The time is for using MR J4 1 axis servo amplifier with an rotary servo motor using MR BAT6V1SET MR BAT6V1SET A or MR BAT6V1BJ For details and other battery backup time refer to chapter 12 2 Quality of the batteries degrades by the storage condition The battery life is 5 years from the production d...

Page 630: ...fill the following environment Item Environment Ambient temperature Operation C 0 to 55 Class 3K3 IEC EN 60721 3 3 Transportation Note C 20 to 65 Class 2K4 IEC EN 60721 3 2 Storage Note C 20 to 65 Class 1K4 IEC EN 60721 3 1 Ambient humidity Operation transportation storage 5 RH to 90 RH Vibration resistance Test condition 10 Hz to 57 Hz with constant amplitude of 0 075 mm 57 Hz to 150 Hz with cons...

Page 631: ... J4 _ GF_ 300 mA Control method Sine wave PWM control current control method Safety observation function STO IEC EN 61800 5 2 Note 3 EN ISO 13849 1 Category 3 PL e IEC 61508 SIL 3 EN 62061 SIL CL 3 and EN 61800 5 2 Mean time to dangerous failure MTTFd 100 years 314a Effectiveness of fault monitoring of a system or subsystem DC Medium 97 6 Average probability of dangerous failures per hour PFH 6 4 ...

Page 632: ... J4W3 444B 85 168 195 2 3 Note The value in the parenthesis shows the value of MR J4 _GF_ d a e c b c d1 a1 e1 f Servo amplifier Variable dimensions mm Screw size a a1 b c d d1 e e1 f MR J4 03A6 90 0 5 5 4 4 M4 MR J4 10_ 1 MR J4 20_ 1 MR J4 40_ 1 MR J4 60_ 6 6 156 0 5 6 M5 MR J4 70_ MR J4 100_ 12 12 156 0 5 6 42 0 3 M5 MR J4 200_ 4 MR J4 350_ 6 45 156 0 5 6 78 0 3 M5 MR J4 500_ 6 6 235 0 5 7 5 93 ...

Page 633: ...cuments of machines to use this for periodic inspection 1 Is it based on directive standard applied to the machine Yes No 2 Is directive standard contained in Declaration of Conformity DoC Yes No 3 Does the protection instrument conform to the category required Yes No 4 Are electric shock protective measures protective class effective Yes No 5 Is the STO function checked test of all the shut off w...

Page 634: ...3C Safe stop 1 temporal delay SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating The delay time can be set with MR J3 D05 The purpose of this function is as follows This function is available by using an MR J4 series servo amplifier with MR J3 D05 Controlled stop according to stop category 1 of IEC EN 60204 1 A...

Page 635: ...ble for all risk evaluations and all associated residual risks Below are residual risks associated with the STO EMG function Mitsubishi Electric is not liable for any damages or injuries caused by the residual risks 1 The SS1 function only guarantees the delay time before STO EMG is engaged Proper setting of this delay time is the full responsibility of the company and or individuals responsible f...

Page 636: ...distance of pole pitch App 5 5 Block diagram and timing chart 1 Function block diagram SDI1A SDI2A SDI1B SDI2B STO1A STO2A SDO1A SDO2A SRESA SRESA TOF1A TOF2A STO1A STO2A SDO1A SDO2A TOFA 0V 24V DCDC power Safety logic TIMER1 TIMER2 A axis circuit SW1 SW2 B axis circuit 2 Operation sequence A axis shutdown 1 and 2 B axis shutdown 1 and 2 Energizing close Shut off open Release close Normal open Nor...

Page 637: ...EMG OFF IEC EN 60204 1 Safety performance Standards certified by CB EN ISO 13849 1 Category 3 PL d IEC 61508 SIL 2 EN 62061 SIL CL 2 and EN 61800 5 2 SIL 2 Response performance when delay time is set to 0 s Note 4 10 ms or less STO input off shut off output off Mean time to dangerous failure MTTFd 516 years Diagnosis converge DC avg 93 1 Average probability of dangerous failures per hour PFH 4 75 ...

Page 638: ...e following shows the connection targets of the STO switch and STO release switch POINT MR D05UDL_M STO cable for MR J3 series cannot be used MR J3 D05 FG STO switch STO release switch Magnetic contactor MCCB Power supply Servo motor MR J4_B_ RJ STO cable MR D05UDL3M B CN9 CN10 CN8 CN3 L1 L2 L3 U V W EM2 Forced stop 2 ...

Page 639: ...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 MR J3 D05 S1 24 V 0 V STOA S3 STOB MC M Servo motor MC M Servo motor Control circuit Control circuit CN8A CN8B EM2 A axis EM2 B axis SW1 SW2 Note 1 Note 1 Note 2 Note 2 RESA RESB S4 S2 Note 1 Set the delay time of STO output with SW1 and SW2 These switches for MR J3 D05 are located where ...

Page 640: ...STO1 STO state base shutdown Between STO2B and STO2B is opened STO release state in driving Between STO2B and STO2B is closed O B axis STO state TOF2B TOF1B 7 8 Inputs STO state of B axis driving device STO state base shutdown Open between TOF2B and TOF1B STO release state in driving Close between TOF2B and TOF1B I 3 CN9 Device Symbol Pin No Function application I O division A axis shutdown 1 SDI1...

Page 641: ...hing between SRESB and SRESB from on connected to off opened DI 1 A axis SDO2 SDO2A SDO2A 6A 6B Outputs STO2 to A axis driving device Outputs the same signal as A axis STO1 STO state base shutdown Between SDO2A and SDO2A is opened STO release state in driving Between SDO2A and SDO2A is closed DO 1 B axis SDO2 SDO2B SDO2B 5A 5B Outputs STO2 to B axis driving device Outputs the same signal as B axis...

Page 642: ...ply high voltage maximum of 26 4 V from external source 2 Source I O interfaces CN9 CN10 connector a Digital input interface DI 1 This is an input circuit whose photocoupler anode side is the input terminal Transmit signals from source open collector type transistor output relay switch etc VCES 1 0 V ICEO 100 µA Approximately 5 mA 24 V DC 10 200 mA Switch SRESA etc MR J3 D05 SRESA etc Approx 5 4 k...

Page 643: ...res are bent loose or too thick due to twisting too much fix the wires by twisting lightly etc Then confirm the stripped length before using the wires Do not use excessively deformed wires c Smooth out the wire surface and stripped insulator surface 2 Connecting wires Before connecting wires be sure to pull out the receptacle assembly from the header connector If wires are connected with inserted ...

Page 644: ...c Insert the tool until it hits the surface of the receptacle assembly At this stage the tool is vertical to the receptacle assembly d Insert wires in the wiring hole till the end The wires should be slightly twisted in advance to prevent it from being loose It is easy to insert the wire if the wire is inserted diagonally while twisting the tool e Remove the tool ...

Page 645: ...diameter φ 2 3 mm Screwdriver diameter φ 2 5 mm 2 Connecting wires a Insert a screwdriver in the front slot a little diagonally and depress the spring While depressing the spring insert the wires until they hit the end Note that the housing and spring may be damaged if the screwdriver is inserted strongly Never insert the screwdriver in the wire hole Otherwise the connector will be damaged b Pull ...

Page 646: ...ct and or wires may be damaged 4 Compatible wire Compatible wire size is listed below Wire size mm2 AWG 0 22 24 0 34 22 0 50 20 5 Others a Fix a cable tie at least distance of A 1 5 away from the end of the connector A 1 5 or more A b Be sure that wires are not pulled excessively when the connector is inserted App 5 8 4 Wiring FG Bottom face Lead wire Wire range Single wire φ 0 4 mm to 1 2 mm AWG ...

Page 647: ...rming shutdown delay setting Off The settings of SW1 and SW2 do not match On The settings of SW1 and SW2 match FAULT FAULT LED Off Normal operation STO monitoring state On Fault has occurred POWER Power Off Power is not supplied to MR J3 D05 On Power is being supplied to MR J3 D05 App 5 10 Rotary switch setting Rotary switch is used to shut off the power after control stop by SS1 function Set the ...

Page 648: ...supply 2 Wires between MR J3 D05 and 24 V DC power supply are disconnected or are in contact with other wires Check the wiring 3 MR J3 D05 is malfunctioning Replace the MR J3 D05 FAULT LED is on FAULT LED of A axis or B axis is on and will not turn off 1 The delay time settings are not matched Check the settings of the rotary switch 2 Switch input error Check the wiring or sequence of the input si...

Page 649: ...N8B CN9 CN10 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 24 V 0 V 8A 8B TOFA TOFB CN8A CN8B Pin assignment CN9 CN10 Mounting screw Screw size M4 Tightenin...

Page 650: ... 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 MR J3 D05 MR J3 D05 MR J3 D05 Other device App 5 14 Combinations of cable connector POINT MR D05UDL_M STO cable for MR J3 series cannot be used MR J3 D05 attachment connector CN9 CN10 MR J3 D05 2 2 CN8 MR J4_B...

Page 651: ...l Description 1 Connector MR J3 D05 attachment connector Connector for CN9 1 1871940 4 TE Connectivity Connector for CN10 1 1871940 8 TE Connectivity 2 STO cable MR D05UDL3M B Cable length 3 m Connector set 2069250 1 TE Connectivity ...

Page 652: ...APPENDIX App 39 App 6 EC declaration of conformity The MR J4 series servo amplifiers and MR J3 D05 safety logic unit complies with the safety component laid down in the Machinery directive ...

Page 653: ...APPENDIX App 40 This certificate is valid until 2017 02 28 After March 2017 use certificate shown on the previous page ...

Page 654: ...APPENDIX App 41 ...

Page 655: ...le information from the servo amplifier before the replacement 1 Open the project in MR Configurator2 select MR J4 B for model and select Linear for operation mode 2 Check that the personal computer is connected with the servo amplifier and select Diagnosis and then Linear diagnosis 3 Click Magnetic pole information 1 in figure to open the magnetic pole information window 4 Click Read All of the m...

Page 656: ...HG KR up to 20 m cables are two wire type Therefore when you need a longer encoder cable of two wire type than 20 m fabricate one using MR ECNM connector set Use the internal wiring diagram in the section to fabricate a cable up to 50 m App 8 1 Configuration diagram Servo amplifier CN2 Fabricate a two wire type encoder cable CN2 MOTOR SCALE Servo motor HG KR HG MR Servo motor HG KR HG MR For drivi...

Page 657: ...MR BAT 4 2 8 6 1 5 10 3 7 9 View seen from wiring side Note or P5 MR BAT MRR LG 1 3 7 9 4 2 8 6 10 5 View seen from wiring side Note Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally App 8 3 Internal wiring diagram Note P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 LG MR MRR S...

Page 658: ...long bending life Using long distance cable App 10 Analog monitor POINT A voltage of analog monitor output may be irregular at power on The servo status can be output to two channels in terms of voltage App 10 1 Setting Change the following digits of Pr PC09 and Pr PC10 Analog monitor 1 output selection the signal provided to the output across MO1 and LG 0 0 Pr PC09 Analog monitor 2 output selecti...

Page 659: ...on Maximum torque 0 8 V 8 V 02 Servo motor speed Linear servo motor speed Maximum speed CW direction CCW direction Maximum speed 0 8 V 03 Torque Thrust Note 8 Maximum torque Power running in CW direction Power running in CCW direction Maximum torque 0 8 V 04 Current command Note 8 Maximum current command Maximum torque command CW direction CCW direction Maximum current command Maximum torque comma...

Page 660: ...ion 100 pulse 0 10 V 10 V 11 Load side droop pulses Note 3 4 5 6 10 V 1000 pulses 1000 pulse CW direction CCW direction 1000 pulse 0 10 V 10 V 12 Load side droop pulses Note 3 4 5 6 10 V 10000 pulses 10000 pulse CW direction CCW direction 10000 pulse 0 10 V 10 V 13 Load side droop pulses Note 3 4 5 6 10 V 100000 pulses 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V 14 Load side d...

Page 661: ...rent feedback Position feedback M Position command received from a servo system controller Position feedback data returned to a servo system controller Differen tiation Differen tiation Feedback position standard position Note Feedback position Internal temperature of encoder Servo motor speed Torque Speed command 2 Note The feedback position is output based on the position data passed between ser...

Page 662: ...osition command Differ entiation Differ entiation Dual filter Servo motor side droop pulses Load side droop pulses Servo motor side load side position deviation Load side encoder Internal temperature of encoder Fully closed loop Differen tiation Differen tiation Servo motor side load side speed deviation Semi closed loop Servo motor speed Torque Servo motor side feedback pulses load side encoder r...

Page 663: ... 40_ RJ MR J4 40_1 RJ 361 HG MR73 MR J4 70_ RJ 345 HG SR 1000 r min series HG SR51 MR J4 60_ RJ 311 HG SR81 MR J4 100_ RJ 329 HG SR121 MR J4 200_ RJ 353 HG SR201 MR J4 200_ RJ 334 HG SR301 MR J4 350_ RJ 366 HG SR421 MR J4 500_ RJ 347 HG SR 2000 r min series HG SR52 MR J4 60_ RJ 302 HG SR102 MR J4 100_ RJ 310 HG SR152 MR J4 200_ RJ 320 HG SR202 MR J4 200_ RJ 327 HG SR352 MR J4 350_ RJ 332 HG SR502 ...

Page 664: ...HG JR30K1M MR J4 DU30K_ RJ 342 HG JR37K1M MR J4 DU37K_ RJ 365 HG JR 3000 r min series HG JR53 MR J4 60_ RJ 341 MR J4 100_ RJ 460 HG JR73 MR J4 70_ RJ 331 MR J4 200_ RJ 460 HG JR103 MR J4 100_ RJ 341 MR J4 200_ RJ 460 HG JR153 MR J4 200_ RJ 320 MR J4 350_ RJ 460 HG JR203 MR J4 200_ RJ 320 MR J4 350_ RJ 460 HG JR353 MR J4 350_ RJ 307 MR J4 500_ RJ 464 HG JR503 MR J4 500_ RJ 342 MR J4 700_ RJ MR J4 D...

Page 665: ..._4 RJ 329 HG JR11K1M4 MR J4 11K_4 RJ MR J4 DU11K_4 RJ 338 HG JR15K1M4 MR J4 15K_4 RJ MR J4 DU15K_4 RJ 338 HG JR22K1M4 MR J4 22K_4 RJ MR J4 DU22K_4 RJ 342 HG JR30K1M4 MR J4 DU30K_4 RJ 335 HG JR37K1M4 MR J4 DU37K_4 RJ 323 HG JR45K1M4 MR J4 DU45K_4 RJ 344 HG JR55K1M4 MR J4 DU55K_4 RJ 321 HG JR 3000 r min series HG JR534 MR J4 60_4 RJ 320 MR J4 100_4 RJ 460 HG JR734 MR J4 100_4 RJ 320 MR J4 200_4 RJ 4...

Page 666: ... 310 HG SR152W0C MR J4 200_ RJ 320 HG SR202W0C MR J4 200_ RJ 327 HG SR352W0C MR J4 350_ RJ 332 HG SR502W0C MR J4 500_ RJ 341 HG SR702W0C MR J4 700_ RJ MR J4 DU900_ RJ 336 HG JR 1500 r min series HG JR701MW0C MR J4 700_ RJ MR J4 DU900_ RJ 326 HG JR11K1MW0C MR J4 11K_ RJ MR J4 DU11K_ RJ 335 HG JR15K1MW0C MR J4 15K_ RJ MR J4 DU15K_ RJ 334 HG JR22K1MW0C MR J4 22K_ RJ MR J4 DU22K_ RJ 317 HG JR 3000 r m...

Page 667: ... HG JR11K1M4W0C MR J4 11K_4 RJ MR J4 DU11K_4 RJ 338 HG JR15K1M4W0C MR J4 15K_4 RJ MR J4 DU15K_4 RJ 338 HG JR22K1M4W0C MR J4 22K_4 RJ MR J4 DU22K_4 RJ 342 HG JR 3000 r min series HG JR534W0C MR J4 60_4 RJ 320 MR J4 100_4 RJ 460 HG JR734W0C MR J4 100_4 RJ 320 MR J4 200_4 RJ 459 HG JR1034W0C MR J4 100_4 RJ 320 MR J4 200_4 RJ 459 HG JR1534W0C MR J4 200_4 RJ 320 MR J4 350_4 RJ 459 HG JR2034W0C MR J4 20...

Page 668: ... Liquid cooling MR J4 700_ RJ MR J4 DU900_ RJ 384 LM FP4F 36M 1SS0 Natural cooling MR J4 11K_ RJ MR J4 DU11K_ RJ 709 Liquid cooling MR J4 11K_ RJ MR J4 DU11K_ RJ 356 LM FP4H 48M 1SS0 Natural cooling MR J4 15K_ RJ MR J4 DU15K_ RJ 763 Liquid cooling MR J4 15K_ RJ MR J4 DU15K_ RJ 389 LM K2 series LM K2P1A 01M 2SS1 MR J4 40_ RJ MR J4 40_1 RJ 400 LM K2P1C 03M 2SS1 MR J4 200_ RJ 375 LM K2P2A 02M 1SS1 MR...

Page 669: ... MR J4 100_ RJ 321 TM RFM012G20 MR J4 70_ RJ 300 TM RFM048G20 MR J4 350_ RJ 321 TM RFM072G20 MR J4 350_ RJ 321 TM RFM040J10 MR J4 70_ RJ 323 TM RFM120J10 MR J4 350_ RJ 321 TM RFM240J10 MR J4 500_ RJ 321 TM RG2M series TM RG2M002C30 MR J4 20_ RJ MR J4 20_1 RJ 433 TM RG2M004E30 MR J4 20_ RJ MR J4 20_1 RJ MR J4 40_ RJ MR J4 40_1 RJ 324 TM RG2M009G30 MR J4 40_ RJ MR J4 40_1 RJ 324 TM RU2M series TM RU...

Page 670: ...s what each block of a model name indicates Not all combinations of the symbols are available Series Rated output Symbol Rated output kW 10 0 1 20 0 2 40 0 4 60 0 6 70 0 75 100 1 200 2 350 3 5 500 5 700 7 Power supply Symbol Power supply None 3 phase 200 V AC to 240 V AC 4 3 phase 380 V AC to 480 V AC Special specifications Symbol Special specifications RU MR J4 _B_ RJ without a dynamic brake 1 1 ...

Page 671: ...stop deceleration function App 11 2 Without regenerative resistor App 11 2 1 Summary This section explains servo amplifiers without a regenerative resistor The things not explained in this section will be the same as MR J4 _B_ RJ App 11 2 2 Model The following describes what each block of a model name indicates Not all combinations of the symbols are available Series Rated output Symbol Rated outp...

Page 672: ...del name indicates Not all combinations of the symbols are available Series Rated output Symbol Rated output kW 10 0 1 20 0 2 40 0 4 60 0 6 70 0 75 100 1 200 2 350 3 5 500 5 700 7 11K 11 15K 15 22K 22 Power supply Symbol Power supply None 3 phase 200 V AC to 240 V AC 4 3 phase 380 V AC to 480 V AC Special specifications Symbol Special specifications KS MR J4 _B_ RJ with a special coating specifica...

Page 673: ...ic inspections for any abnormality 2 Standard for corrosive gases In IEC 60721 3 3 corrosive gases refer to sea salt sulfur dioxide hydrogen sulfide chlorine hydrogen chloride hydrogen fluoride ammonia ozone and nitrogen oxides shown in the environmental parameter column of the table below The table also shows the corrosive gas concentrations defined in IEC 60721 3 3 Class 3C2 Environmental parame...

Page 674: ... Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amp...

Page 675: ...tic contactor MR J4 10B RJ MR J4 60B4 RJ MR J4 20B RJ MR J4 100B4 RJ SD N11 MR J4 40B RJ SD N11 MR J4 200B4 RJ MR J4 60B RJ MR J4 350B4 RJ MR J4 70B RJ MR J4 500B4 RJ SD N21 MR J4 100B RJ MR J4 700B4 RJ MR J4 200B RJ SD N21 MR J4 11KB4 RJ SD N25 MR J4 350B RJ MR J4 15KB4 RJ SD N35 MR J4 500B RJ SD N35 MR J4 22KB4 RJ SD N50 MR J4 700B RJ SD N50 MR J4 10B1 RJ MR J4 11KB RJ MR J4 20B1 RJ SD N11 MR J4...

Page 676: ...wer consumption is displayed The positive value is displayed in power running The negative value is displayed in regeneration Module integral power consumption The module integral power consumption is displayed Instantaneous torque The instantaneous torque is displayed The value of torque being occurred is displayed in real time considering a rated torque as 100 Instantaneous thrust The instantane...

Page 677: ...e types of the connected servo motor and encoder can be checked by referring to the ID For details refer to Servo Motor Instruction Manual Vol 3 Servo motor ID SSCNET III H The servo motor ID sent from the encoder is displayed The type of the connected servo motor can be checked by referring to the ID For details refer to Servo Motor Instruction Manual Vol 3 Encoder resolution The encoder resoluti...

Page 678: ...absolute position type linear encoder the encoder absolute position is displayed Module power consumption The module power consumption is displayed The positive value is displayed in power running The negative value is displayed in regeneration Module integral power consumption The module integral power consumption is displayed Disturbance torque The difference between the torque necessary to driv...

Page 679: ...an this change has been made sequentially from the June 2015 production For the products manufactured and sold in China this change has been made sequentially from the December 2015 production There may be cases where both the former and new products exist in the distribution stage App 14 4 Use with SIL 3 Set the safety level with Pr PF18 STO diagnosis error detection time To use the servo amplifi...

Page 680: ...the packaging box TOKYO 100 8310 JAPAN MADE IN JAPAN Model Capacity Applicable power supply Rated output current Conforming standard manual number Ambient temperature IP rating Serial number IP20 KCC REI MEK TC300A624G51 Max Surrounding Air Temp 55 C POWER 100W MR J4 10B AC SERVO SER A45001001 OUTPUT 3PH170V 0 360Hz 1 1A MAN IB NA 0300175 INPUT 3AC AC200 240V 0 9A 1 5A 50 60Hz STD IEC EN 61800 5 1...

Page 681: ... delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 4 Configure a circuit t...

Page 682: ... brake deceleration is not required delay the time to turn off the magnetic contactor 4 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 5 When not using the STO function attach the short circuit connector came with a servo amplifier 6 The illustration of the 24 V DC power supply is divided between input signal an...

Page 683: ... AWG 16 a 2 AWG 14 d MR J4 700B RJ Note 2 8 AWG 8 b MR J4 11KB RJ Note 2 14 AWG 6 e 1 25 AWG 16 c 2 AWG 14 c MR J4 15KB RJ Note 2 22 AWG 4 f MR J4 22KB RJ Note 2 38 AWG 2 g Note 1 Alphabets in the table indicate crimping tools For crimp terminals and applicable tools refer to 2 in this section 2 To connect these models to a terminal block be sure to use the screws that come with the terminal block...

Page 684: ... A frame 5 A MR J4 40B RJ 30 A frame 10 A 30 A frame 5 A 15 MR J4 60B RJ 30 A frame 15 A 30 A frame 10 A 20 MR J4 70B RJ 30 A frame 15 A 30 A frame 10 A MR J4 100B RJ 3 phase power supply input 30 A frame 15 A 30 A frame 10 A MR J4 100B RJ 1 phase power supply input 30 A frame 15 A 30 A frame 15 A MR J4 200B RJ 30 A frame 20 A 30 A frame 20 A 30 MR J4 350B RJ 30 A frame 30 A 30 A frame 30 A 40 MR ...

Page 685: ...L1 L2 L3 N install an overcurrent protection device fuse etc to protect the branch circuit Servo amplifier Fuse Class T Fuse Class K5 Current A Voltage DC V Current A Voltage DC V MR J4 10B RJ MR J4 20B RJ MR J4 40B RJ MR J4 60B RJ MR J4 70B RJ MR J4 100B RJ MR J4 200B RJ 1 400 1 400 MR J4 350B RJ MR J4 500B RJ MR J4 700B RJ MR J4 11KB RJ MR J4 15KB RJ MR J4 22KB RJ ...

Page 686: ...ucts Substance name Threshold standard Part name Hazardous substance Note 1 Environment Friendly Use Period mark Note 2 Remark Lead Pb Mercury Hg Cadmium Cd Hexavalent chromium Cr VI PBB PBDE Threshold of cadmium 0 01 wt 100 ppm Threshold of substances other than cadmium 0 1 wt 1000 ppm Servo amplifier Servo system controller Mounting board Heat sink Resin cabinet Plate and screw Servo motor Brack...

Page 687: ... 85 by weight or more lead Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors e g piezoelectronic devices Electrical and electronic components containing lead in a glass or ceramic matrix compound e g chip resistors 4 Status of our products for compliance with the China RoHS directive Chinese The following shows table app 4 in Chi...

Page 688: ...table and Note are changed The sentences of the fully closed loop system and drive recorder are changed The diagram is changed CAUTION is changed POINT is changed to CAUTION The explanation of relay lifetime is changed The sentences are added to CAUTION The sentences are added to CAUTION Note 12 is added Note 11 is added Note 11 is added Note 11 is added Note 11 is added Note 17 is added Note 17 i...

Page 689: ...changed The sentences are changed The sentences are changed The sentences are changed The diagram is changed The connection destination of the servo amplifier is changed Note is changed The sentences are added to POINT The value in table is changed The diagram is changed Added The part of diagram is changed The part of diagram is changed The sentences are changed The sentences are added Note is ch...

Page 690: ... 3 3 2 Section 3 4 Section 3 5 2 2 Section 3 6 Section 3 6 2 Section 3 6 3 Section 3 8 Section 3 8 1 Two items are added to CAUTION The diagram in CAUTION is changed The reference is changed The reference is changed The reference is changed The sentences and table of combination are added POINT is added CN2L Note 5 and Note 6 are added CN2L Note 3 and Note 4 are added Newly added The item is added...

Page 691: ...d The name of Pr PF25 is changed The contents of Pr PA02 and Pr PA17 are changed The name of Pr PA20 is changed Pr PA22 and Pr PA26 are released The content of Pr PC20 is changed The sentences are added to Pr PC04 and Pr PC05 Pr PC26 is added The contents are added to Pr PC03 and Pr PC27 Note 2 is added to Pr PC09 The contents are added to Pr PD01 Pr PD02 Pr PD07 Pr PD12 and Pr PD30 Pr PE06 and Pr...

Page 692: ...gram is changed Note 8 is added The content is changed Note 2 is changed POINT is added Note 2 to Note 4 are added Note 1 is changed The content and Note 5 are added The crimp terminal is added The contents for 11 kW to 22 kW are added The contents of molded case circuit breaker and magnetic contactor are changed Note 3 is added Power factor improving DC reactors for 11 kW to 22 kW are added Power...

Page 693: ...nged App 4 to 6 are combined The content is changed Carried from App 7 Carried from App 8 Carried from App 9 Carried from App 10 Carried from App 11 Carried from App 12 POINT is added Note 3 is deleted Carried from App 13 POINT is added The sentences are changed Note 13 and 14 are added Newly added Newly added Aug 2013 SH NA 030106ENG E The master slave operation function scale measurement functio...

Page 694: ...he content is added Newly added Table and Note 3 are changed Note 7 is added Note 6 is added The content is changed Newly added POINT is added Note is added The diagram is changed Newly added The title is changed The sentences are added CAUTION is added Oct 2013 SH NA 030106ENG F 400 V class is added Safety Instructions 4 1 About the manuals Section 1 2 1 Section 1 2 2 Section 1 3 2 Section 1 4 2 ...

Page 695: ...anged Pr PC09 The content is changed The names of Pr PD16 Pr PD17 and Pr PD20 are changed Pr PE10 The content is changed Pr PF25 The name is changed POINT is added POINT is added The sentences are added The content of the table is changed Note is added The sentences are changed and note is added The title and content of the table are changed The POINT is added The content of the table is changed N...

Page 696: ...h is added The content of table 5 is added The sentences are added The content of the table is added Newly added The content is added POINT is added The content of the table is added Newly added Newly added The content of the table is added Note is added POINT is added The content is changed The configuration is changed The sentences are added The sentences are added The content of the table is ad...

Page 697: ...Deleted Newly added The sentences of Pr PB24 are added The content of Pr PC09 is added Caution for the table is changed The title is changed Caution for the table is changed POINT is changed Sentences are added Terms are changed The content of POINT is changed Newly added The content of the table is added Sentences are added 1 and 2 are combined Note 1 and 2 are deleted POINT is added 2 and 3 are ...

Page 698: ...he sentences are added The content of the table is changed Note is added Note is added The content of the table is changed The content of the table is changed The diagram is changed The content of the table is changed Note is added The sentences are added Note is added The diagram is changed Note is added POINT is changed The sentences are changed The content of the table is changed CAUTION is add...

Page 699: ... The part of table is changed The section name is changed Note 14 is changed The explanations of DI1 DI2 and DI3 are changed The diagram is partially changed The item name of _ _ 6 _ in Pr PA01 is changed The sentences of _ _ 0 1 in Pr PA02 are changed The sentences of Pr PA03 are changed The sentences of _ x _ _ in Pr PC03 are added The sentences of x _ _ _ in Pr PC04 are added _ _ x _ is added t...

Page 700: ...d Partially changed Partially changed Pr PF18 is added The sentences are added to Pr PF25 Changed Partially added Note is added POINT is added AL 68 is added Partially changed Partially changed Partially changed Note is added Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially ch...

Page 701: ...d Partially changed Partially changed Partially changed Partially added and partially changed Partially added and partially changed Partially added Partially changed Partially changed Partially added and partially changed Partially changed Partially changed Partially added and partially changed Partially added and partially changed Partially changed Partially added Partially changed Partially chan...

Page 702: ...dded Section 17 1 9 Partially added App 4 Partially changed App 5 Partially changed App 6 Partially changed App 13 Partially changed App 15 Partially changed App 16 Newly added Oct 2017 SH NA 030106ENG P TM RG2M002C30 TM RU2M002C30 are added 3 To prevent injury note the following Partially changed 4 Additional instructions Partially changed Section 1 3 Partially changed Section 1 4 Partially chang...

Page 703: ...ed App 4 1 Partially changed App 4 2 Partially changed App 4 2 2 Partially changed App 4 2 3 Partially changed App 4 3 Partially changed App 4 7 CAUTION is partially changed App 10 2 Partially changed App 10 4 4 Partially changed App 13 2 Partially changed This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Co...

Page 704: ... and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies ...

Page 705: ...ct from our company viii any other failures which we are not responsible for or which you 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 ...

Page 706: ...ce This Instruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _B_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _B_ RJ SSCNET H Interface 1CW805 MR J4 B INSTRUCTIONMANUAL P P SERVO AMPLIFIER INSTRUCTION MANUAL ...

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