Mitsubishi MR-J4-100A Instruction Manual Download | Manualshive

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6. NORMAL GAIN ADJUSTMENT

6 - 15

6.3.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Loop gain

PG1, PG2,

VG2, VIC

Current

control

Load to motor

inertia ratio

estimation section

Gain table

[Pr. PB06 Load to

motor inertia ratio]

Response

level setting

Gain adjustment mode selection

[Pr. PA08]

+

-

+

-

Real-time

auto tuning section

Set 0 or 1 to turn on.

Switch

Current feedback

Position/speed

feedback

Speed feedback

Load moment

of inertia

Encoder

Command

Automatic setting

[Pr. PA09]

M

Servo motor

0 0 0

When a servo motor is accelerated/decelerated, the load to motor inertia ratio estimation section always
estimates the load to motor inertia ratio from the current and speed of the servo motor. The results of
estimation are written to [Pr. PB06 Load to motor inertia ratio]. These results can be confirmed on the status
display screen of the MR Configurator2.
If you have already known the value 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 ([Pr. PB06]) manually.
From the preset load to motor inertia ratio ([Pr. PB06]) value and response ([Pr. PA09]), the optimum loop
gains are automatically set on the basis of the internal gain table.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on.
At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used
as an initial value.

POINT

If sudden disturbance torque is imposed during operation, the load to motor
inertia ratio may be misestimated temporarily. In such a case, set "Gain
adjustment mode selection" to "Auto tuning mode 2 (_ _ _ 2)" in [Pr. PA08] and
then set the correct load to motor inertia ratio in [Pr. PB06].
When any of the auto tuning mode 1 and auto tuning mode settings is changed
to the manual mode 2 setting, the current loop gains and load to motor inertia
ratio estimation value are saved in the EEP-ROM.

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Summary of Contents for MR-J4-100A

Page 1: ...ion Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A RJ MR J4 _A4 RJ SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface AC Servo 1CW804 MR J4 A INSTRUCTIONMANUAL G G ...

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: ...he servo amplifier even if the power is off The servo amplifier is charged and you may get an electric shock To prevent an electric shock always connect the protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet When using a residual current device RCD select the type B To avoid an electric shock insulate the connections of the power supply terminals 2...

Page 4: ...nt Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing Do not block the intake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or strike the servo amplifier and servo motor Isolate them from all impact loads When you keep or use the equipment please fulfill the following environment Items Environm...

Page 5: ...ircuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output interface When the cable is not tightened enough to the terminal block the cable or terminal block may generate heat because of the poor contact Be sure to tighten the cable with specified torque Connecting a servo motor f...

Page 6: ... brake circuit so that it is activated also by an external EMG stop switch Servo motor Electromagnetic brake B RA Contacts must be opened with the EMG stop switch Contacts must be opened when ALM Malfunction or MBR Electromagnetic brake interlock turns off 24 V DC When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation Provide an adequate ...

Page 7: ...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 J4 Series Instructions and Cautions for Safe Use of AC Servos Packed with the 200 V class servo amplifier IB NA 0300175 MELSERVO J4 Series Instructions and Cautions for Safe Use of AC Servos Packed with the 400 V class servo amplifier IB...

Page 8: ...ustomary 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 in Torque 1 N m 141 6 oz in Moment of inertia 1 10 4 kg m2 5 4675 oz in2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F ...

Page 9: ...A 8 MEMO ...

Page 10: ... 1 2 400 V class 3 8 3 2 I O signal connection example 3 11 3 2 1 Position control mode 3 11 3 2 2 Speed control mode 3 14 3 2 3 Torque control mode 3 17 3 3 Explanation of power supply system 3 20 3 3 1 Signal explanations 3 20 3 3 2 Power on sequence 3 21 3 3 3 Wiring CNP1 CNP2 and CNP3 3 22 3 4 Connectors and pin assignment 3 25 3 5 Signal device explanations 3 28 3 6 Detailed explanation of si...

Page 11: ...cedures 4 6 4 2 2 Stop 4 7 4 2 3 Test operation 4 8 4 2 4 Parameter setting 4 9 4 2 5 Actual operation 4 9 4 2 6 Trouble at start up 4 9 4 3 Startup in speed control mode 4 12 4 3 1 Power on and off procedures 4 12 4 3 2 Stop 4 12 4 3 3 Test operation 4 13 4 3 4 Parameter setting 4 14 4 3 5 Actual operation 4 14 4 3 6 Trouble at start up 4 14 4 4 Startup in torque control mode 4 16 4 4 1 Power on ...

Page 12: ... to 6 24 6 1 Different adjustment methods 6 1 6 1 1 Adjustment on a single servo amplifier 6 1 6 1 2 Adjustment using MR Configurator2 6 2 6 2 One touch tuning 6 3 6 2 1 One touch tuning flowchart 6 3 6 2 2 Display transition and operation procedure of one touch tuning 6 5 6 2 3 Caution for one touch tuning 6 13 6 3 Auto tuning 6 14 6 3 1 Auto tuning mode 6 14 6 3 2 Auto tuning mode basis 6 15 6 3...

Page 13: ...Combinations of cable connector sets 11 2 11 1 2 MR D05UDL3M B STO cable 11 5 11 2 Regenerative options 11 6 11 2 1 Combination and regenerative power 11 6 11 2 2 Selection of regenerative option 11 8 11 2 3 Parameter setting 11 11 11 2 4 Connection of regenerative option 11 11 11 2 5 Dimensions 11 16 11 3 FR BU2 H Brake unit 11 20 11 3 1 Selection 11 21 11 3 2 Brake unit parameter setting 11 22 1...

Page 14: ... 12 13 12 4 Signal explanation 12 14 12 5 Startup procedure 12 15 12 6 Absolute position data transfer protocol 12 16 12 6 1 Data transfer procedure 12 16 12 6 2 Transfer method 12 17 12 6 3 Home position setting 12 26 12 6 4 Use of servo motor with an electromagnetic brake 12 28 12 6 5 How to process the absolute position data at detection of stroke end 12 29 12 7 Absolute position data transfer ...

Page 15: ...Communication procedure example 14 9 14 4 Command and data No list 14 10 14 4 1 Reading command 14 10 14 4 2 Writing commands 14 16 14 5 Detailed explanations of commands 14 18 14 5 1 Data processing 14 18 14 5 2 Status display mode 14 20 14 5 3 Parameter 14 21 14 5 4 External I O signal status DIO diagnosis 14 25 14 5 5 Input device on off 14 27 14 5 6 Disabling enabling I O devices DIO 14 28 14 ...

Page 16: ...e characteristics 16 18 17 FULLY CLOSED LOOP SYSTEM 17 1 to 17 24 17 1 Functions and configuration 17 1 17 1 1 Function block diagram 17 1 17 1 2 Selecting procedure of control mode 17 3 17 1 3 System configuration 17 4 17 2 Load side encoder 17 6 17 2 1 LINEAR ENCODER 17 6 17 2 2 Rotary encoder 17 6 17 2 3 Configuration diagram of encoder cable 17 7 17 2 4 MR J4FCCBL03M branch cable 17 9 17 3 Ope...

Page 17: ... 3 App 5 MR J3 D05 Safety logic unit App 19 App 6 EC declaration of conformity App 37 App 7 Analog monitor App 39 App 8 Two wire type encoder cable for HG MR HG KR App 43 App 9 How to replace servo amplifier without magnetic pole detection App 44 ...

Page 18: ...on provides strong support for the machine maintenance and inspection The MR J4 _A_ servo amplifier supports the Safe Torque Off STO function By combining with optional MR J3 D05 the servo amplifier supports Safe stop 1 SS1 function The servo amplifier has a USB communication interface Therefore you can connect the servo amplifier to the personal computer with MR Configurator2 installed to perform...

Page 19: ... Overcurrent protection Voltage detection Note 2 Power supply MC MCCB Base amplifier STO circuit Position command input Servo amplifier U V W U V W P3 P4 Diode stack Relay P B RA 24 V DC B1 B2 Optional battery for absolute position detection system CN4 STO switch Model speed Model torque M CN2 CN8 Control circuit power Model position control Model speed control Servo motor CHARGE lamp Regene rativ...

Page 20: ... more have a cooling fan 4 The 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 the MR J3 servo amplifiers 5 This is for the MR J4 _A RJ servo amplifier The MR J4 _A servo amplifier does not have the CN2L connector 6 The power factor improving AC reactor can also be used In this case the power factor improving DC rea...

Page 21: ...control Model speed control Virtual motor Virtual encoder Model position Model speed Model torque Current control Actual position control Actual speed control Analog monitor two channel Controller Personal computer Analog two channel DI O control Servo on Input command pulse Start Malfunction etc CN2L External encoder Note 3 Note 4 Note 1 For the power supply specifications refer to section 1 3 2 ...

Page 22: ...rrent encoder Analog monitor two channel Controller Personal computer Analog two channel DI O control Servo on Input command pulse Start Malfunction etc Step down circuit Electromagnetic brake Note 1 For the power supply specifications refer to section 1 3 2 The 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 the MR...

Page 23: ...o motor Charge lamp Regene rative TR Current detector Regenerative option CN5 CN3 CN6 Analog monitor 2 channels I F USB RS 422 D A A D USB RS 422 Controller Personal computer Analog 2 channels DI O control Servo on Input command pulse Start Malfunction etc CN1 Step down circuit External encoder Note 4 Electromagnetic brake CN2L Note 1 Refer to section 1 3 for the power supply specification 2 Servo...

Page 24: ... Regene rative TR Current detector Regenerative option CN5 CN3 CN6 Analog monitor 2 channels I F USB RS 422 D A A D USB RS 422 Controller Personal computer Analog 2 channels DI O control Servo on Input command pulse Start Malfunction etc CN1 Step down circuit External encoder Note 3 Note 4 Power factor improving DC reactor Electromagnetic brake CN2L Note 1 Refer to section 1 3 for the power supply...

Page 25: ...nalog 2 channels DI O control Servo on Input command pulse Start Malfunction etc CN1 Step down circuit External encoder U V W U V W Note 3 Note 5 Power factor improving DC reactor Electromagnetic brake CN2L Note 1 Refer to section 1 3 for the power supply specification 2 MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 ...

Page 26: ...oning feedback pulse Encoder resolution resolution per servo motor revolution 22 bits Command pulse multiplying factor Electronic gear A 1 to 16777215 B 1 to 16777215 1 10 A B 4000 In position range setting 0 pulse to 65535 pulses command pulse unit Error excessive Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Position control mode Torque limit 3 revolutions Sp...

Page 27: ...of 3 5 kW or less operate them at the ambient temperatures of 0 C to 45 C or at 75 or smaller effective load ratio 3 Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self diagnose 4 Except for the terminal block 5 The rated current is 2 9 A when the servo amplifier is used with a UL or CSA compliant servo motor 6 1 ...

Page 28: ...Command pulse multiplying factor Electronic gear A 1 to 16777215 B 1 to 16777215 1 10 A B 4000 In position range setting 0 pulse to 65535 pulses command pulse unit Error excessive 3 revolutions Position control mode Torque limit Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog spe...

Page 29: ...es Mass kg 1 7 2 1 3 6 4 3 6 5 13 4 18 2 Note 1 0 5 A 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 2 Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self diagnose 3 Except for the terminal block 4 1 Mpulse s or lower commands are su...

Page 30: ...203 73 103 LM H3P3D 48P CSS0 LM H3P7B 48P ASS0 LM H3P7C 72P ASS0 LM FP2B 06M 1SS0 LM K2P1C 03M 2SS1 LM U2P2B 40M 2SS0 MR J4 350A RJ 301 352 202 203 353 153 203 LM H3P7D 96P ASS0 LM K2P2C 07M 1SS1 LM K2P3C 14M 1SS1 LM U2P2C 60M 2SS0 TM RFM048G20 TM RFM072G20 TM RFM120J10 MR J4 500A RJ 421 502 352 502 353 503 503 353 LM FP2D 12M 1SS0 LM FP4B 12M 1SS0 LM K2P2E 12M 1SS1 LM K2P3E 24M 1SS1 LM U2P2D 80M ...

Page 31: ...rvo motor shaft resonance by shaft torsion during driving may generate a mechanical vibration at high frequency The shaft resonance suppression filter suppresses the vibration Section 7 1 3 Adaptive filter II Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration Section 7 1 2 Low pass filter Suppresses high frequency resonance w...

Page 32: ...The direct drive servo system can be configured to drive a direct drive motor This is used with servo amplifiers with software version A5 or later Check the software version of the servo amplifier using MR Configurator2 Chapter 16 Fully closed loop system Fully closed loop system can be configured using the load side encoder This is used with servo amplifiers with software version A5 or later Chec...

Page 33: ...SER S21001001 2 Model The following describes what each block of a model name indicates Not all combinations of the symbols are available Series Rated output General purpose interface Special specification 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 Symbol Special specification None Standard RJ Fully closed loop control four wire ...

Page 34: ...ncoder or external encoder Refer to table 1 1 for the compatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 9 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 10 Battery holder Install the the battery for absolute position data backup Section 12 2 11 Protective earth PE terminal Grounding terminal 12 Main circuit power supply co...

Page 35: ...ontrol circuit power supply connector CNP2 Connect the control circuit power supply and regenerative option Section 3 1 Section 3 3 5 Charge lamp When the main circuit is charged this will light up While this lamp is lit do not reconnect the cables 6 Protective earth PE terminal Grounding terminal Section 3 1 Section 3 3 7 Battery holder Install the the battery for absolute position data backup Se...

Page 36: ...Section 12 2 4 Rating plate Section 1 6 5 Regenerative option power factor improving reactor terminal block TE3 Used to connect a regenerative option or a power factor improving DC reactor 6 Servo motor power supply terminal block TE4 Connect the servo motor Section 3 1 Section 3 3 7 Charge lamp When the main circuit is charged this will light up While this lamp is lit do not reconnect the cables ...

Page 37: ...e option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal Section 3 1 Section 3 3 5 Battery holder Install the the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the main circuit is charged this will light up While this lamp is lit do not reco...

Page 38: ...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 Grounding terminal Section 3 1 Section 3 3 5 Battery holder Install the the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the main circuit is charged this will light up While this l...

Page 39: ... 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 Grounding terminal Section 3 1 Section 3 3 5 Battery holder Install the the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the main circuit is charged this will light up While this lamp is ...

Page 40: ...onnect digital I O signals Section 3 2 Section 3 4 8 Note 2 Encoder connector CN2 Used to connect the servo motor encoder or external encoder Refer to table 1 1 for the compatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 9 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 10 Battery holder Install the battery for absolute posit...

Page 41: ...ower supply Section 3 1 Section 3 3 2 Rating plate Section 1 6 3 Control circuit power supply connector CNP2 Connect the control circuit power supply and regenerative option 4 Servo motor power output connector CNP3 Connect the servo motor Section 3 1 Section 3 3 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 ...

Page 42: ...lder 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 connect a regenerative option and a power factor improving DC reactor Section 3 1 Section 3 3 6 Charge lamp When the main circuit is charged this will light While this lamp is lit do not reconnect the cables 7 Protective ...

Page 43: ...tive option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal Section 3 1 Section 3 3 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 circuit is charged this will light While this lamp is lit do not reconnec...

Page 44: ... 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 Grounding terminal Section 3 1 Section 3 3 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 circuit is charged this will light While this lamp...

Page 45: ...nect 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 Grounding terminal Section 3 1 Section 3 3 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 circuit is charged this will light While this lamp is lit...

Page 46: ...ock 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 700A RJ to MR J4 22KA RJ and MR J4 500A4 RJ to MR J4 22KA4 RJ The diagram shows MR J4 700A Removal of the front cover A A 1 Hold the ends of lower side of the front cover with both hands 2 Pu...

Page 47: ...e front cover Front cover setting tab A A 1 Insert the front cover setting tabs into the sockets of the 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 setting tabs click ...

Page 48: ...ts 1 200 V class a MR J4 200A RJ or less The diagram shows MR J4 20A RJ CN4 CN5 P C L11 L21 P3 P4 MR Configurator2 CN3 CN6 CN8 CN1 CN2 W V U L1 L2 L3 R S T CN2L Note 4 Line noise filter FR BSF01 Regenerative option Servo motor Personal computer Note 3 Magnetic contactor MC Power factor improving DC reactor FR HEL Molded case circuit breaker MCCB To safety relay or MR J3 D05 safety logic unit Junct...

Page 49: ...ications 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 This is for the MR J4 _A RJ servo amplifier The MR J4 _A servo amplifier does not have the CN2L ...

Page 50: ...ng DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the 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 51: ...DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the 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 o...

Page 52: ...DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the 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 o...

Page 53: ...roving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the 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...

Page 54: ...DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the 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 o...

Page 55: ...e 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 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 decele...

Page 56: ...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 time ...

Page 57: ...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 time ...

Page 58: ...mproving 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 t...

Page 59: ...actor 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...

Page 60: ...mproving 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 t...

Page 61: ...1 FUNCTIONS AND CONFIGURATION 1 44 MEMO ...

Page 62: ...op or strike the servo amplifier Isolate it from all impact loads Do not install or operate the servo amplifier which have been damaged or have any parts missing When the equipment has been stored for an extended period of time contact your local sales office When handling the servo amplifier be careful about the edged parts such as corners of the servo amplifier The servo amplifier must be instal...

Page 63: ...erwise 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 Servo amplifier Cabinet Cabinet 80 mm or more Wiring allowance Top Bottom 10 mm or more Note 2 40 mm or more Note 1 Note 1 For 11 kW to 22 kW servo amplifiers the clearance between the bottom and ground will be 120 mm or more 2 For the MR J4 500A RJ t...

Page 64: ...plifier with 75 or less of the effective load ratio 100 mm or more 30 mm or more 30 mm or more Cabinet Top Bottom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely 40 mm or more Note 1 10 mm or more Note 2 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 you install the MR J4 500A RJ o...

Page 65: ...ction 10 4 for the bending life 2 4 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 confirm that the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it f...

Page 66: ...ing conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 C surrounding air temperature or less 2 Relays Contact faults will occur due to contact wear arisen from switching currents Relays reach the end of their lives when the power has been turned on and forced stop by EM1 Forced stop 1 has occurred 100 000 times in to...

Page 67: ...2 INSTALLATION 2 6 MEMO ...

Page 68: ...t 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 Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output interface Use a...

Page 69: ...tage to the servo amplifier power supply If input voltage exceeds the upper limit of the specification the servo amplifier will break down The servo amplifier has a built in surge absorber varistor to reduce noise and to suppress lightning surge The varistor can break down due to its aged deterioration To prevent a fire use a molded case circuit breaker or fuse for input power supply Connecting a ...

Page 70: ...ing cables refer to Servo Motor Instruction Manual Vol 3 4 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 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 m...

Page 71: ...egenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended For selecting cables refer to Servo Motor Instruction Manual Vol 3 4 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay tim...

Page 72: ...l Vol 3 4 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 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 pattern bus vol...

Page 73: ...s diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 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 pattern bus voltage decrease...

Page 74: ...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 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 7 Configure ...

Page 75: ... 4 This diagram is for sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 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 pattern bus voltage d...

Page 76: ...O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 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 pattern bus voltage decreases and that may cause th...

Page 77: ... 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 slow the time to turn off the magnetic contactor 7 Configure a circuit to turn off E...

Page 78: ...1 35 9 3 36 CLEARCOM 12 15 16 14 13 11 CLEAR RDYCOM READY PULSE F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 11 Note 7 CN1 Positioning module QD75D Note 4 24 V DC Note 4 24 V DC In position Control common SD RA1 RA2 RA3 RA4 Plate Note 1 2 m or less 10 m or less Upper limit setting 42 15 19 17 18 43 44 21 1 27 SD EM2 SON RES PC TL LSP LSN DICOM P15R TLA LG ...

Page 79: ...o amplifier 8 This length applies to the command pulse train input in the differential line driver type It is 2 m or less in the open collector type 9 Use SW1DNC MRC2 J Refer to section 11 7 The RS 422 communication function is used with servo amplifiers with software version A3 or later 10 Personal computers can also be connected via the CN3 connector enabling RS 422 communication Note that using...

Page 80: ...Plate Note 1 2 m or less 10 m or less Upper limit setting Note 7 CN1 Forced stop 2 Servo on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end Note 3 5 Note 5 Note 10 USB cable option Note 9 MR Configurator2 Analog torque limit 10 V maximum torque Personal computer Note 12 Short circuit connector Packed with the servo amplifier Note 13 ...

Page 81: ...B cable option CN5 Analog torque limit 10 V maximum torque Note 9 MR Configurator2 Personal computer Note 4 24 V DC Note 4 24 V DC RA1 RA2 RA3 RA4 RA5 42 15 19 17 18 43 44 20 41 16 EM2 SON RES ST1 ST2 LSP LSN DICOM SP1 SP2 Reverse rotation stroke end Forced stop 2 Servo on Reset Speed selection 1 Forward rotation start Speed selection 2 Reverse rotation start Forward rotation stroke end Note 3 5 N...

Page 82: ... on in normal alarm free condition Normally closed contact 7 The pins with the same signal name are connected in the servo amplifier 8 TLA will be available when TL External torque limit selection is enabled with Pr PD03 to Pr PD22 Refer to section 3 6 1 5 9 Use SW1DNC MRC2 J Refer to section 11 7 The RS 422 communication function is used with servo amplifiers with software version A3 or later 10 ...

Page 83: ...CN6 2 m or less 2 m or less 10 m or less 2 m or less Upper limit setting Upper limit setting Note 10 USB cable option CN5 Analog torque limit 10 V maximum torque Note 9 MR Configurator2 Personal computer Note 4 14 24 V DC Note 4 14 24 V DC Reverse rotation stroke end Forced stop 2 Servo on Reset Speed selection 1 Forward rotation start Speed selection 2 Reverse rotation start Forward rotation stro...

Page 84: ...ver Control common Encoder Z phase pulse open collector Note 6 CN1 49 RD Ready Encoder Z phase pulse differential line driver 8 LZ LZR Note 6 CN1 20 47 DICOM 21 DICOM DOCOM Personal computer Note 8 USB cable option CN5 27 1 2 m or less Upper limit setting 28 2 Plate Upper limit setting TC SD VLA LG P15R Analog torque command 8 V maximum torque Analog speed limit 0 to 10 V rated speed Note 7 MR Con...

Page 85: ... alarm free condition Normally closed contact 6 The pins with the same signal name are connected in the servo amplifier 7 Use SW1DNC MRC2 J Refer to section 11 7 The RS 422 communication function is used with servo amplifiers with software version A3 or later 8 Personal computers can also be connected via the CN3 connector enabling RS 422 communication Note that using the USB communication functio...

Page 86: ...ential line driver Note 6 CN1 Personal computer Note 8 USB cable option CN5 2 m or less Upper limit setting Plate Upper limit setting Analog torque command 8 V maximum torque Analog speed limit 0 to 10 V rated speed Note 7 MR Configurator2 Plate 10 m or less Forced stop 2 Servo on Reset Forward rotation selection Reverse rotation selection Note 3 Speed selection 2 Speed selection 1 Note 10 Short c...

Page 87: ...factory wired When using a regenerative option disconnect P and D and connect the regenerative option to P and C 2 MR J4 700A RJ to MR J4 22KA RJ MR J4 700A RJ to MR J4 22KA RJ do not have D When using a servo amplifier built in regenerative resistor connect P and C factory wired When using a regenerative option disconnect wires of P and C for the built in regenerative resistor And then connect wi...

Page 88: ...n the control circuit power supply L11 and L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier receives the SON S...

Page 89: ...bly Size Insulator OD Stripped length mm Open tool Manufa cturer CNP1 06JFAT SAXGDK H7 5 CNP2 05JFAT SAXGDK H5 0 CNP3 03JFAT SAXGDK H7 5 AWG18 to 14 3 9 mm or shorter 9 J FAT OT JST b MR J4 200A RJ MR J4 350A RJ CNP2 CNP1 CNP3 MR J4 200A RJ Servo amplifier CNP3 CNP1 CNP2 MR J4 350A RJ Servo amplifier Table 3 2 Connector and applicable wire Applicable wire Connector Receptacle assembly Size Insulat...

Page 90: ...proper connection is inserted to N of CNP1 connector Table 3 3 Connector and applicable wire Applicable wire Connector Receptacle assembly Size Insulator OD Stripped length mm Open tool Manufa cturer CNP1 06JFAT SAXGDK HT10 5 CNP2 05JFAT SAXGDK HT7 5 CNP3 03JFAT SAXGDK HT10 5 AWG 16 to 14 3 9 mm or shorter 10 J FAT OT XL JST ...

Page 91: ...6 AI1 5 10BK AI TWIN2 1 5 10BK MR J4 10A RJ to MR J4 100A RJ AWG14 AI2 5 10BU AWG16 AI1 5 10BK AI TWIN2 1 5 10BK AWG14 AI2 5 10BU AI TWIN2 2 5 10BU MR J4 200A RJ to MR J4 350A RJ AWG12 AI4 10GY AWG 16 AI1 5 10BK AI TWIN2 1 5 10BK MR J4 60A4 RJ to MR J4 350A4 RJ AWG 14 AI2 5 10BU CRIMPFOX ZA3 b Inserting wire Insert the open tool as follows and push down it to open the spring While the open tool is...

Page 92: ...nectors are as viewed from the cable connector wiring section For the STO I O signal connector CN8 refer to chapter 13 For the CN1 connector securely connect the external conductive portion of the shielded cable to the ground plate and fix it to the connector shell Screw Screw Ground plate Cable ...

Page 93: ...B Z phase pulse encoder PZR PZ The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier CN5 USB connector refer to section 11 7 CN3 RS 422 connector refer to chapter 14 The 3M make connector is shown CN8 For the STO I O signal connector refer to section 11 13 Battery connector refer to section 11 8 CN4 BAT Note 1 The MR J4 _A_ RJ servo amplifiers have ...

Page 94: ... ZSP ZSP ZSP Pr PD24 24 O INP INP SA SA SA INP Pr PD25 25 O TLC TLC TLC TLC VLC VLC VLC TLC Pr PD26 26 27 I TLA Note 3 TLA Note 3 TLA Note 3 TLA TC TC TC TLA 28 LG LG LG LG LG LG 29 30 LG LG LG LG LG LG 31 32 33 O OP OP OP OP OP OP 34 LG LG LG LG LG LG 35 I NP NP NP 36 I NG NG NG 37 38 39 40 41 I CR CR SP1 SP1 SP1 SP1 SP1 SP1 CR Pr PD13 Pr PD14 42 I EM2 EM2 EM2 EM2 EM2 EM2 43 I LSP LSP LSP LSP LSP...

Page 95: ...nterlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration Forced stop 2 EM2 CN1 42 EM2 and EM1 are mutually exclusive EM2 has the same function as EM1 in the torque control mode DI 1 Forced stop 1 EM1 CN1 42 When using EM1 set Pr PA04 to 0 _ _ _ to enable EM1 Turn EM1 off open between commons to bring the motor to a force...

Page 96: ...ring the magnetic pole detection in the linear servo motor control mode and the DD motor control mode Also when the magnetic pole detection in the torque control mode is completed this signal will be disabled External torque limit selection TL CN1 18 Turning off TL will enable Pr PA11 Forward torque limit and Pr PA12 Reverse torque limit and turning on it will enable TLA Analog torque limit For de...

Page 97: ...command speed for operation DI 1 Speed selection 2 SP2 CN1 16 Note Input device DI 1 SP3 SP2 SP1 Speed command Speed selection 3 SP3 0 0 0 VC Analog speed command DI 1 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed command 4 1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command ...

Page 98: ...on at the same time to make the torque less than the rated by TLA Analog torque limit DI 1 Clear CR CN1 41 Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10 ms or longer The delay amount set in Pr PB03 Position command acceleration deceleration time constant is also cleared When _ _ _1 is set to Pr PD32 the pulses are always cleared whil...

Page 99: ...Speed 1 Torque Note 0 Off 1 On Torque position control change mode This is used to select the control mode in the torque position control switching mode Note LOP Control mode 0 Torque 1 Position Note 0 Off 1 On Second acceleration dec eleration selection STAB2 The device allows selection of the acceleration deceleration time constant at servo motor rotation in the speed control mode or torque cont...

Page 100: ...n on after 2 5 s to 3 5 s after power on When Pr PD34 is _ _ 1 _ an alarming or warning will turn off ALM DO 1 Dynamic brake interlock DB When using the signal enable it by setting Pr PD23 to Pr PD26 and Pr PD28 DB turns off when the dynamic brake needs to operate When using the external dynamic brake on the servo amplifier of 11 kW or more this device is required Refer to section 11 17 For the se...

Page 101: ...L 92 Battery cable disconnection warning or AL 9F Battery warning has occurred When the battery warning is not occurring turning on the power will turn off BWNG after 2 5 s to 3 5 s DO 1 Alarm code ACD0 CN1 24 DI 1 ACD1 CN1 23 ACD2 CN1 22 To use these signals set _ _ _ 1 in Pr PD34 This signal is outputted when an alarm occurs When an alarm is not occurring respective ordinary signals are outputte...

Page 102: ...e maximum torque Analog input Analog speed command VC CN1 2 Apply 0 V to 10 V DC between VC and LG Speed set in Pr PC12 is provided at 10 V Refer to section 3 6 2 1 If a value equal to or larger than the permissible speed is inputted to VC the value is clamped at the permissible speed Resolution 14 bits or equivalent Analog input Analog speed limit VLA Apply 0 V to 10 V DC between VLA and LG Speed...

Page 103: ...he data set in Pr PC15 to between MO2 and LG in terms of voltage Resolution 10 bits or equivalent Analog output 4 Communication Control mode Device Symbol Connector pin No Function and application I O division P S T RS 422 I F SDP CN3 5 These are terminals for RS 422 communication SDN CN3 4 RDP CN3 3 RDN CN3 6 5 Power supply Control mode Device Symbol Connector pin No Function and application I O ...

Page 104: ... reverse the input pulse logic of the servo amplifier F series positioning module Command pulse logic setting Signal type F series positioning module fixed MR J4 _A_ RJ servo amplifier Pr PA13 setting Open collector Differential line driver Negative logic Negative logic _ _ 1 _ 1 Pulse train input a Input pulse waveform selection You can input command pulses in any of three different forms and can...

Page 105: ...ver type Connect as follows PP NP Servo amplifier PG NG SD Approximately 100Ω Approximately 100Ω Note Note Pulse train input interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current The following section explains about the case where the negative logic and the forward reverse rotation pulse trains are set to _...

Page 106: ...es 3 RD Ready RD Ready ON OFF ON OFF Alarm No alarm SON Servo on Alarm 100 ms or shorter 10 ms or shorter 10 ms or shorter 4 Electronic gear switching The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned on or off the numerator of the electronic gear changes Therefore if a shock occurs at switching use the...

Page 107: ...e voltage depending on products At the voltage of less than 0 05 V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05 V or more Note 5 Connection example Japan resistor RRS10 or equivalent TLA applied voltage vs torque limit value TLA applied voltage V Maximum torque Torque 0 0 0 05 TL DICOM P15R TLA LG SD Servo amplifier 2 kΩ 2 kΩ 24 V DC Note...

Page 108: ...A11 Pr PA12 Pr PA11 Pr PA12 0 1 TLA Pr PA11 Pr PA12 TLA TLA Pr PC35 Pr PA11 Pr PA12 Pr PA11 Pr PA12 1 0 Pr PC35 Pr PA11 Pr PA12 Pr PC35 Pr PC35 TLA Pr PC35 Pr PC35 Pr PC35 1 1 TLA Pr PC35 TLA TLA Note 0 Off 1 On c TLC Limiting torque TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit reverse rotation torque limit or analog torque limit ...

Page 109: ...otation direction according to ST1 Forward rotation start and ST2 Reverse rotation start combination Note 1 Input device Note 2 Rotation direction VC Analog speed command ST2 ST1 Polarity 0 V Polarity Internal speed command 0 0 Stop servo lock Stop servo lock Stop servo lock Stop servo lock 0 1 CCW CW CCW 1 0 CW Stop no servo lock CCW CW 1 1 Stop servo lock Stop servo lock Stop servo lock Stop ser...

Page 110: ...C Analog speed command 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed command 4 1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command 6 1 1 1 Pr PC11 Internal speed command 7 Note 0 Off 1 On You can change the speed during rotation To accelerate decelerate set acceleration decel...

Page 111: ...e indicates the torque generation directions determined by RS1 Forward rotation selection and RS2 Reverse rotation selection when TC Analog torque command is used Note Input device Rotation direction TC Analog torque command RS2 RS1 Polarity 0 V Polarity 0 0 Torque is not generated Torque is not generated 0 1 CCW Forward rotation in power running mode reverse rotation in regenerative mode CW Rever...

Page 112: ...05 Internal speed limit 0 to Pr PC11 Internal speed limit 7 or the value set in the applied voltage of VLA Analog speed limit A relation between VLA Analog speed limit applied voltage and the servo motor speed is as follows When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100 r min greater than the desired speed limit value Sp...

Page 113: ...3 Speed selection 3 as follows Note Input device SP3 SP2 SP1 Speed limit 0 0 0 VLA Analog speed limit 0 0 1 Pr PC05 Internal speed limit 1 0 1 0 Pr PC06 Internal speed limit 2 0 1 1 Pr PC07 Internal speed limit 3 1 0 0 Pr PC08 Internal speed limit 4 1 0 1 Pr PC09 Internal speed limit 5 1 1 0 Pr PC10 Internal speed limit 6 1 1 1 Pr PC11 Internal speed limit 7 Note 0 Off 1 On When the internal speed...

Page 114: ...e zero speed status To ensure safety switch modes after the servo motor has stopped When position control mode is switched to speed control mode droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Position control mode ON OFF ON OFF LOP C...

Page 115: ...d selection 2 as follows Note Input device SP2 SP1 Speed command value 0 0 VC Analog speed command 0 1 Pr PC05 Internal speed command 1 1 0 Pr PC06 Internal speed command 2 1 1 Pr PC07 Internal speed command 3 Note 0 Off 1 On To select VC Analog speed command and a speed command value of internal speed commands 1 to 7 enable SP3 Speed selection 3 with Pr PD03 to Pr PD22 Note Input device SP3 SP2 S...

Page 116: ... torque command ON OFF 10V 0 Note Load torque Speed control mode Torque control mode Speed control mode Forward rotation in driving mode Note When ST1 Forward rotation start and ST2 Reverse rotation start are switched off as soon as a mode is switched to the speed control the servo motor comes to a stop according to the deceleration time constant A shock may occur at switching control modes 2 Spee...

Page 117: ... using SP1 Speed selection 1 as follows Note Input device SP1 Speed command value 0 VLA Analog speed limit 1 Pr PC05 Internal speed limit 1 Note 0 Off 1 On You can change the speed during rotation To accelerate decelerate set acceleration deceleration time constant in Pr PC01 or Pr PC02 When the internal speed command 1 is used to command a speed the speed does not vary with the ambient temperatur...

Page 118: ...rol mode droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Torque control mode Position control mode Position control mode Servo motor speed TC Analog torque command ZSP Zero speed detection LOP Control switching 0V OFF ON OFF ON 10V No...

Page 119: ...stop deceleration function SS1 When EM2 is turned off dynamic brake will start to stop the servo motor after forced stop deceleration During this sequence the display shows AL E6 Servo forced stop warning During normal operation do not use EM2 Forced stop 2 to alternate stop and drive The the servo amplifier life may be shortened 1 Connection diagram Servo amplifier Forced stop 2 DICOM EM2 24 V DC...

Page 120: ...ecelerate according to Pr PC51 Forced stop deceleration time constant Once the motor speed is below Pr PC17 Zero speed after completion of the deceleration command base power is cut and the dynamic brake activates Base circuit Energy supply to the servo motor 0 r min Servo motor speed MBR Electromagnetic brake interlock ON OFF Enabled ON OFF Deceleration time Command Rated speed Ordinary operation...

Page 121: ...rake interlock ON OFF Enabled Base circuit Energy supply to the servo motor 0 r min Servo motor speed ON OFF Enabled EM2 Forced stop 2 ON OFF Pr PC16 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 PC16 the servo amplif...

Page 122: ...d is zero speed or less 1 Timing chart MBR Electromagnetic brake interlock ON OFF Enabled Base circuit Energy supply to the servo motor ON OFF Actual operation of electromagnetic brake Disabled Enabled Position Travel distance ON OFF Enabled EM2 Forced stop 2 Set the base circuit shut off delay time Pr PC16 2 Adjustment Set the freefall prevention compensation amount in Pr PC54 While the servo mot...

Page 123: ...ot be deactivated unless its cause is removed 3 8 1 When you use the forced stop deceleration function POINT To enable the function set 2 _ _ _ initial value in Pr PA04 1 When the forced stop deceleration function is enabled Controller command is ignored Alarm occurrence Alarm No No alarm Note Model speed command 0 and equal to or less than zero speed MBR Electromagnetic brake interlock ON OFF ON ...

Page 124: ... amplifier display 0 r min Servo motor speed ALM Malfunction No alarm Alarm No Braking by the dynamic brake Dynamic brake Braking by the electromagnetic brake Operation delay time of the electromagnetic brake Alarm occurrence 3 8 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 The operation status during an alarm is the same as secti...

Page 125: ... 7 CN3 P S T LA LAR LB LBR LZ LZR OP LG SDP SDN RDP RDN LG LG CN6 P S T MO1 MO2 LG 3 2 1 CN1 P S T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG 28 LG 30 LG SD RS 422 CN2 P S T P S T 2 4 7 8 MR MRR MX MXR LG E USB P S T D GND D 2 3 5 CN5 RA RA M 3 Note 4 6 CN2L 2 4 7 8 MR2 MRR2 MX2 MXR2 LG External encoder Differential line driver output 35 mA or less Open collector output 1 2 kΩ Approx Case Note 2 Isolated ...

Page 126: ...de is the input terminal Transmit signals from sink open collector type transistor output relay switch etc The following is a connection diagram for sink input Refer to section 3 9 3 for source input Approximately 5 mA TR 24 V DC 10 500 mA Switch For transistor EM2 etc Servo amplifier DICOM VCES 1 0 V ICEO 100 µA Approximately 6 2 kΩ 2 Digital output interface DO 1 This is a circuit in which the c...

Page 127: ... photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current 2 When the input pulse frequency is 4 Mpulses s set Pr PA13 to _ 0 _ _ 2 Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP PG NP NG tLH tHL 50 ns tc 75 ns tF 3 µs b Open collector type 1 Interface Approximately 1 2 kΩ Servo amplifier 24 V DC OPC PP NP DOCOM SD Max input pulse freq...

Page 128: ...ollector type Interface Maximum sink current 35 mA Photocoupler Servo amplifier OP LG SD Servo amplifier OP LG SD 5 V DC to 24 V DC b Differential line driver type 1 Interface Maximum output current 35 mA 150 Ω 100 Ω Am26LS32 or equivalent Servo amplifier LA LB LZ LAR LBR LZR SD LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ ...

Page 129: ...Servo motor CCW rotation 5 Analog input Input impedance 10 kΩ to 12 kΩ VC etc LG P15R SD Approx 10 kΩ 15 V DC Upper limit setting 2 kΩ 2 kΩ Servo amplifier 6 Analog output Output voltage 10 V Note Maximum output current 1 mA Resolution 10 bits or equivalent LG MO1 MO2 Servo amplifier Note Output voltage range varies depending on the monitored signal ...

Page 130: ...ately 5 mA VCES 1 0 V ICEO 100 µA Approximately 6 2 kΩ 2 Digital output interface DO 1 This is a circuit in which the emitter side of the output transistor is the output terminal When the output transistor is turned on the current flows from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier Note 24 V DC 10 500 mA Servo amplifier ALM etc DOCOM Load If polar...

Page 131: ...c brake Otherwise it may cause a malfunction POINT Refer to Servo Motor Instruction Manual Vol 3 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Refer to Servo Motor Instruction Manual Vol 3 for the selection of a surge absorber for the electromagnetic brake Note the following when the servo motor with an electromagnetic brake is used 1 Th...

Page 132: ...g 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 ON OFF Release Activate Operation command from controller Electromagnetic brake Release delay time and external relay etc Note 2 ...

Page 133: ... 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 8 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 Alarm Approx 10 ms Dynamic brake Dynamic brake Electr...

Page 134: ... the servo motor Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake has been activated 2 Variable according to the operation status 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 a SON Servo on on off It is the same as 1 a in this section b EM1 Forced stop 1 on off Dynamic brake Dynamic brake Electromagnetic ...

Page 135: ... supply on Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Operation delay time of the electromagnetic brake MBR Electromagnetic brake interlock Note 2 Base circuit Alarm AL 10 Undervoltage No alarm Alarm Servo motor speed Approx 10 ms Note 1 ON OFF ON OFF Main circuit power supply ON OFF 0 r min Note 1 Variable according to the operation status 2 ON Electromagnetic brake i...

Page 136: ...ise 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 the EMC Installation Guidelines IB NA 67310 Ensure to connect the wire to the PE terminal of the servo amplifier Do not connect the wire directly to the grounding of the cabinet Line filter Note Power supply V U Cabinet Servo motor M U V W W...

Page 137: ...3 SIGNALS AND WIRING 3 70 MEMO ...

Page 138: ...sistor servo motor etc may be hot while power is on or for some time after power off Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with them During operation never touch the rotor of the servo motor Otherwise it may cause injury POINT When you use a linear servo motor replace the following left words to the right words Load to motor inertia rat...

Page 139: ...et the parameters as necessary such as the used operation mode and regenerative option selection Refer to chapter 5 and sections 4 2 4 4 3 4 and 4 4 4 For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible check whether the servo motor rotates correctly Refer to sections 4 2 3 4 3 3 and 4 4 3 For the test operation with the servo moto...

Page 140: ...match in phase with the servo motor power input terminals U V and 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 power outputs U V and W To do so will fail the connected servo amplifier and servo motor Servo amplifier Servo motor M U V W U V W L1 L2 L3 3 The grounding terminal of the servo motor is connected to the PE terminal...

Page 141: ...wisted cable should be used when wiring is over 5 m and under 10 m using a brake unit d When you use a power regeneration common converter For 5 kW or less servo amplifiers the lead wire between P terminal and D terminal should not be connected For 7 kW servo amplifiers the lead wires of the built in regenerative resistor connected to P terminal and C terminal should not be connected The wire of p...

Page 142: ...tion 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 2 I O signal wiring a The I O signals should be connected correctly Use DO forced output to forcibly tu...

Page 143: ...vo on 2 Make sure that a command pulse train is not input 3 Switch on the main circuit power supply and control circuit power supply When main circuit power control circuit power is switched on the display shows C Cumulative feedback pulses and in 2 s later shows data In the absolute position detection system first power on results in AL 25 Absolute position erased and the servo system cannot be s...

Page 144: ... stop Refer to chapter 8 Note EM2 Forced stop 2 off The servo motor decelerates to a stop with the command AL E6 Servo forced stop warning occurs EM2 has the same function as EM1 in the torque control mode Refer to section 3 5 for EM1 STO STO1 STO2 off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop LSP Forward rotation stroke end of LSN Reverse rotat...

Page 145: ...ady switches on 2 Switch on LSP Forward rotation stroke end and LSN Reverse rotation stroke end 3 When a pulse train is input from the controller the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the 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 machi...

Page 146: ...tart up CAUTION Never adjust or change the parameter values extremely as it will make operation unstable POINT Using the optional MR Configurator2 you can refer to reason for rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action 1 Troubleshooting No Start up sequence Fault Investigation Possible cause Reference 1 Power on LED is ...

Page 147: ... in setting of Pr PA13 Servo motor run in reverse direction 1 Mistake in wiring to controller 2 Mistake in setting of Pr PA14 Chapter 5 4 Gain adjustment Rotation ripples speed fluctuations are large at low speed Make gain adjustment in the following procedure 1 Increase the auto tuning response level 2 Repeat acceleration and deceleration several times to complete auto tuning Gain adjustment faul...

Page 148: ... normal status without position shift there are the following relationships 1 Q P Output counter Cumulative command pulses 2 When Pr PA21 is 0 _ _ _ P CMX Pr PA06 CDV Pr PA07 C Cumulative command pulses Electronic gear Cumulative feedback pulses 3 When Pr PA21 is 1 _ _ _ P 4194304 FBP Pr PA05 C 4 When Pr PA21 is 2 _ _ _ P CMX Pr PA06 CDV Pr PA07 16 C 5 C Δℓ M Cumulative feedback pulses Travel dist...

Page 149: ...the following situations occurs the servo amplifier suspends the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch of SON Servo on The base circuit is shut off and the servo motor coasts Alarm occurrence The servo motor decelerates to a stop with the command With some alarms however...

Page 150: ...se rotation stroke end 3 When VC Analog speed command is input from the controller and ST1 Forward rotation start or ST2 Reverse rotation start is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor w...

Page 151: ...he corresponding parameter settings 4 3 6 Trouble at start up CAUTION Never adjust or change the parameter values extremely as it will make operation unstable POINT Using the optional MR Configurator2 you can refer to reason for rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action No Start up sequence Fault Investigation Possibl...

Page 152: ...ion torque limit Pr PA11 and the reverse rotation torque limit Pr PA12 Torque limit level is too low as compared to the load torque Section 5 2 1 3 Switch on ST1 Forward rotation start or ST2 Reverse rotation start Servo motor does not rotate When TLA Analog torque limit is usable check the input voltage on the status display Torque limit level is too low as compared to the load torque Section 4 5...

Page 153: ...ds the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor coasts 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...

Page 154: ... RD Ready switches on 2 When TC Analog speed command is input from the controller and RS1 Forward rotation start or RS2 Reverse rotation start is switched on the servo motor starts rotating Give a low torque command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor w...

Page 155: ...30M H MR EKCBL40M H MR EKCBL50M H When using this servo in the torque control mode change Pr PA01 setting to select the torque control mode In the torque control mode the servo can be used by merely changing the basic setting parameters Pr PA _ _ and extension setting parameters Pr PC _ _ mainly As necessary set other parameters 4 4 5 Actual operation Start actual operation after confirmation of n...

Page 156: ...emove cause Chapter 8 Note Switch on SON Servo on Servo motor shaft is free Call the external I O signal display section 4 5 7 and check the on off status of the input signal 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Section 4 5 7 Call the status display section 4 5 3 and check the input voltage of TC Analog torque command Analog torque command is 0 V Sect...

Page 157: ...T MODE UP DOWN SET Display mode change Low High switching Push this button together with the SET button for 3 s or more to switch to the one touch tuning mode Display data scrolling Display data scrolling Display data determination Data clear Push this button together with the MODE button for 3 s or more to switch to the one touch tuning mode Decimal LED Displays the decimal points alarm presence ...

Page 158: ...tor encoder ID display drive recorder enabled disabled display Section 4 5 4 Current alarm display alarm history display parameter error number display Section 4 5 5 Display and setting of basic setting parameters Section 4 5 6 Display and setting of gain filter parameters Display and setting of extension setting parameters Display and setting of I O setting parameters Display and setting of exten...

Page 159: ...Cumulative feedback pulses Effective load ratio Peak load ratio Instantaneous torque Within one revolution position 1 pulse unit Servo motor speed Linear servo motor speed Within one revolution position 1000 pulse unit Droop pulses ABS counter Cumulative command pulses Load to motor inertia ratio Command pulse frequency Bus voltage Encoder inside temperature Settling time Oscillation detection fre...

Page 160: ...der information 2 Load side encoder cumulative feedback pulses Load side encoder droop pulses Load side encoder information 1 1 pulse unit Load side encoder information 1 100 pulses unit Load side encoder information 2 Cumulative feedback pulses Note The displays in the frames are the standard control modes in one cycle with some displays omitted ...

Page 161: ...ses Note Unit total power consumption 2 increment of 100 kWh Electrical angle high Electrical angle low Electrical angle high Cumulative feedback pulses Z phase counter low Z phase counter high Note The displays in the frames are the standard control modes in one cycle with some displays omitted ...

Page 162: ...em State Servo amplifier display Forward rotation at 2500 r min Servo motor speed Reverse rotation at 3000 r min Reverse rotation is indicated by Load to motor inertia ratio 7 00 times 11252 rev ABS counter 12566 rev Lit Negative value is indicated by the lit decimal points in the upper four digits ...

Page 163: ...e s The frequency of position command input pulses is counted and displayed The value displayed is not multiplied by the electronic gear CMX CDV 1 Torque control mode Input voltage of VLA Analog speed limit voltage is displayed Analog speed command voltage Analog speed limit voltage F V 2 Speed control mode Input voltage of VC Analog speed command voltage is displayed 1 Position control mode and s...

Page 164: ...ad side encoder Droop pulses FE pulse Droop pulses of the deviation counter between a load side encoder and a command are displayed When the count exceeds 99999 it starts from 0 Negative value is indicated by the lit decimal points in the upper four digits The display shows the average droop pulses of 128 samplings at the rate of 444 μs Load side encoder information 1 1 pulse unit FCY1 pulse The Z...

Page 165: ...yed in the initial status changes with the control mode as follows Control mode Status display Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses ...

Page 166: ...ls Output signal DO forced output This allows digital output signal to be switched on off forcibly For details refer to section 4 5 8 JOG operation JOG operation can be performed when there is no command from an external controller For details refer to section 4 5 9 2 Positioning operation Positioning operation can be performed when there is no command from an external controller MR Configurator2 ...

Page 167: ...t voltage of VC or VLA is 0 4 V or less or 0 4 V or more Note Servo motor series ID Push the SET button to show the series ID of the servo motor currently connected For indication details refer to the Servo Motor Instruction Manual Vol 3 Servo motor type ID Push the SET button to show the type ID of the servo motor currently connected For indication details refer to the Servo Motor Instruction Man...

Page 168: ... that the last alarm is AL 50 1 Thermal overload error 1 during operation Indicates the second last alarm is AL 33 1 Main circuit voltage error Indicates the third last alarm is AL 10 1 Voltage drop in the control circuit power Indicates that there is no tenth alarm in the past Indicates that there is no eleventh alarm in the past Indicates that there is no twelfth alarm in the past Alarm history ...

Page 169: ...r the alarm history 5 Push UP or DOWN to move to the next history 4 5 6 Parameter mode 1 Parameter mode transition After selecting the corresponding parameter mode with the MODE button pushing the UP or DOWN button changes the display as shown below Pr PB01 Pr PA02 Pr PA01 I O setting parameters Pr PD01 Pr PD02 Pr PD47 Pr PD48 Pr PC01 Pr PC02 Pr PC79 Extension setting parameters Pr PC80 Pr PB02 Pr...

Page 170: ...nged Use UP or DOWN _ _ _ 2 Speed control mode To shift to the next parameter press the UP or DOWN button When changing the Pr PA01 setting change its set value then switch power off once and switch it on again to enable the new value b Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator to 123456 with Pr PA06 Electronic gear n...

Page 171: ...gnostic screen Press UP twice External I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below Input signal Output signals Always lit CN1 16 CN1 41 CN1 22 CN1 48 CN1 19 CN1 15 CN1 44 CN1 43 CN1 23 CN1 25 CN1 49 CN1 24 Light on on Light off off CN1 18 CN1 17 CN1 33 CN1 45 CN1 42 The LED segment corresponding to the pin is lit to ind...

Page 172: ... LSN LSN LSN Pr PD19 Pr PD20 45 I LOP LOP LOP LOP LOP LOP Pr PD21 Pr PD22 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD Pr PD28 Note 1 I input signal O output signal 2 P position control mode S speed control mode T torque control mode P S position speed control switching mode S T speed torque control switching mode T P torque position switching mode b Symbol and signal names Symbol Applicati...

Page 173: ... INP CN1 22 b Speed control mode Light on on Light off off SP2 CN1 16 ST1 CN1 17 ST2 CN1 18 LOP CN1 45 EM2 CN1 42 Input signal Output signals OP CN1 33 ALM CN1 48 SP1 CN1 41 RES CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 43 RD CN1 49 SA CN1 24 ZSP CN1 23 TLC CN1 25 SA CN1 22 c Torque control mode Light on on Light off off SP2 CN1 16 RS2 CN1 17 RS1 CN1 18 LOP CN1 45 EM2 CN1 42 Input signal Output signals...

Page 174: ...peration must be performed in the servo off state by turning off the SON Servo on Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen Switch on off the signal below the lit segment Indicates on off of output signal Definitions of on off are the same as those for the external I O signals Light on on light off off Press UP three times Press SET for...

Page 175: ...detection system by DIO Pr PA03 _ _ _1 MR Configurator2 is required to perform positioning operation Test operation cannot be performed if SON Servo on is not turned off 1 Mode switching Call the display screen shown after power on Select JOG operation or motor less operation in the following procedure Using the MODE button show the diagnostic screen Press UP four times Press SET for longer than 2...

Page 176: ...art CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the USB cable is disconnected during JOG operation using the MR Configurator2 the servo motor decelerates to a stop b Status display Press the MODE button in the JOG operation ready status to call the status display screen When the JOG operation is performed using the UP or DOWN button the servo status is displayed...

Page 177: ...ed input field b Acceleration deceleration time constant ms Enter the acceleration deceleration time constant into the Accel decel time input field c Travel distance pulse Enter the travel distance into the Travel distance input field d LSP LSN are automatically turned on When setting the external stroke signal to automatic on click the check box to enable it When it is not selected turn on LSP an...

Page 178: ...time settings which are set by referring to the above table click the check box of Make the aging function enabled h Forward reverse the servo motor Click the Forward button to rotate the servo motor in the forward rotation direction Click the Reverse button to rotate the servo motor in the reverse rotation direction i Pause the servo motor Click the Pause button during servo motor rotation to tem...

Page 179: ...ng operation can be performed in two or more operation patterns combined without using a controller Use this operation with the forced stop reset This operation may be used independently of whether servo on or servo off and whether a controller is connected or not Exercise control on the program operation screen of MR Configurator2 For full information refer to the MR Configurator2 Installation Gu...

Page 180: ... the described values to each parameter 5 1 Parameter list POINT To enable a parameter whose symbol is preceded by cycle the power after setting it Abbreviations of operation modes indicate the followings Standard Standard semi closed loop system use of the rotary servo motor Full Fully closed loop system use of the rotary servo motor Lin Linear servo motor use DD Direct drive DD motor use The sym...

Page 181: ...ion torque limit positive direction thrust limit 100 0 PA12 TLN Reverse rotation torque limit negative direction thrust limit 100 0 PA13 PLSS Command pulse input form 0100h 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 00...

Page 182: ...er setting 3141 rad s PB19 VRF11 Vibration suppression control 1 Vibration frequency 100 0 Hz PB20 VRF12 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 co...

Page 183: ...ion control 2 Vibration frequency 100 0 Hz PB53 VRF22 Vibration suppression control 2 Resonance frequency 100 0 Hz PB54 VRF23 Vibration suppression control 2 Vibration frequency damping 0 00 PB55 VRF24 Vibration suppression control 2 Resonance frequency damping 0 00 PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching 0 0 Hz PB57 VRF22B Vibration suppression control...

Page 184: ...aximum speed 0 r min mm s PC13 TLC Analog torque thrust command maximum output 100 0 PC14 MOD1 Analog monitor 1 output 0000h PC15 MOD2 Analog monitor 2 output 0001h PC16 MBR Electromagnetic brake sequence output 0 ms PC17 ZSP Zero speed 50 r min mm s PC18 BPS Alarm history clear 0000h PC19 ENRS Encoder output pulse selection 0000h PC20 SNO Station No setting 0 station PC21 SOP RS 422 communication...

Page 185: ...ction C A 0000h PC46 For manufacturer setting 0 PC47 0 PC48 0 PC49 0 PC50 0000h PC51 RSBR Forced stop deceleration time constant 100 ms PC52 For manufacturer setting 0 PC53 0 PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 0 0001rev 0 01mm PC55 For manufacturer setting 0 PC56 100 PC57 0000h PC58 0 PC59 0000h PC60 COPD Function selection C D 0000h PC61 For manufacturer setting 00...

Page 186: ...0h PD15 For manufacturer setting 0000h PD16 0000h PD17 DI8L Input device selection 8L 0A0Ah PD18 DI8H Input device selection 8H 0000h PD19 DI9L Input device selection 9L 0B0Bh PD20 DI9H Input device selection 9H 0000h PD21 DI10L Input device selection 10L 2323h PD22 DI10H Input device selection 10H 0023h PD23 DO1 Output device selection 1 0004h PD24 DO2 Output device selection 2 000Ch PD25 DO3 Out...

Page 187: ...d loop control Position deviation error detection level 100 kpulse PE08 DUF Fully closed loop dual feedback filter 10 rad s PE09 For manufacturer setting 0000h PE10 FCT3 Fully closed loop function selection 3 0000h PE11 For manufacturer setting 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 0000...

Page 188: ...d Full Lin D D P S T PE42 For manufacturer setting 0 PE43 0 0 PE44 0000h PE45 0000h PE46 0000h PE47 0000h PE48 0000h PE49 0000h PE50 0000h PE51 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0 00 PE62 0 00 PE63 0 00 PE64 0 00 ...

Page 189: ...0 PF18 0000h PF19 0000h PF20 0000h PF21 DRT Drive recorder switching time setting 0 s PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive Oscillation detection level 50 PF24 OSCL2 Vibration tough drive function selection 0000h PF25 CVAT SEMI F47 function Instantaneous power failure detection time 200 ms PF26 For manufacturer setting 0 PF27 0 PF28 0 PF29 0000h PF30 0 PF31 FRIC Machin...

Page 190: ...ion error detection level 100 PL08 LIT3 Linear servo motor DD motor function selection 3 0010h PL09 LPWM Magnetic pole detection voltage level 30 PL10 For manufacturer setting 5 PL11 100 PL12 500 PL13 0000h PL14 0000h PL15 20 PL16 0 PL17 LTSTS Magnetic pole detection Minute position detection method Function selection 0000h PL18 IDLV Magnetic pole detection Minute position detection method Identif...

Page 191: ...mode 3 Speed control mode and torque control mode 4 Torque control mode 5 Torque control mode and position control mode 0h _ _ x _ Operation mode selection 0 Standard control mode 1 Fully closed loop control mode 4 Linear servo motor control mode 6 DD motor control mode except 400 V class servo amplifiers Setting other than above will trigger AL 37 Parameter error The linear servo system direct dr...

Page 192: ...1 kW to 22 kW 01 FR RC H FR CV H FR BU2 H When you use FR RC H FR CV H or FR BU2 H select Mode 2 _ _ _ 1 of Undervoltage alarm detection mode selection in Pr PC27 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 is required 82 MR RB3G 4 Co...

Page 193: ... function disabled with EM1 2 Forced stop deceleration function enabled with EM2 Refer to table 5 1 for details 2h Table 5 1 Deceleration method Deceleration method Setting value EM2 EM1 EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration 2 ...

Page 194: ...d and or acceleration deceleration time constants CDV FBP Command pulse train Pt 0 initial value CMX Deviation counter Electronic gear Pr PA06 Pr PA07 Number of command input pulses per revolution Pr PA05 1000 to 1000000 Servo motor Encoder M X16 1 CDV CMX pulse rev 2 Electronic gear selection x _ _ _ Pr PA21 Pt servo motor resolution 4194304 pulses rev Always set the electronic gear with servo of...

Page 195: ...djustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia 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 Pr PB07 Model loop gain Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _...

Page 196: ...mit positive direction thrust limit value or Pr PA12 Reverse rotation torque limit negative direction thrust limit value will be the maximum output voltage 8 V Set the parameter on the assumption that the maximum torque or thrust is 100 0 The parameter is for limiting the torque of the servo motor in the CCW power running or CW regeneration or limiting the thrust of the linear servo motor in the p...

Page 197: ...putting commands over 1 Mpulse s and 4 Mpulses s or lower set 0 Incorrect setting may cause the following malfunctions Setting a value higher than actual command will lower noise immunity Setting a value lower than actual command will cause a position mismatch 1h x _ _ _ For manufacturer setting 0h Table 5 3 Command input pulse train form selection Setting value Pulse train form Forward rotation p...

Page 198: ...3 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 Setting range 0 1 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 or electronic gear ratio after multiplication by 4 ...

Page 199: ... 15M 1SS0 00B4h B401h LM U2PBF 22M 1SS0 2601h LM U2P2B 40M 2SS0 2201h LM U2P2C 60M 2SS0 2301h LM U2P2D 80M 2SS0 2401h LM FP2B 06M 1SS0 natural cooling 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 1SS0 natural cooling 4401h LM FP4F 36M 1SS0 natural cooling 4601h LM FP4H 48M 1SS0 natural cooling 4801h LM FP5H 6...

Page 200: ... and load fluctuation You can assign MTTR During tough drive to the pins CN1 22 to CN1 25 and CN1 49 with Pr PD23 to Pr PD26 and Pr PD28 PA20 TDS Tough drive setting _ _ _ x For manufacturer setting 0h _ _ x _ Vibration tough drive selection 0 Disabled 1 Enabled Selecting 1 enables to suppress vibrations by automatically changing setting values of Pr PB13 Machine resonance suppression filter 1 and...

Page 201: ...tion A 4 _ _ _ x Vibration suppression mode selection 0 Standard mode 1 3 inertia mode 2 Low response mode 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 during the 3 inertia mode or low response mode stop the motor 0h _ _ x _ For manuf...

Page 202: ...ppression mode selection to 3 inertia mode _ _ _ 1 in Pr PA24 Refer to section 7 1 5 for details 0 Disabled 1 Automatic setting 2 Manual setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB03 PST Position command acceleration deceleration time constant position smoothing Set the constant of a primary delay to the position command You can select a control method from Primary delay or Linear...

Page 203: ...e response gain up to the target position Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and or noise The setting of the parameter will be the automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details Setting range 1 0 to 2000 0 15 0 rad s Pr PA08 This parameter ...

Page 204: ...ous friction torque against the servo motor rated value or thrust against the linear servo motor rated value When the response level is low or when the torque thrust is limited the efficiency of the parameter may be lower Setting range 0 to 100 0 PB13 NH1 Machine resonance suppression filter 1 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filte...

Page 205: ...automatically calculated for the liner servo motor Set manually for Manual setting _ _ _ 1 When Shaft resonance suppression filter selection is Disabled _ _ _ 2 in Pr PB23 the setting value of this parameter is disabled When Machine resonance suppression filter 4 selection is Enabled _ _ _ 1 in Pr PB49 the shaft resonance suppression filter is not available _ _ x x Shaft resonance suppression filt...

Page 206: ...ng range 0 1 to 300 0 100 0 Hz 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 Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ _...

Page 207: ...linear servo motor speed 0h _ _ x _ Gain switching condition selection 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB27 CDL Gain switching condition This is used to set the value of gain switching command frequency droop pulses and servo motor speed ...

Page 208: ...ou 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 control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching durin...

Page 209: ...6 03 750 23 59 43 14 8 04 562 24 56 44 14 1 05 450 25 53 45 13 4 06 375 26 51 46 12 8 07 321 27 48 47 12 2 08 281 28 46 48 11 7 09 250 29 45 49 11 3 0A 225 2A 43 4A 10 8 0B 204 2B 41 4B 10 4 0C 187 2C 40 4C 10 0D 173 2D 38 4D 9 7 0E 160 2E 37 4E 9 4 0F 150 2F 36 4F 9 1 10 140 30 35 2 50 8 8 11 132 31 33 1 51 8 3 12 125 32 31 3 52 7 8 13 118 33 29 6 53 7 4 14 112 34 28 1 54 7 0 15 107 35 26 8 55 6 ...

Page 210: ...sion filter 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value set Machine resonance suppression filter 4 selection to Enabled _ _ _ 1 in Pr PB49 Setting range 10 to 4500 4500 Hz Set the shape of the machine resonance suppression filter 4 PB49 NHQ4 Notch shape selection 4 _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled ...

Page 211: ...equency machine vibration When Vibration suppression control 2 tuning mode selection is Automatic setting _ _ 1 _ in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ 2 _ To enable the setting of this digit set Vibration suppression mode selection to 3 inertia mode _ _ _ 1 in Pr PA24 Setting range 0 1 to 300 0 100 0 Hz PB54 VRF23 Vibration suppression control 2 V...

Page 212: ... in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching i...

Page 213: ...s Pr PC_ _ Control mode No symbol name Setting digit Function Initial value unit P S T PC01 STA Acceleration time constant Set the acceleration time required to reach the rated speed from 0 r min or 0 mm s for VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 If the preset speed command is lower than the rated speed acceleration deceleration time will...

Page 214: ...limit value of the actual arc part time is limited by 2000000 STA for acceleration or by 2000000 STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows Acceleration 100 ms 2000000 20000 100 ms 200 ms Therefore it will be limited to 100 ms Deceleration 200 ms 2000000 5000 400 ms 200 ms Therefore it will be 200 ms as you set Setting ran...

Page 215: ...nstantaneous speed Set the speed 6 of internal speed commands Setting range 0 to permissible instantaneous speed 500 r min mm s PC10 SC6 Internal speed command 6 Internal speed limit 6 Set the speed 6 of internal speed limits Setting range 0 to permissible instantaneous speed Set the speed 7 of internal speed commands Setting range 0 to permissible instantaneous speed 800 r min mm s PC11 SC7 Inter...

Page 216: ... torque thrust at the analog torque thrust command voltage TC 8 V of 8 V on the assumption that the maximum torque thrust is 100 0 For example set 50 0 The maximum torque or thrust 50 0 100 0 is outputted When you input a command value of the maximum torque thrust or more to TC the value is clamped at the maximum torque thrust Setting range 0 0 to 1000 0 100 0 ...

Page 217: ...ote 2 09 Servo motor side droop pulses 10 V 100000 pulses Note 2 0A Feedback position 10 V 1 Mpulse Note 2 0B Feedback position 10 V 10 Mpulses Note 2 0C Feedback position 10 V 100 Mpulses Note 2 0D Bus voltage 200 V class 8 V 400 V 400 V class 8 V 800 V 0E Speed command 2 8 V max speed 10 Load side droop pulses 10 V 100 pulses Note 2 11 Load side droop pulses 10 V 1000 pulses Note 2 12 Load side ...

Page 218: ...phase 90 shift in CW or negative direction 0h Servo motor rotation direction linear servo motor travel direction Setting value 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 1 Dividing ratio setting 2 The same output pulse setting as the command pulse 3 A ph...

Page 219: ...mmunication error 1 or AL 20 Encoder normal communication error 1 occurs Setting 1 will trigger AL 37 while Fully closed loop control mode _ _ 1 _ is selected in Pr PA01 except MR J4 _A_ RJ 0h PC23 COP2 Function selection C 2 _ _ _ x Servo lock selection at speed control stop Select the servo lock selection at speed control stop In the speed control mode the servo motor shaft can be locked to prev...

Page 220: ...ommand 7 Setting range 0 to 50000 0 ms PC31 STB2 Deceleration time constant 2 To enable the parameter turn on STAB2 Speed acceleration deceleration selection Set the deceleration time required to reach 0 r min or 0 mm s from the rated speed for VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 Setting range 0 to 50000 0 ms PC32 CMX2 Commanded pulse mu...

Page 221: ...oop pulses Note 3 1A Load side encoder information 1 1 pulse unit Note 3 1B Load side encoder information 1 100 pulses unit Note 3 1C Load side encoder ABS counter Note 3 1D Z phase counter 1 pulse unit Note 4 1E Z phase counter 100 pulses unit Note 4 1F Electrical angle 1 pulse unit Note 4 20 Electrical angle 100 pulses unit Note 4 00h Note 1 It is for the speed control mode It will be the analog...

Page 222: ...0 V Setting range 9999 to 9999 Set the offset voltage of TC Analog torque command Setting range 9999 to 9999 PC38 TPO Analog torque command offset Analog torque limit offset Set the offset voltage of TLA Analog torque limit Setting range 9999 to 9999 0 mV PC39 MO1 Analog monitor 1 offset Set the offset voltage of MO1 Analog monitor 1 Setting range 9999 to 9999 0 mV PC40 MO2 Analog monitor 2 offset...

Page 223: ...irect drive servo system 0 Enabled AL 71 6 Z phase AL 20 6 Z phase AL 20 6 Z phase 1 Disabled X _ _ _ For manufacturer setting 0h PC51 RSBR Forced stop deceleration time constant Set deceleration time constant when you use the forced stop deceleration function Set the time per ms from the rated speed to 0 r min or 0 mm s Forced stop deceleration Pr PC51 0 r min Servo motor speed Rated speed Dynami...

Page 224: ...tion travel direction selection setting is 1 compensation will be performed to the CW direction The vertical axis freefall prevention function is performed when all of the following conditions are met 1 Position control mode 2 The value of the parameter is other than 0 3 The forced stop deceleration function is enabled 4 Alarm occurs or EM2 turns off when the linear servo motor speed is zero speed...

Page 225: ...gnal 1 Enabled automatic on _ x _ _ BIN For manufacturer setting _ _ x _ HEX x _ _ _ BIN For manufacturer setting _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ BIN LSN Reverse rotation stroke end 0 Disabled Use for an external input signal _ x _ _ HE...

Page 226: ...he same pin in all control modes 3 In the torque control mode this device cannot be used during normal operation It can be used during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode Also when the magnetic pole detection in the torque control mode is completed this signal will be disabled Any input device can be assigned to the CN1 15 pin _ _ x x To...

Page 227: ... For manufacturer setting 0h x _ _ _ 0h Any input device can be assigned to the CN1 19 pin _ _ x x Position control mode Device selection Refer to table 5 9 in Pr PD03 for settings 03h PD11 DI5L Input device selection 5L x x _ _ Speed control mode Device selection Refer to table 5 9 in Pr PD03 for settings 03h Any input device can be assigned to the CN1 19 pin _ _ x x Torque control mode Device se...

Page 228: ...put device can be assigned to the CN1 45 pin _ _ x x Torque control mode Device selection Refer to table 5 9 in Pr PD03 for settings 23h PD22 DI10H Input device selection 10H _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD23 DO1 Output device selection 1 _ _ x x Device selection Any output device can be assigned to the CN1 22 pin When Enabled absolute position detection system by DIO _ _ _ 1 is ...

Page 229: ...evice can be assigned to the CN1 49 pin Refer to table 5 10 in Pr PD23 for settings 02h PD28 DO6 Output device selection 6 _ x _ _ For manufacturer setting 0h x _ _ _ 0h Select a filter for the input signal PD29 DIF Input filter setting _ _ _ x Input signal filter selection If external input signal causes chattering due to noise etc input filter is used to suppress it 0 None 1 0 888 ms 2 1 777 ms ...

Page 230: ...utted to the pins CN1 22 CN1 23 and CN1 24 0 Disabled 1 Enabled For details of the alarm codes refer to chapter 8 When Enabled absolute position detection system by DIO _ _ _ 1 is selected in Pr PA03 and when MBR Electromagnetic brake interlock or ALM Malfunction is assigned to the CN1 22 pin CN1 23 pin or CN1 24 pin selecting alarm code output will generate AL Parameter error 0h _ _ x _ Selection...

Page 231: ...ection enabled Error detection disabled 03h PE03 FCT2 Fully closed loop function selection 2 Position deviation error During servo on Setting value Speed deviation error With command Command 0 During servo off _ _ 0 0 _ _ 0 1 _ _ 0 2 _ _ 0 3 _ _ 1 0 _ _ 1 1 _ _ 1 2 _ _ 1 3 _ _ 2 0 _ _ 2 1 _ _ 2 2 _ _ 2 3 _ x _ _ For manufacturer setting 0h x _ _ _ Fully closed loop control error reset selection 0 ...

Page 232: ...ronic gear 2 Numerator 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 converted to the resolution of the load side encoder Refer to section 17 3 1 5 for details Setting range 1 to 65535 1 PE35 FBD2 Fully closed loop control Feedback pulse...

Page 233: ... a value from 1 to 32767 is set it will switch after the setting value When 0 is set it will switch after 600 s When 1 is set the drive recorder function is disabled Setting range 1 to 32767 0 s PF23 OSCL1 Vibration tough drive Oscillation detection level Set a filter readjustment sensitivity of Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine resonance suppression filter 2 while...

Page 234: ... Friction judgement speed Set a linear servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis Setting 0 will set a value half of the rated speed When your operation pattern is under the rated speed we recommend that you set a half value of the maximum speed Forward rotation direction Positive direction 0 r min Ope...

Page 235: ...esolution Numerator Set a linear encoder resolution per µm with Pr PL02 and Pr PL03 Set the numerator in Pr PL02 This is enabled only for linear servo motors Setting range 1 to 65535 1000 μm PL03 LID Linear encoder resolution Denominator Set a linear encoder resolution per µm with Pr PL02 and Pr PL03 Set the denominator in Pr PL03 This is enabled only for linear servo motors Setting range 1 to 655...

Page 236: ...irect drive motor 100 r min Setting range 0 to 5000 0 mm s r min PL07 LB3 Torque thrust deviation error detection level Set the torque thrust deviation error detection level of the servo control error detection When the deviation between a current command and current feedback is larger than the setting value AL 42 3 Servo control error by torque thrust deviation will occur Setting range 0 to 1000 ...

Page 237: ...e 5 11 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 4 C 5 D 6 E 7 Middle response F High response Table 5 12 Load to motor mass ratio load to motor inertia ratio Setting value Load to motor mass ratio load to motor inertia ratio Setting value Load to motor mass ratio load to motor ...

Page 238: ...llowing 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 explanation Gain adjustment mode Pr PA08 setting Estimation of load to motor inertia ratio Automatically set parameter...

Page 239: ... 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 240: ...ratio PB22 VRF14 PB07 PG1 Model loop gain Vibration suppression control 1 Resonance frequency damping PB08 PG2 Position loop gain PB23 VFBF Low pass filter selection PB09 VG2 Speed loop gain PB47 NHQ3 Notch shape selection 3 PB10 VIC Speed integral compensation PB48 NH4 Machine resonance suppression filter 4 PB12 OVA Overshoot amount compensation PB49 NHQ4 Notch shape selection 4 PB13 NH1 Machine ...

Page 241: ...l screen AUTO of the one touch tuning Push the SET button for 2 s or more during displaying AUTO to switch to the response mode selection AUTO Select a response mode from AUTO H high mode AUTO basic mode or AUTO L low mode Start Startup of the system Operation One touch tuning start Response mode selection One touch tuning execution End Push the SET button to start one touch tuning Push it during ...

Page 242: ... a Response mode selection Select a response mode from 3 modes in the one touch tuning window of MR Configurator2 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 Refer to the following table for selecting a response mode ...

Page 243: ...6 Response mode Machine characteristic Low mode Basic mode High mode Response Guideline of corresponding machine Low response High response General machine tool conveyor Arm robot Precision working machine Inserter Mounter Bonder ...

Page 244: ...ng will start one touch tuning If the start button is pushed while the servo motor stops C 0 0 2 or C 0 0 4 will be displayed at status in error code Refer to table 6 2 of 1 d of this section for error codes During processing of one touch tuning the status will be displayed in the progress window as follows One touch tuning will be finished at 100 Completing the one touch tuning starts writing tun...

Page 245: ...us operation is short Maintain the operation interval during motor driving about 200 ms C005 Load to motor inertia ratio misestimated 1 The estimation of the load to motor inertia ratio at one touch tuning was a failure Drive the motor with meeting conditions as follows 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...

Page 246: ...n to value before adjustment in the one touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button In addition pushing Return to initial value in the one touch tuning window enables to rewrite the parameter to the initial value Clearing one touch tuning is completed the following window will be displayed returning to initial value ...

Page 247: ... touch tuning execution POINT For equipment in which overshoot during one touch tuning is in the permissible level of the in position range changing the value of Pr PA25 One touch tuning Overshoot permissible level will shorten the settling time and improve the response After the response mode is selected in a pushing the SET button during driving will start one touch tuning Completing the one tou...

Page 248: ...screen d If an error occur Check the error cause referring table 6 2 of 1 d of this section 2 s interval Error code If an error occurs during the one touch tuning the tuning will be forcibly terminated and the stop symbol and error code from C 001 to C 00F will be displayed by turns with 2 s interval Stop symbol Initial screen Pushing the SET button will switch to the initial screen e If an alarm ...

Page 249: ...e one touch tuning with the clear mode You can reset the parameters to before tuning with the back mode 1 Push the MODE button to switch to the initial screen AUTO of the one touch tuning 2 Select the clear mode or back mode with the UP or DOWN button One touch tuning clear mode selection DOWN UP To clear the one touch tuning push the SET button for 2 s The one touch tuning clear mode is in progre...

Page 250: ...ecuted while an alarm or warning which does not continue the motor driving is occurring 3 You can execute the one touch tuning during the following test operation modes marked by Test operation mode How to one touch tuning Output signal DO forced output JOG operation Positioning operation Motor less operation Program operation MR Configurator2 Push buttons ...

Page 251: ...ing 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 impose sudden dis...

Page 252: ...d 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 Pr PB06 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PA09 the optimum loop gains are automatically set on the basis of the internal gain...

Page 253: ...tment procedure 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 manually Adjust response level setting so that desired response is achieved on vibration free lev...

Page 254: ...ce 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 Machine characteristic Machine characteristic Setting value Response Guideline for machine resonance frequency Hz Reference setting value of MR J3 Setting value Response Guideline for machine resonance frequency Hz Reference sett...

Page 255: ... ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a slightly smaller value to the model loop gain Set a slightly larger 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 compensati...

Page 256: ...l However if 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 determin...

Page 257: ... 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 determines...

Page 258: ... interpolation 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 track ability 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 track ability The mode constantly e...

Page 259: ...n 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 setting limits 4 Se...

Page 260: ...tion command but a too high value will make overshoot liable to occur at settling The droop pulses value 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 Position command frequency Speed r min 60 Encoder resolution number of pulses per servo motor revo...

Page 261: ...6 NORMAL GAIN ADJUSTMENT 6 24 MEMO ...

Page 262: ...r 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 Machine ...

Page 263: ...ce suppression but increases a phase delay and may increase vibration A deeper 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 has...

Page 264: ...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 PB47 Machine resonance suppression filter 4 PB48 PB49 Enabling the machine resonance suppression filter 4 disables the shaft ...

Page 265: ...lter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonance suppression filter 4 Pr PB48 and 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...

Page 266: ... in the manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics 1 Function Adaptive filter II adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the...

Page 267: ...rease the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set Pr PB01 to _ _ _ 1 Factor The response has increased to the machine limit The machine is too complicated to provide the optimum filter If assumption fails after tuning is executed at a lar...

Page 268: ...reases 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 manually s...

Page 269: ...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 270: ...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 271: ...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 272: ...erent values to improve the vibration suppression performance 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 suppression control 2 Vibration suppression control Vibration frequency Pr PB19 Pr PB52 Vibration...

Page 273: ...19 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 Configurator2 or external equipment 1 Hz Gain characteristics Phase 90 deg 300 Hz Vibration suppression control 1 Vibration frequency anti resonance frequency Pr PB19 Vibration suppression control 1 Resonance frequency Pr PB20 Vibration su...

Page 274: ...ge When Pr PB45 Command notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 ms after the servo motor stops after servo lock 1 Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command By lowering the gain load side vibration such as work side vibra...

Page 275: ... 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 276: ... 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 an input device to ensure stability of the servo system since the load to motor inertia ratio varies greatly during a stop e g ...

Page 277: ...29 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 VRF14 value...

Page 278: ...t the switching condition in the first digit and second digit Gain switching selection 0 Disabled 1 Input device gain switching CDP 2 Command frequency 3 Droop pulses 4 Servo motor speed 0 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 b Pr PB27 Gain switching conditi...

Page 279: ...suppression 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 g...

Page 280: ...pensation 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 model loop gain are used only with input device CDP on off You can switch t...

Page 281: ...ncy 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 Switch...

Page 282: ...rol 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 In this case 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 283: ...63 4 CDT 100 ms Before switching gain Gain switching Droop pulses pulse CDL CDL 0 Command pulses Droop pulses Command pulses Load to motor inertia ratio 4 00 10 00 4 00 10 00 Position loop gain 120 84 120 84 Speed loop gain 3000 4000 3000 4000 Speed integral compensation 20 50 20 50 ...

Page 284: ...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 set sensitivity in Pr PF23 Vibration tough drive Os...

Page 285: ... the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 When the robust filter is used machine resonance suppression filter 5 will be disabled regardless of the setting The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Servo motor PWM M Load Machine resonance suppr...

Page 286: ...urn off during the instantaneous power failure tough drive When the load of instantaneous power failure is large the undervoltage alarm AL 10 2 caused by the bus voltage drop may occur regardless of the set value of Pr PF25 SEMI F47 function Instantaneous power failure detection time 1 Instantaneous power failure time of the control circuit power supply Pr PF25 SEMI F47 function Instantaneous powe...

Page 287: ...ailure time of 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 ON OFF Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction ...

Page 288: ... The operation 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 OFF Note Refer to table 7 1 for the undervoltage level ...

Page 289: ...rrence Enabling SEMI F47 will change operation as follows a The voltage will drop in the control circuit power at Rated voltage 50 or less After 200 ms AL 10 1 Voltage drop in the control circuit power will occur b AL 10 2 Voltage drop in the main circuit power will occur when bus voltage is as follows Table 7 1 Voltages which trigger AL 10 2 Voltage drop in the main circuit power Servo amplifier ...

Page 290: ...15000 890 MR J4 700A4 RJ 21000 1500 MR J4 11KA4 RJ 40000 2400 MR J4 15KA4 RJ 50000 3200 MR J4 22KA4 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 mot...

Page 291: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 30 MEMO ...

Page 292: ...s in which SD is written in the stop method column the axis 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 Table 8 1 Alarm list Alarm code Alarm deactivation No CN1 22 Bit 2 CN1 23 Bit 1 CN1 24 Bit 0 Name Detail number Detail...

Page 293: ... error DB 1A 1 1 0 Servo motor combination error 1A 2 Servo motor control mode combination error DB 1E 1 Encoder malfunction DB 1E 1 1 0 Encoder initial communication error 2 1E 2 Load side encoder malfunction DB 1F 1 Incompatible encoder DB 1F 1 1 0 Encoder initial communication error 3 1F 2 Incompatible load side encoder DB 20 1 Encoder normal communication Receive data error 1 EDB 20 2 Encoder ...

Page 294: ...0 0 0 1 Regenerative error Note 1 30 3 Regeneration feedback signal error DB Note 1 Note 1 Note 1 31 1 0 1 Overspeed 31 1 Abnormal motor speed SD 32 1 Overcurrent detected at hardware detection circuit during operation DB 32 2 Overcurrent detected at software detection function during operation DB 32 3 Overcurrent detected at hardware detection circuit during a stop DB 32 1 0 0 Overcurrent 32 4 Ov...

Page 295: ... Note 1 Note 1 Note 1 51 0 1 1 Overload 2 Note 1 51 2 Thermal overload error 3 during a stop DB Note 1 Note 1 Note 1 52 1 Excess droop pulse 1 SD 52 3 Excess droop pulse 2 SD 52 4 Error excessive during 0 torque limit SD 52 1 0 1 Error excessive 52 5 Excess droop pulse 3 EDB 54 0 1 1 Oscillation detection 54 1 Oscillation detection error EDB 56 2 Over speed during forced stop EDB 56 1 1 0 Forced s...

Page 296: ... encoder data error 2 EDB 8A 0 0 0 USB communication time out error serial communication time out error 8A 1 USB communication time out error serial communication time out error SD 8E 1 USB communication receive error serial communication receive error SD 8E 2 USB communication checksum error serial communication checksum error SD 8E 3 USB communication character error serial communication charact...

Page 297: ...n E1 5 Thermal overload error 1 during a stop E1 6 Thermal overload error 2 during a stop E1 7 Thermal overload error 3 during a stop E1 Overload warning 1 E1 8 Thermal overload error 4 during a stop E2 Servo motor overheat warning E2 1 Servo motor temperature warning E3 1 Multi revolution counter travel distance excess warning E3 2 Absolute position counter warning E3 Absolute position counter wa...

Page 298: ...wing shows two stop methods of DB and SD DB Stops with dynamic brake Coasts for the servo amplifier without dynamic brake 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 Quick stop or slow stop can be selected using Pr PD30 ...

Page 299: ...8 TROUBLESHOOTING 8 8 MEMO ...

Page 300: ...TLINE DRAWINGS 9 1 Servo amplifier POINT Only MR J4 _A_ RJ are shown for dimensions MR J4 _A_ does not have CN2L and CN7 connectors The dimensions of MR J4 _A_ are the same as those of MR J4 _A_ RJ except CN2L and CN7 connectors ...

Page 301: ...9 3 φ6 mounting hole 168 161 With MR BAT6V1SET CNP2 CNP1 CNP3 PE Lock knob Mass 0 8 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 Approx 6 Approx 168 Approx 40 156 0 5 Mounting hole process drawing Approx 6 2 M5 screw ...

Page 302: ...69 3 CNP2 CNP1 CNP3 PE φ6 mounting hole With MR BAT6V1SET Lock knob Mass 1 0 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 156 0 5 2 M5 screw Mounting hole process drawing Approx 6 Approx 6 Approx 168 Approx 40 ...

Page 303: ...161 CNP2 CNP1 CNP3 φ6 mounting hole PE With MR BAT6V1SET Exhaust Lock knob Mass 1 4 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 Mounting hole process drawing Approx 6 Approx 6 Approx 168 42 0 3 3 M5 screw Approx 6 Approx 12 Approx 60 ...

Page 304: ...ox 69 3 CNP2 CNP1 CNP3 φ6 mounting hole PE With MR BAT6V1SET Lock knob Mass 2 1 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 90 Approx 6 3 M5 screw 78 0 3 Approx 6 Approx 6 Mounting hole process drawing Approx 6 156 0 5 Approx 168 ...

Page 305: ...ole PE With MR BAT6V1SET CNP3 CNP1 CNP2 Lock knob Mass 2 3 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 6 10 R 13 hole Mounting hole dimensions Mounting screw Screw size M5 Tightening torque 3 24 N m 3 M5 screw Approx 6 Mounting hole process drawing Approx 6 Approx 6 78 0 3 156 0 5 Approx 168 Approx 6 Approx 90 ...

Page 306: ...1 P4 L3 L1 C D P PE Terminal 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 Mounting screw Screw size M5 Tightening torque 3 24 N m 93 0 5 Approx 105 Approx 6 Approx 6 4 M5 screw Approx 7 5 235 0 5 Approx...

Page 307: ...htening torque 1 2 N m With MR BAT6V1SET Mass 6 2 kg TE1 TE2 PE TE3 PE N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Screw size M4 Tightening torque 1 2 N m 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 Mounting screw Screw size M5 Tightening torque 3 24 N m 160 0 5 4 M5 screw 285 0 5 Mounting hole process drawin...

Page 308: ...V1SET Intake 2 φ6 mounting hole 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 N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 196 380 0 5 Mounting hole process drawing Approx 10 A...

Page 309: ...5 Approx 80 Intake 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 N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M10 Tightening torque 3 24 N m 236 0 5 376 0 5 Approx 12 Approx 12 Approx 260 Approx 400 Approx 12 M...

Page 310: ...CNP2 CNP1 CNP3 PE With MR BAT6V1SET Approx 38 5 Approx 21 Lock knob 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 156 0 5 Mounting hole process drawing 42 0 3 Approx 60 Approx 6 Approx 12 Approx 6 Approx 6 3 M5 screw Approx 168 ...

Page 311: ... BAT6V1SET Approx 21 Lock knob φ6 mounting hole Approx 38 5 Approx 80 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 3 M5 screw 156 0 5 78 0 3 Mounting hole process drawing Approx 6 Approx 6 Approx 6 Approx 6 Approx 168 Approx 90 ...

Page 312: ...aust Approx 73 5 Approx 69 3 Approx 38 5 Intake With MR BAT6V1SET Approx 34 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 Approx 7 5 4 M5 screw Approx 105 Approx 250 Mounting hole process drawing Approx 7 5 ...

Page 313: ...m Cooling fan exhaust Intake With MR BAT6V1SET Mass 4 3 kg TE1 TE2 Terminal screw M4 Tightening torque 1 2 N m Terminal screw M3 5 Tightening torque 0 8 N m PE TE3 PE Terminal screw 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...

Page 314: ...ghtening torque 1 2 N m With MR BAT6V1SET 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 285 0 5 0 5 160 4 M5 screw Approx 6 Approx 6 Approx 17...

Page 315: ...6V1SET Intake 2 φ6 mounting hole 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 N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 196 380 0 5 Mounting hole process drawing Approx 10 ...

Page 316: ...5 Approx 80 Intake 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 N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M10 Tightening torque 3 24 N m 236 0 5 376 0 5 Approx 12 Approx 12 Approx 260 Approx 400 Approx 12 M...

Page 317: ...icated here D Variable dimensions Connector Shell kit A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here 5 2 F D Variable dimensions Connector Shell kit A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 ...

Page 318: ...9 OUTLINE DRAWINGS 9 19 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 319: ...9 OUTLINE DRAWINGS 9 20 MEMO ...

Page 320: ... torque of the machine be kept at 70 or less of the motor s rated torque This servo amplifier has solid state 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 The following table shows combinations of each servo motor and graph of overload protection characteristics Rotary servo motor HG KR HG MR HG S...

Page 321: ... 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 a Characteristics b 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 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 c Characteristics d ...

Page 322: ...ncy in a servo motor stop status servo lock status or in a 30 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 323: ... Note 3 With servo off Area required for heat dissipation m 2 HG MR053 0 3 25 15 0 5 HG MR13 0 3 25 15 0 5 HG KR053 0 3 25 15 0 5 MR J4 10A RJ HG KR13 0 3 25 15 0 5 HG MR23 0 5 25 15 0 5 MR J4 20A RJ HG KR23 0 5 25 15 0 5 HG MR43 0 9 35 15 0 7 MR J4 40A RJ HG KR43 0 9 35 15 0 7 HG SR52 1 0 40 15 0 8 HG SR51 1 0 40 15 0 8 MR J4 60A RJ HG JR53 1 0 40 15 0 8 HG MR73 1 3 50 15 1 0 HG KR73 1 3 50 15 1 ...

Page 324: ...HG JR2034 3 5 90 20 1 8 HG SR3524 5 5 130 20 2 6 MR J4 350A4 RJ HG JR3534 5 5 160 20 2 7 HG SR5024 7 5 195 25 3 9 MR J4 500A4 RJ HG JR5034 7 5 195 25 3 9 HG SR7024 10 300 25 6 0 MR J4 700A4 RJ HG JR7034 10 300 25 6 0 HG JR9034 13 435 130 45 8 7 MR J4 11KA4 RJ HG JR11K1M4 16 530 160 45 11 0 MR J4 15KA4 RJ HG JR15K1M4 22 640 195 45 13 0 MR J4 22KA4 RJ HG JR22K1M4 33 850 260 55 17 0 Note 1 Note that ...

Page 325: ... 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 326: ... 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 10 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 10 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant τ varies with the servo motor and machine operation speeds Refer to 2 a b of this section A working part generally has a fricti...

Page 327: ...0 2500 3000 52 102 0 100 50 200 150 250 300 350 352 202 702 152 502 Dynamic brake time constant ms Speed r min HG SR 1000 r min series HG SR 2000 r min series 80 0 70 60 50 40 30 20 10 500 1000 1500 2000 2500 3000 0 15K1M 11K1M 22K1M Dynamic brake time constant ms Speed r min 503 353 203 53 103 73 153 260 0 220 180 140 100 60 20 1000 2000 3000 4000 5000 6000 0 703 903 Speed r min Dynamic brake tim...

Page 328: ...rake time constant ms Speed r min 50 0 40 30 25 20 15 10 5 35 45 500 1000 1500 2000 2500 3000 0 11K1M4 22K1M4 15K1M4 Dynamic brake time constant ms HG SR series HG JR1500r min series Speed r min 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 120 100 80 60 40 20 0 2034 3534 9034 7034 Dynamic brake time constant ms HG SR3000r min series ...

Page 329: ...RR503 15 HG SR51 HG JR53 HG SR81 HG JR73 HG SR121 HG JR103 HG SR201 30 HG JR203 30 HG SR301 16 HG JR353 16 Note 2 HG SR421 15 HG JR503 15 Note 2 HG SR52 HG JR703 11 Note 2 HG SR102 30 HG JR903 18 Note 2 HG SR152 HG JR11K1M HG SR202 21 HG JR15K1M 10 Note 2 HG SR352 HG JR22K1M 20 Note 2 HG SR502 13 Note 1 HG SR702 5 Note 1 Note 1 The permissible load to motor inertia ratio is 15 at the rated rotatio...

Page 330: ...values a b Standard encoder cable Standard motor power cable Standard electromagnetic brake cable SSCNET III cable using inside panel standard cord Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake 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 1 103 4 7 10 20 40 70 100 200 Bend radius mm a b ...

Page 331: ...0A RJ 42 A attenuated to approx 20 A in 20 ms MR J4 700A RJ 85 A attenuated to approx 20 A in 30 ms 34 A attenuated to approx 2 A in 20 ms MR J4 11KA RJ 226 A attenuated to approx 30 A in 30 ms MR J4 15KA RJ 226 A attenuated to approx 50 A in 30 ms MR J4 22KA RJ 226 A attenuated to approx 70 A in 30 ms 42 A attenuated to approx 2 A in 30 ms MR J4 60A4 RJ MR J4 100A4 RJ 65 A attenuated to approx 5 ...

Page 332: ...ecified auxiliary 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 ...

Page 333: ...incremental system and absolute position detection system Refer to Liner Encoder Instruction Manual about options for liner encoder Refer to Direct Drive Motor Instruction Manual about options for direct drive motor power and encoder Battery Packed with the servo amplifier Note 1 Personal computer To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Safety logic unit Ser...

Page 334: ...l Vol 3 for options for servo motor power supply electromagnetic brake and encoder Linear servo motor Linear encoder Power supply connector Direct drive motor Encoder connector To CN2 The connection method changes depending on incremental system and absolute position detection system Refer to Liner Encoder Instruction Manual about options for liner encoder Refer to Direct Drive Motor Instruction M...

Page 335: ...s servo amplifiers of 2 kW and 3 5 kW 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 mm 2 to 2 1 mm 2 AWG 16 to 14 Insulator OD to 3 9 mm Open tool J FAT OT XL JST Supplied with 400 V class servo amplifiers of 3 5 kW or less 2 Junction terminal block cable Junction terminal block connector Connector D...

Page 336: ...TO cable This cable is for connecting an external device to the CN8 connector Cable model Cable length Application MR D05UDL3M B 3 m Connection cable for the CN8 connector 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 ...

Page 337: ... 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 10A RJ 30 MR J4 20A RJ 10 30 100 MR J4 40A RJ 10 30 100 MR J4 60A RJ 10 30 100 MR J4 70A RJ 20 30 100 300 MR J4 100A RJ 20 30 100 300 MR J4 200A RJ 100 300 500 MR J4 350A RJ 100 300 500 MR J4 500A RJ 130 300 500 MR J4 700A RJ 170 300 500 Note 2 Regenerative power W Servo amplifier External regenerativ...

Page 338: ...B5U 4 22 Ω MR J4 60A4 RJ 15 100 300 MR J4 100A4 RJ 15 100 300 MR J4 200A4 RJ 100 300 500 MR J4 350A4 RJ 100 300 500 MR J4 500A4 RJ 130 300 500 MR J4 700A4 RJ 170 300 500 Note 2 Regenerative power W Servo amplifier External regenerative resistor accessory MR RB5K 4 10 Ω MR RB6K 4 10 Ω MR J4 11KA4 RJ 500 800 500 800 MR J4 15KA4 RJ 850 1300 850 1300 MR J4 22KA4 RJ 850 1300 850 1300 Note 1 Always inst...

Page 339: ...er running Regenerative 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 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 tpsa2 1 TU TF E3 2 0 1047 V T3 tpsa2 4 8 T4 T8 TU E4 E8 0 No regeneration 5 T5 JL η JM V 9...

Page 340: ... J4 15KA4 RJ 90 170 MR J4 500A RJ 90 45 MR J4 22KA4 RJ 90 250 MR J4 700A RJ 90 70 MR J4 11KA RJ 90 120 MR J4 15KA RJ 90 170 MR J4 22KA RJ 90 250 Inverse efficiency η Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allow for about 10 Capacitor char...

Page 341: ...rom 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 of this section c Regenerative energy calculation Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse...

Page 342: ...ired 84 MR RB34 4 Cooling fan 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 Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory 0 0 Pr PA02 11 2 4 Connection of regenerative option POINT When the MR RB50 MR RB51 MR RB5N MR RB3M 4 MR RB3G 4 MR RB5G 4 MR RB34 4 MR...

Page 343: ...it with a cooling fan 92 mm 92 mm minimum air flow 1 0 m 3 2 When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60 in MR RB30 MR RB 31 MR RB32 and MR RB3N forcefully cool the air with a cooling fan 1 0 m 3 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 fol...

Page 344: ...r less Servo amplifier Note2 Cooling fan Note1 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 92 mm 92 mm minimum air flow 1 0 m 3 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 ...

Page 345: ...s 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 shorter 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 generated at a regenerative circuit...

Page 346: ...tive 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 shorter 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 capa...

Page 347: ... 4 Mounting screw 4 M3 Top Bottom TE1 G4 G3 C P TE Cooling fan 2 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 6 mounting hole TE1 15 Approx 6 149 2 TE1 terminal block G3 G4 P C Applicable wire size 0 2 mm 2 to 2 5 mm 2 AWG 14 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 kg ...

Page 348: ...l screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 5 4 N m Mass 2 9 kg 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 17 217 8 120 108 12 12 5 162 5 350 162 5 12 5 7 Approx 30 7 14 slotted hole Air intake Terminal block P C G3 G4 Terminal screw size M4 Tightening t...

Page 349: ...size M5 Tightening torque 3 24 N m Mass 0 5 kg 5 MR RB5R MR RB9F MR RB9T MR RB5K 4 MR RB6K 4 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 Regenerative option Mass kg MR RB5R 10 MR RB9F MR RB9T 11 MR RB5K 4 10 MR RB6K 4 11 Unit mm 480 10 260 230 10 2 φ10 mounting hole 500 30 427 43 197 15 2 3 Cooling fan intake 215...

Page 350: ...crew 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 Variable dimensions Regenerative resistor A C K Mounting screw size Tightening torque N m Mass kg GRZG400 0 8Ω 10 5 5 39 GRZG400 0 6Ω GRZG400 0 5Ω 16 8 2 46 GRZG400 2 5Ω GRZG400 2 0Ω 10 5 5 39 M8 13 2 0 8 Unit mm Approx K 1 6 Approx φ47 9 5 40 411 385 10 Appro...

Page 351: ...m the ambient temperature condition of the servo amplifier between 0 C and 55 C Configure the circuit to shut down the power supply with the alarm output of the brake unit and the resistor unit under abnormal condition Use the brake unit with a combination indicated in section 11 3 1 For executing a continuous regenerative operation use FR RC H power regeneration converter or FR CV H power regener...

Page 352: ...4 15KA RJ MR J4 22KA RJ 200 V class FR BU2 55K MT BR5 55K 1 5 5 2 MR J4 22KA RJ FR BU2 H30K FR BR H30K 1 1 99 16 MR J4 500A4 RJ MR J4 700A4 RJ MR J4 11KA4 RJ Note 2 FR BU2 H55K FR BR H55K 1 3 91 8 MR J4 11KA4 RJ MR J4 15KA4 RJ MR J4 22KA4 RJ 400 V class FR BU2 H75K MT BR5 H75K 1 7 5 6 5 MR J4 22KA4 RJ Note 1 Only when using servo motor HG RR353 HG UR352 2 When HG JR11K1M4 servo motor is used limit...

Page 353: ...e switchover Impossible Do not change the parameter 1 Monitor display data selection Possible Refer to the FR BU2 Instruction Manual 2 Input terminal function selection 1 Impossible Do not change the parameter 3 Input terminal function selection 2 77 Parameter write selection 78 Cumulative energization time carrying over times CLr Parameter clear ECL Alarm history clear C1 For manufacturer setting...

Page 354: ...r 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 condition...

Page 355: ...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 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 Abn...

Page 356: ...it Combination with other brake unit results in 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 converter unit 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 ...

Page 357: ...C A SD MSG FR BU2 FR BR P PR TH2 TH1 48 ALM EM2 42 46 DICOM DOCOM 47 DOCOM 15 SON 20 DICOM 21 CN1 CN1 RA1 Note 12 Main circuit power supply Note 4 Note 6 Note 8 Note 9 Emergency stop switch Servo amplifier Note 11 Note 1 Power supply OFF ON Note 3 Note 7 Note 2 Note 13 Note 4 Note 6 Note 8 Note 5 24 V DC Note 14 Note 10 Terminal block Note 9 Note 5 24 V DC Note 14 ...

Page 358: ...ory wired 9 Connect MSG and SD terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 10 For the cable to connect the terminal block and the P and N terminals of the servo amplifier use the cable indicated in 3 b of this section 11 Depending on the main circuit voltage and operation pattern bus voltage decreases a...

Page 359: ...act 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 to N terminals of the servo amplifier 8 Always connect BUE and SD terminals factory wired 9 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the ...

Page 360: ... brake unit 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 to N terminals of the servo a...

Page 361: ...nger than 5 m twist five times or more per one meter Even when the cable is twisted the cable should be less than 10 m Using cables longer than 5 m without twisting or twisted cables longer than 10 m may result in the brake unit malfunction Servo amplifier Brake unit 5 m or shorter 5 m or shorter Servo amplifier Brake unit 10 m or shorter 10 m or shorter P N P N P PR P PR P N P PR P PR Twist Twist...

Page 362: ...6 4 4 14 6 2 Control circuit terminal POINT Under tightening can cause a cable disconnection or malfunction Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit A RES PC B SD BUE C MSG SD MSG SD SD Jumper Terminal block Insulator Core 6 mm Wire the stripped cable after twisting to prevent the cable from becoming loose In addition do not solder it Sc...

Page 363: ...JST d MR J4 15KA RJ FR BU2 15K 2 FVD8 6 JST c FR BU2 30K 1 FVD5 5 6 JST a FR BU2 55K 1 FVD14 6 JST d MR J4 22KA RJ FR BU2 55K 1 FVD14 8 JST d MR J4 500A4 RJ FR BU2 H30K 1 FVD5 5 S4 JST a 400 V class MR J4 700A4 RJ FR BU2 H30K 1 FVD5 5 S4 JST a MR J4 11KA4 RJ FR BU2 H30K 1 FVD5 5 6 JST a FR BU2 H55K 1 FVD5 5 6 JST a MR J4 15KA4 RJ FR BU2 H55K 1 FVD5 5 6 JST a MR J4 22KA4 RJ FR BU2 H55K 1 FVD5 5 8 J...

Page 364: ...ate 68 6 56 6 5 5 118 5 128 18 5 52 62 4 132 5 φ5 hole5 hole Screw size M4 Unit mm FR BU2 30K FR BU2 H30K 129 5 5 59 18 5 Rating plate 52 2 φ5 hole Screw size M4 128 5 5 118 5 108 6 6 96 Unit mm FR BU2 55K FR BU2 H55K FR BU2 H75K 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 365: ... D D1 C Approximate mass kg 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 30 200 V class FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 FR BR H30K 340 270 600 560 20 582 220 4 10 30 400 V class FR BR H55K 480 410 700 620 40 670 450 3 2 12 70 3 MT BR5 H resistor unit Unit mm Resistor unit Resistance Approximate mass kg 200 V class MT BR5 55K 2 0 Ω 50 400 V ...

Page 366: ..._ 0 1 and set Pr PC27 to _ _ _ 1 1 Selection example 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 FR RC 15K 15 FR RC 30K 30 MR J4 500A RJ MR J4 700A RJ MR J4 11KA RJ MR J4 15KA RJ FR RC 55K 55 MR J4 22A RJ FR RC H15K 15 MR J4 500A4 ...

Page 367: ...S L2 T L3 B C EM1 SON DICOM CN1 DOCOM ALM CN1 RA B C FR RC ALM RA MC MC SK L11 L21 L1 L2 L3 A B C Note 1 Phase detection terminals Ready Alarm output RDY output Note 7 Note 5 Power supply Malfunction Note 3 Power factor improving AC reactor Note 10 Forced stop 1 Note 6 Servo on Power regeneration converter FR RC Operation ready OFF ON Forced stop 1 Note 6 Servo amplifier Note 2 5 m or shorter Note...

Page 368: ... detection of alarm occurrence on the controller side 4 Between P3 and P4 is connected by default 5 For power supply specifications refer 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 circuitpower 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 mol...

Page 369: ...C terminals For the servo amplifier of 11 kW to 22 kW do not connect a supplied regenerative resistor to the P and C terminals 3 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 4 Between P3 and P4 is connected by default 5 For the power supply specificat...

Page 370: ... EE E Rating plate Front cover Display panel window Unit mm Power regeneration converter A AA B BA C D E EE K F Approximate mass kg FR RC 15K 270 200 450 432 195 10 10 8 3 2 87 19 FR RC 30K 340 270 600 582 195 10 10 8 3 2 90 31 FR RC 55K 480 410 700 670 250 12 15 15 3 2 135 55 FR RC H15K FR RC H30K 340 270 600 582 195 10 10 8 3 2 90 31 FR RC H55K 480 410 700 670 250 12 15 15 3 2 135 55 ...

Page 371: ... the converter outside the box to provide heat generation measures At this time the mounting hole having the following dimensions is machined in the box Unit mm Power regeneration converter a b D AA BA FR RC 15K 260 412 10 200 432 FR RC 30K 330 562 10 270 582 FR RC 55K 470 642 12 410 670 FR RC H15K FR RC H30K 330 562 10 270 582 FR RC H55K 470 642 12 410 670 AA BA b a D hole 2 Mounting hole ...

Page 372: ...th incorrect polarity will fail the FR CV H and servo amplifier Two or more FR CV H s cannot be installed to improve regeneration capability Two or more FR CV H s cannot be connected to the same DC power supply line When using FR CV H set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 When using the FR CV H power regeneration common converter set Pr PA02 to _ _ 0 1 and set Pr PC27 to _ _ _ 1 11 5 ...

Page 373: ... 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 FR CV _ Item 7 5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier capacities kW 3 75 5 5 7 5 11 15 18 5 27 5 Total of connectable servo motor rated currents A 33 46 61 90 115 145 215 Ma...

Page 374: ...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 FR CV H_ Item 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 375: ...low cases FR CV or servo amplifier alarm occurs EM1 forced stop 1 turns off 2 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 3 For the FR CV the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 4 Configure a sequenc...

Page 376: ...ced 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 For the FR CV H the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 4 Configure a sequence that will make a stop with the forced stop input...

Page 377: ... Wire mm 2 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 mm 2 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 that ...

Page 378: ...ervo amplifier capacities is 7 kW since 3 5 kW 2 0 kW 5 5 kW Fourth unit 2 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 resistor 5...

Page 379: ...27 5 Maximum servo amplifier capacity kW 3 5 5 7 11 15 15 22 Total of connectable servo motor rated currents A 33 46 61 90 115 145 215 Short time rating Total capacity of applicable servo motors 300 torque 60s Note 1 Output Regenerative braking torque Continuous rating 100 torque 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 f...

Page 380: ... capacity Note 2 kVA 41 52 66 100 IP rating JEM 1030 cooling method Open type IP00 forced cooling Ambient temperature 10 C to 50 C non freezing Ambient humidity 90 RH or less non condensing Environment 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 s 2 Molded case circuit breaker or...

Page 381: ...0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 SON P15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD LA VC LB LZ ST2 SA SA SP2 LG LG EMG LSN ALM SD DICOM LG DOCOM Speed control mode 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 ...

Page 382: ...RD SD Speed P15R VC LG LA LAR LB LBR LZ LZR SON SP2 ST1 ST2 RES DICOM DICOM SA ZSP SA TLC TLA LG LG OP LG SP1 EMG LSP LSN LOP DOCOM DOCOM ALM RD SD Torque P15R VLA LG LA LAR LB LBR LZ LZR SON SP2 RS2 RS1 RES DICOM DICOM ZSP TLC TC LG LG OP LG SP1 EMG LOP DOCOM DOCOM ALM RD SD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 ...

Page 383: ...uration 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 5 DO forced output and program operation test mode information Adjustment One touch tuning tuning and machine analyzer Others Servo assistant parameter setting range update help display Note 1 This is available o...

Page 384: ... for 64 bit OS Hard Disk 1GB or more Note 2 3 4 5 7 Personal computer Communication interface USB port Note 6 Browser Windows Internet Explorer 4 0 or more Note 1 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 Keyboard Connectable with the above personal computer Mouse Connectable with the above persona...

Page 385: ...ect 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 amplifi...

Page 386: ...r and month of manufacture of battery The year and month of manufacture of MR BAT6V1 battery have been described to the rating plate put on a MR BAT6V1 battery built in MR BAT6V1SET battery Rating plate 2CR17335A WK17 11 04 6 V 1650 mAh The year and month of manufacture 11 04 11 8 2 MR BAT6V1BJ battery for junction battery cable 1 Parts identification Orange Connector for servo amplifier Black Con...

Page 387: ...ard Selection condition of wire size is 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 Control circuit power supply lead C P L1 L2 L3 L11 L21 ...

Page 388: ...J4 11KA RJ Note 2 14 AWG 6 f 3 5 AWG 12 g 14 AWG 6 f Note 5 55 AWG 10 g 8 AWG 8 k MR J4 15KA RJ Note 2 22 AWG 4 h 5 5 AWG 10 g 22 AWG 4 h Note 5 8 AWG 8 k MR J4 22KA RJ Note 2 38 AWG 2 i 1 25 AWG 16 c 2 AWG 14 c 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 connect these models to a terminal bl...

Page 389: ...10 e Note 5 8 AWG 8 h Note 6 14 AWG 6 i 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 3 The wire size shows applicable size of the servo amplifier connector and terminal block For wires connecting to the servo motor re...

Page 390: ...S k FVD8 6 YF 1 E 4 YNE 38 DH 121 DH 111 JST 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 Servo amplifier side crimp terminals Applicable tool Symbol Crimp terminal Note Body Head Dice Manufacturer a FVD5 5 4 YNT 1210S b FVD2 4 c FVD2 M3 YNT 1614 d FVD5 5 ...

Page 391: ...me 30 A 30 A frame 30 A 70 S N20 S T21 MR J4 500A RJ 50 A frame 50 A 50 A frame 50 A 125 S N35 MR J4 700A RJ 100 A frame 75 A 60 A frame 60 A 150 MR J4 11KA RJ 100 A frame 100 A 100 A frame 100 A 200 S N50 MR J4 15KA RJ 125 A frame 125 A 125 A frame 125 A 250 S N65 MR J4 22KA RJ 225 A frame 175 A 225 A frame 175 A 240 T 350 300 S N95 MR J4 60A4 RJ 30 A frame 5 A 30 A frame 5 A 10 MR J4 100A4 RJ 30...

Page 392: ...K5 Servo amplifier Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J4 10A RJ MR J4 20A RJ MR J4 40A RJ MR J4 60A RJ MR J4 70A RJ MR J4 100A RJ MR J4 200A RJ 30 A frame 5 A 240 1 300 1 250 MR J4 350A RJ MR J4 500A RJ MR J4 700A RJ MR J4 11KA RJ MR J4 15KA RJ MR J4 22KA RJ MR J4 60A4 RJ MR J4 100A4 RJ MR J4 200A4 RJ MR J4 350A4 RJ MR J4 500A4 RJ 30 A frame 5 A 480 1...

Page 393: ... effect 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 4 d mounting hol...

Page 394: ...FR HEL 7 5K 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 MR J4 500A RJ FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J4 700A RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 8 AWG 8 MR J4 11KA RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 14 AWG 6 MR J4 15KA RJ FR HEL 22K Fig 11 2 105 64 93 175 117 104 115 Note 1 M6 M10 5 6 22 AWG 4 MR J4 22KA RJ FR HEL 30K Fig 11 3 114 72 100 200 ...

Page 395: ... 11 4 W1 W 2 5 D2 D1 1 H 2 5 P P1 D or less D3 4 d mounting hole Note 1 Fig 11 5 H 2 5 W1 W 2 5 D2 D1 1 P P1 D or less D3 4 d mounting hole Note 1 6 Fig 11 6 Note 2 Servo amplifier P3 P4 FR HEL H 5 m or less Note 1 Use this for grounding 2 When using the power factor improving DC reactor remove the short bar across P3 and P4 ...

Page 396: ...AWG 14 MR J4 350A4 RJ FR HEL H7 5K Fig 11 5 96 60 128 105 100 80 50 M5 M4 3 5 2 AWG 14 MR J4 500A4 RJ FR HEL H11K 105 75 137 110 105 85 53 M5 M5 4 5 3 5 AWG 12 MR J4 700A4 RJ 5 5 AWG 10 MR J4 11KA4 RJ FR HEL H15K 105 75 152 125 115 95 62 M5 M6 5 0 8 AWG 8 MR J4 15KA4 RJ FR HEL H22K 133 90 178 120 95 75 53 M5 M6 6 0 8 AWG 8 MR J4 22KA4 RJ FR HEL H30K Fig 11 6 133 90 178 120 100 80 56 M5 M6 6 5 14 A...

Page 397: ...0 V class 4 d mounting hole Varnish is removed from front right mounting hole face and back side Note 1 Terminal layout R X Z S Y T W or less Note 2 W1 D1 D2 H D or less Fig 11 7 Y Z S T Y Z S T MC MCCB MC MCCB FR HAL Servo amplifier 3 phase 200 V class X R L1 L2 L3 3 phase 200 V AC to 240 V AC FR HAL Servo amplifier 1 phase 200 V class X R L1 L2 Note 1 phase 200 V AC to 240 V AC L3 Note 1 2 Use t...

Page 398: ...HAL 2 2K 115 Note 40 115 77 71 57 M6 M4 1 5 MR J4 200A RJ FR HAL 3 7K Fig 11 7 115 Note 40 115 83 81 67 M6 M4 2 2 MR J4 350A RJ FR HAL 7 5K 130 50 135 100 98 86 M6 M5 4 2 MR J4 500A RJ FR HAL 11K 160 75 164 111 109 92 M6 M6 5 2 MR J4 700A RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 11KA RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 15KA RJ FR HAL 22K Fig 11 8 185 Note 75 150 158 10...

Page 399: ...less Fig 11 10 Y Z S T MC MCCB FR HAL H Servo amplifier 3 phase 400 V class X R L1 L2 L3 3 phase 380 V AC to 480 V AC W 0 5 W1 D1 D2 H 5 125 D or less 150 4 d mounting hole Note Z Y T R X S φ6 groove Fig 11 11 D or less 4 d mounting hole Note Z Y T R X S H 5 180 W 0 5 W1 D1 D2 φ8 groove Fig 11 12 Note Use this for grounding ...

Page 400: ...1KA4 RJ FR HAL H15K Fig 11 11 220 200 195 105 90 70 M5 M5 9 0 MR J4 15KA4 RJ FR HAL H22K 220 200 215 170 90 70 M5 M8 9 5 MR J4 22KA4 RJ FR HAL H30K Fig 11 12 220 200 215 170 96 75 M5 M8 11 Note Maximum dimensions The dimension varies depending on the input output lines 11 13 Relays recommended The following relays should be used with the interfaces Interface Selection example Digital input interfa...

Page 401: ...c 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 surge...

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: ... TDK 39 1 34 1 13 1 30 1 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 Dimensions Unit mm Rated voltage AC V C µF 20 R Ω 30 Test voltage 25...

Page 404: ...unding plate with the cable clamp If the cable is thin clamp several cables in a bunch The 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 installation hole Unit...

Page 405: ...r the main power supply the effect of the filter rises as the number of passes increases but generally four passes would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filte or 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 ...

Page 406: ...ram Dimensions 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 350A RJ or less MR J4 350A4 RJ or less Radio noise filter Servo amplifier Power supply MC MCCB L3 L2 L1 Terminal block MR J4 500A RJ or less MR J4 500A4 RJ or less L3 L2 L1 MC MCC...

Page 407: ...sible circuit voltage Surge current immunity Energy immunity Rated pulse power Static capacity reference value Varistor voltage rating range V1 mA Power supply voltage Varistor AC Vrms DC V 8 20 µs A 2 ms J W A V pF V TND20V 431K 275 350 10000 1 time 195 710 1300 430 387 to 473 200 V class TND20V 471K 300 385 7000 2 time 215 1 0 100 775 1200 470 423 to 517 400 V class TND20V 102K 625 825 7500 1 ti...

Page 408: ...e reduction techniques NV SP NV SW NV CP NV CW NV HW 1 Ign Noise filter Cable Ig1 Iga Ig2 Igm M Servo amplifier NV Cable 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 t...

Page 409: ...current 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 10A RJ to MR J4 350A RJ MR J4 60A4 RJ to MR J4 350A4 RJ 15 MR J4 500A RJ MR J4 500A4 RJ 30 MR J4 700A RJ MR J4 700A4 RJ 50 MR J4 11KA RJ ...

Page 410: ...rrent 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 leaka...

Page 411: ...KA RJ MR J4 22KA RJ Note HF3100A UN 100 250 6 5 12 MR J4 60A4 RJ MR J4 100A4 RJ TF3005C TX 5 MR J4 200A4 RJ to MR J4 700A4 RJ TF3020C TX 20 6 MR J4 11KA4 RJ TF3030C TX 30 7 5 MR J4 15KA4 RJ TF3040C TX 40 MR J4 22KA4 RJ TF3060C TX 60 500 5 5 12 5 Note A surge protector is separately required to use any of these EMC filters 2 Connection example a 200 V class MCCB L1 L2 L3 L11 L21 Servo amplifier 1 2...

Page 412: ... 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 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 ...

Page 413: ...A UN Unit mm 2 6 5 8 M8 145 1 165 3 M6 380 1 400 5 160 3 M8 2 φ6 5 TF3005C TX TX3020C TX TF3030C TX Unit mm 290 2 100 1 100 1 308 5 332 5 Approx 12 2 3 M4 16 16 6 R3 25 length 8 M4 M4 125 2 3 M4 140 1 155 2 IN 150 2 Approx 6 75 3 Approx 160 170 5 M4 ...

Page 414: ...m 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 b Surge protector RSPD 250 U4 41 1 28 5 1 28 1 4 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 415: ...d to 1 phase 380 V AC to 463 V AC 50 Hz 60 Hz External dynamic brake operates at occurrence of alarm AL E6 Servo 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 less the estimated number of usage times of the external ...

Page 416: ...ifications 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 Turn off EM2 when the main power circuit power supply is off 5 The illustration of the 24 V DC power supply is divi...

Page 417: ...eration is not required slow the time to turn off the magnetic contactor 4 Turn off EM2 when the main power circuit power supply is off 5 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 6 Between P3 and P4 is connected by default When using the power factor improving DC reactor remove the short bar...

Page 418: ...gnetic 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 Invalid Valid DB Dynamic brake interlock Note 1 When powering off DB Dynamic brake interlock will be turned off and the base circuit is turned off earlier than ...

Page 419: ... torque 1 2 N m Note Connection wire mm 2 External dynamic brake A B C D E F G Mass kg 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 is as follows Wire type 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set...

Page 420: ... 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 Note Connection wire mm 2 External dynamic brake 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 is as follows Wire type 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in ...

Page 421: ...the servo amplifier to the cabinet Please prepare screws for mounting They do not come with The environment outside the cabinet when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment The heat sink outside mounting attachments are used for MR J4 11KA RJ to MR J4 22KA RJ and MR J4 11KA4 RJ to MR J4 22KA4 RJ The following shows the...

Page 422: ...EQUIPMENT 11 91 c Mounting method Attachment Attachment Fit using the assembling screws Servo amplifier a Assembling the heat sink outside mounting attachment Cabinet Punched hole Servo amplifier b Mounting it to inside cabinet ...

Page 423: ...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 Unit mm ...

Page 424: ...r heat sink outside mounting 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 heat sink outside mounting attachment b Mounting it to inside cabinet ...

Page 425: ...EQUIPMENT 11 94 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 426: ...gs Additionally when the battery is used out of specification the absolute position data can be erased When the MR BAT6V1SET battery was used The encoder cable was disconnected The battery was replaced when the control circuit power supply was off When the MR BAT6V1BJ battery for junction battery cable is used A connector or cable was disconnected between the servo motor and battery The battery wa...

Page 427: ...ning 4 Changing electronic gear after home position setting 5 Using alarm code output 12 1 3 Structure The following shows a configuration of the absolute position detection system For the battery connection refer to 2 b of section 12 2 1 for the MR BAT6V1SET battery For the battery connection refer to 2 b of section 12 2 2 for the MR BAT6V1BJ battery for junction battery cable Positioning module ...

Page 428: ... transfer system by communication Refer to section 12 8 for the ABS transfer system by communication Absolute position detection system selection 0 Disabled incremental system 1 Enabled absolute position detection system by DIO 2 Enabled absolute position detection system by communication based available for the software version A3 or later Pr PA03 1 12 1 5 Confirmation of absolute position detect...

Page 429: ...mber of revolutions 1X Detecting the position within one revolution Position control Speed control MR BAT6V1SET Counter within one revolution 1 pulse rev accumulative revolution counter 1 pulse rev Servo motor Pulse train command High speed serial communication CPU LSO 1XO Backed up in the case of power failure Home position data Changing the current position data General purpose programmable cont...

Page 430: ...ambient temperature 20 C Note 4 Note 2 Battery backup time 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 4 Note 3 Battery life 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or th...

Page 431: ...mplifier 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 ...

Page 432: ... servo amplifier Install a battery and insert the plug into the CN4 connector Install a battery and insert the plug into the CN4 connector MR J4 350A RJ or less MR J4 500A RJ or more 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 the battery While pressing the lock r...

Page 433: ...V1SET battery reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET Cover Locking part While pressing the locking part open the cover MR BAT6V1 Replace the battery with a new MR BAT6V1 battery Projection Press the cover until it is fixed with the projection of the locking part to close the cover ...

Page 434: ...ining 2 g or less lithium Operating humidity and storage humidity 90 RH or less non condensing Mass g 66 Maximum 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 temperat...

Page 435: ...replacing a battery turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off Then check the voltage between P and N with a voltage tester or 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 CAUTION The internal circuits of the servo amplifie...

Page 436: ...se Remarks MR BAT6V1BJ 1 for replacement Battery within two years from the production date c Procedures of replacing MR BAT6V1BJ battery for junction battery cable Replace the product as follows regardless of on off of the control circuit power supply When it is replaced with other procedures the absolute position data will be erased 1 Disconnect the connector for branch cable connection black of ...

Page 437: ...vo amplifier Old MR BAT6V1BJ New MR BAT6V1BJ 4 Remove the old MR BAT6V1BJ battery and mount new MR BAT6V1BJ battery 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 5 Connect the connector for servo amplifier connection orange of the new MR BAT6V1BJ battery for junction battery cable When the control circui...

Page 438: ...B0 23 ABSB1 25 ABST DICOM DOCOM 47 21 DICOM 49 RD 1 P15R 33 OP 41 47 10 PP 11 PG 35 NP 36 NG 1 P15R 27 TLA 28 LG Plate SD Servo amplifier I O unit Dog Stop Input Output Electromagnetic brake output Reset Note Forced stop 2 Servo on ABS transmission mode ABS request ABS transmission data bit 0 ABS transmission data bit 1 ABS transmission data ready Upper limit setting CN1 RA2 24 V DC External torqu...

Page 439: ...I 1 ABS transmission data bit 0 ABSB0 22 Indicates the lower bit of the absolute position data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal D01 turns on DO 1 ABS transmission data bit 1 ABSB1 23 Indicates the upper bit of the absolute position data 2 bits which is sent from the servo to the programmable controller in the ABS trans...

Page 440: ...r2 ABS data display window refer to section 12 1 5 and programmable controller side ABS data registers show the same value at the home position address of 0 If any warning such as AL E5 ABS time out warning or programmable controller side transfer error occurs refer to section 12 7 or chapter 8 and take corrective action 5 Home position setting The home position must be set if a System set up is p...

Page 441: ...a set Transmission data set DI0 allocation change Watch dog timer Reading 2 bits Shift and addition Watch dog timer Reading 2 bits Shift and addition Setting the current position Sum check Every time the SON is turned ON ABSM is turned ON to set the data to be transmitted The data is read in units of 2 bits the read data is written to the lowest bits and the register is shifted right until 32 bit ...

Page 442: ... current position latched when ABSM switches from off to on At the same time this data is set as a position command value inside the servo amplifier Unless ABSM ABS transfer mode is turned on the base circuit cannot be turned on 1 At power on a Timing chart OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 95 ms 1 2 3 Power supply SON 4 ABSM ABSR ABST Base circuit RD If SON is turned ON befor...

Page 443: ...sition data transmission the output signals will be assigned the functions of absolute position data transmission Output signal CN1 Pin No ABSM ABS transfer mode off ABSM ABS transfer mode on 22 Positioning completion transmission data bit 03 23 Zero speed detection transmission data bit 1 25 During torque limit control transmission data ready 5 ABSM is not accepted while the base circuit is on Fo...

Page 444: ...e checksum the programmable controller confirms that the 19th ABST is turned on and then turns off ABSM If ABSM is turned off during data transmission ABSM is interrupted and the AL E5 ABS time out warning occurs c Checksum he checksum is the code which is used by the programmable controller to check for errors in the received absolute position data The 6 bit checksum is transmitted following the ...

Page 445: ...ignal is not turned on by the programmable controller within 5 s after ABST is turned on this is regarded as a transmission error and AL E5 ABS time out warning is output OFF ON OFF ON OFF ON 5 s ABSM ABSR ABST AL E5 Signal is not turned ON No Yes 2 ABS request on time time out check applied to 32 bit absolute position data in 2 bit units checksum If the ABSR is not turned off by the programmable ...

Page 446: ...the AL E5 ABS time out warning is output OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 19 5 s ABSM ABSR ABST AL E5 Signal is not turned OFF No Yes 4 ABSM off check during the ABS transfer When the ABSM is turned on to start transferring and then the ABS transfer mode is turned off before the 19th ABS transmission data ready is turned on AL E5 ABS time out warning occurs regarding it as a transfer ...

Page 447: ...retry transmission of the absolute position data Using the ladder check program of the programmable controller turn off ABSM After a lapse of 10 ms or longer turn off SON off time should be longer than 20 ms and then turn it on again If the absolute position data transmission fails even after retry process the ABS checksum error The start command should be interlocked with ABST to disable position...

Page 448: ...N by detecting ALM If an alarm has occurred ABSM cannot be accepted In the reset state ABSM can be input OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON SON RES ABSM ABSR ABST ABSB0 ABSB1 Base circuit ALM RD Occurrence of alarm During transfer of ABS Absolute position data Operation enabled OFF ON ...

Page 449: ... on during an forced stop as shown below the servo amplifier transmits to the controller the current position latched when ABSM switches from off to on and at the same time the servo amplifier sets this data as a position command value However since the base circuit is off during a forced stop the servo lock status is not encountered Therefore if the servo motor is rotated by external force or the...

Page 450: ...permissible while in the forced stop state In this case the base circuit and RD are turned on after the forced stop state is reset OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON SON EM2 ABSM ABSR ABST ABSB0 ABSB1 Base circuit RD During transfer of ABS Operation enabled Absolute position data ...

Page 451: ...olute position data CR should be turned on after it has been confirmed that INP is on If this condition is not satisfied AL 96 Home position setting warning will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times OFF ON DOG Proximity dog OFF ON INP In position OFF ON OFF ON OFF ON CR Ho...

Page 452: ...p position is stored into the non volatile memory as the home position absolute position data When the servo on set CR to on after confirming that INP is on If this condition is not satisfied AL 96 Home position setting warning will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 100 000 times OFF O...

Page 453: ...BSM on will change the CN1 23 pin to ABSB1 ABS transmission data bit 1 Therefore configure an external sequence to generate the electromagnetic brake torque as soon as ABSM and MBR turn off OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 5 ms Tb 95 ms 5 ms Tb Power supply SON ABSM ABSR ABST ABSB0 ABSB1 Base circuit RD MBR Electromagnetic brake torque During transmission of ABS...

Page 454: ...nt this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform JOG operation or the like to clear the stroke end After that switch SON off once then on again or switch the power off once then on again This causes the absolute position data of the servo amplifier to be transferred to the programmable controller restoring the nor...

Page 455: ... ON 1 s ABSM ABSR ABST ABS communication error The signal does not come ON NO YES 2 The time required for the ABS transfer mode signal to go off after it has been turned on ABS transfer time is checked If the ABS transfer time is longer than 5 s regard that a transfer fault has occurred and generate the ABS communication error Generate the ABS communication error if AL E5 ABS time out warning is g...

Page 456: ...ier If the ABS request remains on for longer than 1 s regard that a fault relating to the ABS request signal or the ABST has occurred and generate the ABS communication error Generate the ABS communication error if AL E5 ABS time out warning is generated at the servo amplifier due to an ABS request off time time out OFF ON OFF ON OFF ON 1 s ABSM ABSR ABST ABS communication error The signal does no...

Page 457: ...smit command 0 2 and data No 9 1 2 Reply The absolute position data in the command pulse unit is returned in hexadecimal Data 32 bit length hexadecimal representation 12 8 2 Absolute position data transfer protocol 1 Data transfer procedure Every time SON turns on at power on or like the controller must read the current position data in the servo amplifier Not performing this operation will cause ...

Page 458: ...mission Absolute position data receive Current position Pulse train command Current position change During this period get absolute position data SON RD Absolute position data 1 The base circuit turns on after 95 ms 2 After the base circuit is turned on RD turns on 3 After RD turned on and the controller acquired the absolute position data give command pulses to the servo amplifier If the controll...

Page 459: ...m get the absolute position data again from the servo amplifier in accordance with the procedure in a of this section ON 95 ms OFF ON OFF ON OFF ON OFF ON OFF 5 ms Base circuit Absolute position data command transmission Absolute position data receive Current position Pulse train command During this period get absolute position data Current position change SON RES ALM RD Absolute position data ...

Page 460: ...OFF ON OFF ON 5 ms During this period get absolute position data Current position change Power supply Base circuit Pulse train command Current position Absolute position data receive Absolute position data command transmission SON EM2 RD Absolute position data 2 When a forced stop is activated during servo on 95 ms ON OFF ON OFF ON OFF ON OFF 5 ms Pulse train command Current position Absolute posi...

Page 461: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 36 MEMO ...

Page 462: ...e 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 from the co...

Page 463: ... STO function does not guarantee that 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 per...

Page 464: ... Number of on off times of STO 1 000 000 times CE marking LVD EN 61800 5 1 EMC EN 61800 3 MD EN ISO 13849 1 EN 61800 5 2 EN 62061 Note This is the value required by safety standards 2 Function block diagram STO function Base power supply for upper arm Base power supply for lower arm Shut off signal STO1 CN8 Monitor signal TOFB1 Shut off signal STO2 Monitor signal TOFB2 Shut off Shut off Servo moto...

Page 465: ... Mitsubishi 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 configurations of the connectors are 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 466: ... 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 state Between TOFB2 and TOFCOM Monitoring STO2 state Betwee...

Page 467: ...hould meet the applicable safety standards and have forcibly guided or mirror contacts for the purpose of error 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 Appendix 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 D...

Page 468: ... SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SW1 FG 4 5 3 6 7 8 CN1 EM2 A axis CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24 V 7A 0 V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 MR J3 D05 Note Note S1 24 V 0 V RESA STOA S3 RESB STOB MC M Servo motor MC M Servo motor Control circuit Control ci...

Page 469: ...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 470: ... MELSEC QS90SR2S Fuse 24 V 0 V S1 or EMG Note EMG 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 24 V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 K3 CN8 CN1 20 EM1 or EM2 Control circuit Servo amplifier STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM M Servo mo...

Page 471: ...tput interface DO 1 This is a circuit of collector output terminal of the output transistor When the output transistor is turned on collector terminal current will be applied for the output A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or less maximum current 50 mA or less i...

Page 472: ...ls from source open collector type transistor output relay switch etc Approx 3 0 kΩ STO1 STO2 Servo amplifier Switch STOCOM TR Approx 5 mA VCES 1 0 V ICEO 100 µA 24 V DC 10 500 mA 2 Digital output interface DO 1 This is a circuit of emitter output terminal of the output transistor When the output transistor is turned on current will be applied from the output to a load A maximum of 5 2 V voltage d...

Page 473: ...ne TOFB Servo amplifier Load Note 24 V DC 10 500 mA TOFCOM TOFB2 TOFB1 If polarity of diode is reversed servo amplifier will malfunction 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 474: ... Operate the single axis servo amplifier It is recommended to use the following cable To RS 232C connector Servo amplifier Personal computer RS 422 232C conversion cable DSV CABV Diatrend 10 m or less CN3 2 Multi drop connection a Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus To RS 232C connector RS 422 232C conversion cable DSV CABV Di...

Page 475: ... 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Note 2 150 RDP RDN Note 3 30 m or less Note 8 Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 The following shows pin assignment viewed from connector wiring section 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo ampl...

Page 476: ...wer 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 amplifier is charged with electricity due to connection with a p...

Page 477: ... MSB 14 2 2 Parameter setting When the RS 422 communication function is used to operate the servo set the communication specifications of the servo amplifier with the parameters To enable the parameter values cycle the power after setting 1 Serial communication baud rate Select the communication speed Match this value to the communication speed of the sending end master station Serial communicatio...

Page 478: ...plifier which must provide the return data 1 Transmission of data from the controller to the servo Date SOH STX Command Data No ETX STX ETX Checksum Checksum 10 frames data 6 frames Positive response Error code A Negative response Error code other than A Station No Station No Controller side master station Servo side slave station Error code 2 Transmission of data request from the controller to th...

Page 479: ... 5 6 7 8 9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z _ a b c d e f g h i j k l m n o p q r s t u v w x y z DEL 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 b8 to b5 R C 0 1 2 3 b4 b3 b2 b1 4 5 6 7 3 Station numbers You may set 32 station Nos from station 0 to station 31 and the ASCII unit codes are used to...

Page 480: ...ted data No is out of specifications Negative response 14 3 4 Checksum The checksum is an ASCII coded hexadecimal representing the lower two digits of the sum of ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH STX or SOH ETX Check Checksum range Station No 5 2 STX 30H 41H 31H 32H 35H 46H 03H 152H 0 A 1 F 5 2 ETX 02H 30H 41H 31H 32H 35H 46H 03H Lowe...

Page 481: ...o Controller side master station Servo side slave station STX STX Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times 14 3 7 Initialization After the slave station is swit...

Page 482: ...code A or a 3 consecutive times 300 ms elapsed Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receive 3 consecutive times Receive data analysis End 100 ms after EOT transmission Error processing Error processing No Yes Yes Yes No No No No Yes Yes Master station Is there receive data Command Data No Checksum 30H 33H 33H 02H 3...

Page 483: ...load ratio 0 8 Effective load ratio 0 9 Peak load ratio 0 A Instantaneous torque Instantaneous thrust 0 B Position within one revolution Motor encoder position within one revolution Virtual position within one revolution 0 C ABS counter Motor encoder ABS counter Virtual ABS counter 0 D Load to motor inertia ratio Load to motor mass ratio 0 E Bus voltage 0 F Load side cumulative feedback pulses 1 0...

Page 484: ...ous thrust 8 B Position within one revolution Motor encoder position within one revolution Virtual position within one revolution 8 C ABS counter Motor encoder ABS counter Virtual ABS counter 8 D Load to motor inertia ratio Load to motor mass ratio 8 E Bus voltage 12 8 F Load side cumulative feedback pulses 9 0 Load side droop pulses 9 1 Load side encoder information 1 Z phase counter 9 2 Load sid...

Page 485: ...ta No value hexadecimal corresponds to the parameter No 12 1 7 0 1 to F F Lower limit values of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No ...

Page 486: ...1 C Twelfth alarm in past 1 D Thirteenth alarm in past 1 E Fourteenth alarm in past 1 F Fifteenth alarm in past 2 0 Alarm occurrence time in alarm history Most recent alarm 8 2 1 First alarm in past 2 2 Second alarm in past 2 3 Third alarm in past 2 4 Fourth alarm in past 2 5 Fifth alarm in past 2 6 Sixth alarm in past 2 7 Seventh alarm in past 2 8 Eighth alarm in past 2 9 Ninth alarm in past 2 A ...

Page 487: ...que Instantaneous thrust 0 B Position within one revolution Motor encoder position within one revolution Virtual position within one revolution 0 C ABS counter Motor encoder ABS counter Virtual ABS counter 0 D Load to motor inertia ratio Load to motor mass ratio 0 E Bus voltage 16 0 F Load side cumulative feedback pulses 1 0 Load side droop pulses 1 1 Load side encoder information 1 Z phase counte...

Page 488: ...oad to motor mass ratio 8 E Bus voltage 12 8 F Load side cumulative feedback pulses 9 0 Load side droop pulses 9 1 Load side encoder information 1 Z phase counter 9 2 Load side encoder information 2 9 6 Temperature of motor thermistor 9 7 Motor side cumu feedback pulses before gear 9 8 Electrical angle 9 E Motor side load side position deviation 9 F Motor side load side speed deviation A 0 Encoder...

Page 489: ...rs Pr PL_ _ 0000 to 0005 4 3 External I O signals command 9 2 Command Data No Description Setting range Frame length 9 2 6 0 Communication input device signal Refer to section 14 5 5 8 4 Alarm history command 8 2 Command Data No Description Setting range Frame length 8 2 2 0 Alarm history clear 1EA5 4 5 Current alarm command 8 2 Command Data No Description Setting range Frame length 8 2 0 0 Alarm ...

Page 490: ...JOG operation and positioning operation 00000000 to 7FFFFFFF 8 2 0 Sets the travel distance in the test operation mode Positioning operation 00000000 to 7FFFFFFF 8 2 1 Selects the positioning direction of test operation positioning operation 0 Forward rotation direction 1 Reverse rotation direction 0 Command pulse unit 1 Encoder pulse unit 0 0 0000 to 0101 4 A 0 4 0 This is a start command for tes...

Page 491: ...rted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 3 0 0 0 0 0 0 9 2 9 Display type 0 Data must be converted into decimal 1 Data is used unc...

Page 492: ...osition 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 0 Data is transferred in hexadecimal For example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second least significant digit the decimal point...

Page 493: ...isplay data requested Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth least significant digit Data 32 bit length hexadecimal rep...

Page 494: ...e station a Transmission Transmit command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Return The slave station returns the preset parameter group 0 0 Parameter group 0 Basic setting parameters Pr PA_ _ 1 Gain filter parameters Pr PB_ _ 2 Extension setting parameters Pr PC_ _ 3 I O setting parameters Pr PD_ _ 4 Extension setting 2 parameters Pr PE_ _ 5 Extension setting 3 parameters Pr PF_ _ B Li...

Page 495: ... when power is cycled after writing Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit Data is transferred in hexadecimal 0 0 0 Sign 0 Sign 1 No sign 0 For example data 00120000270F means 999 9 decimal display format and data 000000003ABC means 3AB...

Page 496: ...rresponding to the parameter No When reading an lower limit value transmit the command 1 7 and the data No 0 1 to F F corresponding to the parameter No Refer to section 14 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter No b Return The slave station returns the data and processing information of the parameter No requested Data is...

Page 497: ...When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Check the writing data is within the upper lower limit value before writing To prevent an error read the parameter data to be written confirm the decimal point position and cr...

Page 498: ...7 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 2 Reading external input pin status Read the on off status of the external input pins a Transmission Transmit command 1 2 and data No 4 0 Command Data No 1 2 4 0 b Return The on off status of the input pins are returned b31 b1b0 1 On 0 Off Command of each b...

Page 499: ...1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 4 Reading external output pin status Read the on off status of the external output pins a Transmission Transmit command 1 2 and data No C 0 Command Data No 1 2 C 0 b Return The slave station returns the status of the output devices b31 b1b0 1 O...

Page 500: ...ut device on off POINT The on off status of all devices in the servo amplifier are the status of the data received at last Therefore when there is a device which must be kept on transmit data which turns the device on every time Each input device can be switched on off However when the device to be switched off is in the external input signal also switch off the input signal Transmit command 9 2 d...

Page 501: ...xternal analog input signal 0 V Pulse train input None 1 Disabling enabling the input devices DI external analog input signals and pulse train inputs except EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end Transmit the following communication commands a Disabling Command Data No Data 9 0 0 0 1EA5 b Enabling Command Data No Data 9 0 1 0 1EA5 2 Disabling enabling...

Page 502: ...itch off the input signal Transmit command 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 CLD 5 PC 13 CM1 21 29 MECR 6 RES 14 CM2 22 30 ...

Page 503: ...ode Send the command 8 B data No 0 0 data to select the test operation mode Command Data No Transmission data Selection of test operation mode 0001 JOG operation 0002 Positioning operation 8 B 0 0 0004 Output signal DO forced output Note Note Refer to section 14 5 9 for output signal DO forced output 2 Check of test operation mode Read the test operation mode set for the slave station and check th...

Page 504: ...n direction 00001007 SON LSP LSN and ST2 turned on 9 2 0 0 Forward rotation direction 00000801 SON and ST1 turned on Reverse rotation direction 00001001 SON and ST2 turned on Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Start Start Stop End Stop Stop Test operation mode is can...

Page 505: ...ion mode Set the operation pattern Start Test operation mode is canceled 8 B 0 0 0002 Positioning operation Start Command Data No Data Command Data No Data 9 2 0 0 00000007 SON LSP and LSN turned on 9 2 0 0 00000001 SON turned on Enable input device Enable input device A 0 4 0 1EA5 Start positioning operation When LSP LSN was turned Off by external input signal Turn on SON Servo on to make the ser...

Page 506: ... stop Command Data No Data A 0 4 1 STOP Transmit the following command data No and data during a temporary stop to restart Command Data No Note Data A 0 4 1 GO Note indicates a blank Transmit the following command data No and data during a temporary stop to stop positioning operation and erase the remaining travel distance Command Data No Note Data A 0 4 1 CLR Note indicates a blank ...

Page 507: ...tput signal DO forced output 0 2 External output signal on off Transmit the following communication commands Command Data No Set data 9 2 A 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 2...

Page 508: ...o alarm 2 Alarm occurrence time reading Read alarm occurrence times which occurred in the past Alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Transmit command 3 3 data No 2 0 to 2 F Refer to section 14 4 1 b Return The alarm occurrence time is transferred in hexadecimal Hexadecimal...

Page 509: ... to the status display item to read 8 0 to 8 E and A 0 to A 9 Refer to section 14 4 1 b Return The slave station returns the status display data of requested alarm at occurrence Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Thir...

Page 510: ...d into decimal For example data 000186A0 is 100000 pulses in the motor side pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Transmit command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Return The slave station returns the requested command pulses Absolute position is sent back in hexadecimal in the command unit Data must be converted into...

Page 511: ...14 COMMUNICATION FUNCTION 14 38 MEMO ...

Page 512: ...ces Category Item Linear servo motor Rotary servo motor Remarks 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 changed with Pr PL01 Refer to 2 b of sec...

Page 513: ...Linear servo motor Encoder cable SCALE THM R S T MCCB 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 70A or less For 1 phase 200 V AC to 240...

Page 514: ... 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 70A or less For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open For the power supply specifications refer to section 1 3 3 Depending on the...

Page 515: ...ctor 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 J4 70B RJ or less For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open For the power supply specif...

Page 516: ...ure 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 Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For so...

Page 517: ...o amplifier This section 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 8 Interface Section 3 9 Grounding Section 3 11 Display and operat...

Page 518: ...agnetic pole detection Refer to 3 of section 15 3 2 Release AL 93 ABS data transfer warning Positioning operation check using the controller Refer to section 15 3 5 Home position return operation Refer to section 15 3 3 Positioning operation Incremental linear encoder Absolute position linear encoder Note 1 Positioning operation check using the test operation mode Refer to section 15 3 4 Note 1 Us...

Page 519: ...able Primary side Secondary side LM K2 series 2 Confirm the increasing direction of the linear encoder 3 If the positive direction of the linear servo motor matches with the increasing direction of the linear encoder set Pr PC45 to _ _ _ 0 If the positive direction of the linear servo motor does not match with the increasing direction of the linear encoder set Pr PC45 to _ _ _ 1 b Confirmation met...

Page 520: ...e detection 15 3 2 Magnetic pole detection Before the positioning operation of the linear servo motor make sure to perform the magnetic pole detection When Pr PL01 is set to the initial value perform the magnetic pole detection only at the first servo on after the power is turned on The magnetic pole detection includes the following two methods Each method has advantages and disadvantages Select a...

Page 521: ... test operation mode on MR Configurator2 Set the travel distance to 0 at this time 7 Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled Note 2 3 4 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 amplifier power Reset the alarm or cycle the se...

Page 522: ... 3 4 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 position detection method of Pr PL17 by one Not...

Page 523: ... 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 A servo alarm may occur when the linear encoder is not mounted properly or when the linear encoder resolution setting Pr PL02 and Pr PL03 ...

Page 524: ...oke end and LSN Reverse rotation stroke end are on 2 Linear servo motor movement when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on LSN Note 1 LSP Note 1 Note 2 Magnetic pole detection completion position Servo on position Magnetic pole detection start position Note 1 2 When LSP Forward rotation stroke end or LSN Reverse rotation stroke end turns off during the magneti...

Page 525: ...e pitch against magnetic pole refer to 3 a 2 Note 2 of this section b For the absolute position linear encoder POINT When you use an absolute position linear encoder with the following timings the magnetic pole detection will be required 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 repla...

Page 526: ...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 527: ...alue of Pr PL09 carry out the magnetic pole detection repeatedly 30 35 40 45 65 70 In this example the final setting value of Pr PL09 is 49 Setting value at the alarm occurrence 70 0 7 15 3 3 Home position return POINT Change the third digit value of Pr PL01 according to the linear encoder resolution The incremental linear encoder and the absolute position linear encoder have different reference h...

Page 528: ... dog signal LZ Encoder Z phase pulse Machine position 0 r min Stroke end b When the linear encoder home position reference mark does not exist in the home position return direction The home position return cannot be performed from the position which the home position of the linear encoder does not exist in the home position return direction Move the mover to the stroke end on the opposite side of ...

Page 529: ...d to set the home position return completion to the same position each time such as dog type home position return always start home position return with the same direction d Caution for linear encoder which does not have the home position reference mark The linear encoder which does not have the home position reference mark LZ Encoder Z phase pulse of the servo amplifier does not be outputted It i...

Page 530: ... 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 In the case of a proximity d...

Page 531: ...ected or not Exercise control on the positioning operation screen of MR Configurator2 a Operation pattern Item Initial value Setting range Travel distance pulse 1048576 0 to 99999999 Speed mm s 10 0 to Maximum speed Acceleration decelerati on time constant ms 1000 0 to 50000 Repeat pattern Positive direction travel Negative direction travel Positive direction travel Negative direction travel Posit...

Page 532: ... the position and speed deviation error detections are enabled by default Pr PL04 _ _ _ 3 If the 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 detecti...

Page 533: ...iation 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 Change the set value as necessary 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 ...

Page 534: ...eters set by the auto tuning function refer to chapter 6 POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000 mm s is the acceleration deceleration time constant of 5 s or less The linear servo motor speed is 150 mm s or higher The load to mass of the linear servo motor primary side ratio is 100 times or less The acceleration d...

Page 535: ... pole detection after the detection c Enable the absolute position detection system with Pr PA03 Absolute position detection system 2 Alarm detection AL 25 Absolute position erased AL 92 Battery cable disconnection warning AL 9F Battery warning and AL E3 Absolute position counter warning are not provided for the linear servo motor 3 Backup The linear encoder backs up the absolute position data The...

Page 536: ...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 537: ...R J4 200A RJ 3 8 100 20 1 1 LM H3P7D 96P ASS0 MR J4 350A RJ 5 5 130 20 2 7 LM U2PAB 05M 0SS0 MR J4 20A RJ 0 5 25 15 0 5 LM U2PAD 10M 0SS0 0 9 35 15 0 7 LM U2PAF 15M 0SS0 MR J4 40A RJ 0 9 35 15 0 7 LM U2PBB 07M 1SS0 MR J4 20A RJ 0 5 25 15 0 5 LM U2PBD 15M 1SS0 MR J4 60A RJ 1 0 40 15 0 8 LM U2PBF 22M 1SS0 MR J4 70A RJ 1 3 50 15 1 0 LM U2P2B 40M 2SS0 MR J4 200A RJ 3 5 90 20 1 8 LM U2P2C 60M 2SS0 MR J...

Page 538: ...E 03 2 54E 04 LM U2PBD 15M 1SS0 1 56 10 2 5 18 10 5 LM H3P7A 24P ASS0 7 69E 03 2 14E 04 LM U2PBF 22M 1SS0 4 58 10 2 1 33 10 5 LM H3P7B 48P ASS0 9 14E 04 2 59E 04 LM U2P2B 40M 2SS0 1 47 10 3 1 27 10 5 LM H3P7C 72P ASS0 7 19E 04 1 47E 04 LM U2P2C 60M 2SS0 1 07 10 3 7 66 10 6 LM H3P7D 96P ASS0 6 18E 04 9 59E 05 LM U2P2D 80M 2SS0 9 14 10 4 5 38 10 6 Linear servo motor Coefficient A Coefficient B Linea...

Page 539: ...maximum speed Linear servo motor Permissible load to motor mass ratio Multiplier LM H3 series 40 LM U2 series LM F series 100 LM K2 series 50 When actual speed does not reach the maximum speed of the 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 of the...

Page 540: ...addition the settling time is reduced and the high frequency operation is enabled 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 an...

Page 541: ...motor set Pr PA01 to _ _ 6 _ Note 4 Battery unit CN4 Note 6 Absolute position storage unit MR BTAS01 Direct drive motor Note 7 Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN6 CN8 CN1 CN2 W V U Magnetic contactor L1 L2 L3 Note 3 Note 1 MC Power factor improving DC reactor FR HEL Molded case circuit breaker R S T To safety relay or MR J...

Page 542: ...ic 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 direct drive motor until they have been installed Otherwise it may cause an electric shock The cables should not be damaged stressed loaded or pinche...

Page 543: ... 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 8 Interface Section 3 9 Grounding Section 3 11 Display and operation sections Section 4 5 Parameter Chapter 5 Troubleshooting Chapter 8 16 3 Operation and functions POINT When using the direct drive mot...

Page 544: ... position detection system Incremental system Can you manually turn on the Z phase pulse of the direct drive motor Change the setting to disable the magnetic pole detection Refer to section 16 3 2 Turn on the Z phase pulse of the direct drive motor manually Note 3 Positioning operation check using the controller Refer to section 16 3 3 Home position return operation Refer to the controller manual ...

Page 545: ...tails 5 After the servo amplifier is connected to the direct drive motor with an encoder cable AL 25 Absolute position erased will occur at the first power on Cancel the alarm by turning on off the power 6 When the magnetic pole detection is performed with absolute position detection system by DIO transfer AL 93 ABS data transfer warning will occur Refer to section 16 4 for details 7 To cancel AL ...

Page 546: ...ermediate between the value set at AL E1 Overload warning 1 and the value set at AL 27 Initial magnetic pole detection error as the final setting value NO YES YES NO YES NO Magnetic pole detection End Check that LSP Forward rotation stroke end LSN Reverse rotation stroke end and EM2 Forced stop 2 are on and then cycle the servo amplifier power Set Pr PL08 Linear servo motor DD motor function selec...

Page 547: ... to Minute position detection method Set Pr PL01 Linear servo motor DD motor function selection 1 to _ _ _ 1 to set Magnetic pole detection always enabled Note 1 Cycle the servo amplifier power Set the load inertia moment ratio of the direct drive motor with Pr PL17 Magnetic pole detection Minute position detection method Function selection Note 2 Execute Forward rotation CCW or Reverse rotation C...

Page 548: ...Pr PL09 Magnetic pole detection voltage level an overload overcurrent magnetic pole detection alarm or others 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 detection improves with no load a Incremental system POINT For the incremental system the magnetic pole de...

Page 549: ...N is set the magnetic pole detection starts Servo on position Center of direct drive motor rotation part LSP LSN 10 degrees or less b Absolute position detection system POINT When the absolute position detection system is used with the following timing the magnetic pole detection is required System set up at the first startup of equipment When the Z phase pulse of the direct drive motor is not tur...

Page 550: ...following table Pr PL09 setting guide value Servo status Small Medium Large 10 or less initial value 50 or more Torques required for operation Small Large Overload overcurrent alarm Seldom occurs Frequently occurs Magnetic pole detection alarm Frequently occurs Seldom occurs Magnetic pole detection accuracy Low High b Setting procedure 1 Perform the magnetic pole detection and increase the setting...

Page 551: ...etection methods the position deviation speed deviation and torque deviation An error is detected when each method is enabled with Pr PL04 Linear servo motor DD motor function selection 2 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 Fee...

Page 552: ...el 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 16 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 mot...

Page 553: ...tion cable MR J3BTCBL03M AL 25 Absolute position erased will occur if the encoder cable is disconnected When you use the system with absolute position detection system by DIO transfer set Pr PA03 to _ _ _ 1 with the following conditions the first servo on after power on will trigger the magnetic pole detection and AL 93 ABS data transfer warning will occur Magnetic pole detection always enabled Se...

Page 554: ...olute position data to the controller refer to section 12 8 16 5 Characteristics 16 5 1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo amplifier the direct drive motor and direct drive motor power wires from overloads AL 50 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve shown in fig ...

Page 555: ...io Operating TM RFM048G20 TM RFM072G20 TM RFM120J10 10000 1000 100 10 1 0 50 150 200 250 300 100 Servo lock Operation time s Note Load ratio Operating TM RFM240J10 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 servo lock status or in a 30 r min or less low speed operation status the servo ampli...

Page 556: ... rated speed the power supply capacity will be smaller than the value in the table but the servo amplifier s generated heat will not change Table 16 1 Power supply capacity and generated loss per direct drive motor at rated output Servo amplifier generated heat W Servo motor Power supply capacity kVA At rated output With servo off Area required for heat dissipation m 2 TM RFM002C20 0 25 25 15 0 5 ...

Page 557: ...ing distance Fig 16 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 16 1 to calculate an approximate coasting distance to a stop The dynamic brake time constant τ varies with the direct drive motor and machine operation speeds Refer to 1 b of this section Dynamic brake time constant Time te V0 ON OFF EM1 Forced stop 1 Machine speed Fig 1...

Page 558: ..._G20 TM RFM_J10 2 Permissible load to motor inertia ratio when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table If the ratio is higher than this value the dynamic brake may burn If there is a possibility that the ratio may exceed the value contact your local sales office The values of the permissible load to motor inertia ratio ...

Page 559: ...16 USING A DIRECT DRIVE MOTOR 16 20 MEMO ...

Page 560: ...n 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 Pr PE08 FBN S ...

Page 561: ... obtained Feature Position is controlled according to the servo motor side data and load side data Dual feedback control 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 Feature Position is contr...

Page 562: ..._ Servo amplifier _ _ 1 _ Refer to section 17 3 1 2 a OFF ON Refer to section 17 3 1 2 b Dual feedback control Semi closed loop control 1 to 4499 Fully closed loop system CLD Fully closed loop control selection 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 c...

Page 563: ...lute position linear encoder is used In that case a battery is not required b MR J4 _A_ RJ servo amplifier Note 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 CN2L A B Z phase pulse train interface or serial interface CN2 Table Servo motor encoder signal Linear encoder head Servo motor Servo...

Page 564: ...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 _A_ RJ servo amplifier 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 CN2L Load side encoder signal Servo motor enco...

Page 565: ...rmance and assurance contact each encoder manufacturer 17 2 1 LINEAR ENCODER Refer to Linear Encoder Instruction Manual for usable linear encoders 17 2 2 Rotary encoder When a rotary encoder is used for the load side encoder use HG KR or HG MR servo motor as an encoder Use a two wire type encoder cable for MR J4 _A_ servo amplifiers Do not use MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H or MR EKCBL5...

Page 566: ... amplifier Linear encoder CN2 MR J4FCCBL03M branch cable Refer to section 17 2 4 Encoder of rotary servo motor Encoder cable Refer to the Linear Encoder Instruction Manual CN2 MOTOR SCALE Load side encoder b MR J4 _A_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in a for MR J4 _A_ RJ servo amplifier You can also use a four wire type linear encoder Servo ...

Page 567: ...nual 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 _A_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in a for MR J4 _A_ RJ servo amplifier You can also use a four wire type linear encoder Servo amplifier CN2 Load side encoder Ser...

Page 568: ... 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 569: ...d operation check in semi closed loop system Gain adjustment Adjustment and operation check in fully closed loop system Selection of fully closed loop system Refer to 2 of this section Selection of load side encoder communication system Refer to 3 of this section Adjustment of dual feedback switching filter for dual feedback control Refer to 5 of this section Setting of load side encoder polarity ...

Page 570: ...Applicable when the load side encoder is set as the absolute position encoder 1 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 571: ...lse count polarity selection in Pr PC45 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 PC45 Doing so may cause AL 42 Fully closed loop control error during the positioning operation a Parameter ...

Page 572: ...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 573: ...he servo motor side 30 mm Pulley diameter on the rotary encoder side 20 mm Rotary encoder resolution 4194304 pulses 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 4194304 30 4194304 20 1 1 Pr PE04 Pr PE34 Pr PE05 Pr PE35 3 2 ...

Page 574: ... mark or Z phase is passed through by moving the load side encoder When it is not cleared the following factors can be considered 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 mo...

Page 575: ...PE08 setting Control mode Vibration Settling time 1 to 4499 Dual feedback Seldom 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 filter should...

Page 576: ... operation and perform home position to perform it in safe LSN Home position of linear encoder reference mark Home position return direction Non returnable area Home position return cannot be performed when started from this area Returnable area Home position return can be performed when started from this area LSP Dog 2 Load side encoder types and home position return methods a About proximity dog...

Page 577: ... linear encoder has a certain width Specifications differ depending on the linear encoders For details refer to Linear Encoder Instruction Manual Example When Z phase is recognized at startup B A Home position signal A is recognized as the on position B is recognized as the on position The position which turns on a signal differs depending on the directions of home position passing When you need t...

Page 578: ...tion 0 Disabled 1 Speed deviation error detection 2 Position deviation error detection 3 Speed deviation error position deviation error detection Initial value 0 0 0 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 4 ...

Page 579: ...le deviation 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 17 3 4 Auto tuning function Refer to section 6 3 for the auto tuning function 17 3 5 Machine analyzer function Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2 17 3 6 T...

Page 580: ... 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 Select Always fully closed loop Pr PA01 ...

Page 581: ...se 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 Cumulative command pulses Position command input pulses are counted and displayed Click Clear to reset the value to 0 The symbol is indicated for reverse command pulse d Load side cumulative feedback pulses Feedback pul...

Page 582: ...uring selection are displayed k Parameter Feedback pulse electronic gear The feedback pulse electronic gears Pr PE04 Pr PE05 Pr PE34 and Pr PE35 are displayed set for servo motor encoder pulses in this parameter Refer to section 17 3 1 5 l Parameter Dual feedback filter The band of Pr PE08 Fully closed loop dual feedback filter is displayed set in this parameter m Parameter fully closed loop funct...

Page 583: ...17 FULLY CLOSED LOOP SYSTEM 17 24 MEMO ...

Page 584: ...nal Maritime Organization IMO To comply the instruction and code we have modified the indication on the package for general purpose AC servo batteries The above change will not affect the function and performance of the product 1 Target model a Battery cell Model Option model ER6 MR J3BAT MR BAT ER17330 A6BAT b Battery unit assembled Model Option model ER17330 MR J2M BT MR BAT6V1 MR BAT6V1SET CR17...

Page 585: ...ishi The following caution will be 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 figure and the Shipper s Declaration for Dangerous Goods are required to the package of a Mitsubishi cell or battery In addition attaching them to t...

Page 586: ...attery 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 0 004 In the European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the envir...

Page 587: ... liability if the equipment is used in any other way or if modifications are made to the device even in the context of mounting and installation WARNING It takes 15 minutes for capacitor discharging Do not touch the unit and terminals immediately after power off 1 Peripheral device and power wiring The followings are selected based on IEC EN 61800 5 1 UL 508C and CSA C22 2 No 14 a Local wiring and...

Page 588: ... 12 a 14 b 10 a MR J4 11K_4 Note 1 10 d 14 b 14 e 8 f MR J4 15K_4 Note 1 8 f 12 d 6 c MR J4 22K_4 Note 1 6 g 12 h 4 i 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 the following table for the crimp terminals and crimping tools 3 Select wire sizes depending on the rated output ...

Page 589: ...A frame 15 A 30 A MR J4 350_ MR J4W2 77B Note MR J4W3 444B Note NF50 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 For 1 phase 200 V AC power input 2 400 V class Servo amp...

Page 590: ...PD 250 U4 series MR J4 Series are not intended to be used on a low voltage public network which supplies domestic premises radio frequency interference is expected if used on such a network The installer shall provide a guide for Installation and use including recommended mitigation devices b For Declaration of Conformity DoC Hereby MITSUBISHI ELECTRIC EUROPE B V declares that the servo amplifiers...

Page 591: ...mary side for inputs Use a ferrite core and line noise filter for outputs Use a distance greater than 30 m between the product and third party sensitive radio communications for an MR J4 22K_ App 4 2 4 General cautions for safety protection and protective measures Observe the following items to ensure proper use of the MELSERVO MR J4 servo amplifiers 1 For safety components and installing systems ...

Page 592: ...dations App 4 3 Mounting dismounting Installation direction and clearances CAUTION The devices must be installed in the specified direction Not doing so may cause a malfunction Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2 Note the followings for supplied regenerative resistors of 11 kW to 22 kW servo amplifiers because the...

Page 593: ... CSA standards 1 3 phase input for MR J4 1 axis servo amplifier a 200 V class MCCB or fuse Controller STO Encoder cable 3 phase 230 V AC Power supply 3 phase 400 V AC Transformer star connected Note MCCB or fuse PE L11 L21 MC Servo amplifier Cabinet side Machine side Encoder Servo motor L1 C P D N U V W PE CN2 CN1 CN8 L2L3 Note When the wire sizes of L1 and L11 are the same MCCB or fuse is not req...

Page 594: ... amplifier Cabinet side Machine side CN1 CN8 Servo motor Servo motor Servo motor CNP1 L1 L2 L3 CNP3C CN2A CNP3B CN2B CN2C CNP2 CNP3A Note When the wire sizes of L1 and L11 are the same MCCB or fuse is not required 4 1 phase input for MR J4 multi axis servo amplifier MCCB or fuse Controller STO Encoder cable 1 phase 230 V AC Power supply 3 phase 400 V AC Transformer star connected Note MCCB or fuse...

Page 595: ...TO2 TOFB1 STO1 STOCOM 2 CN8 1 4 3 6 5 8 7 TOFCOM STO I O signal connector App 4 5 2 Input 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...

Page 596: ... 100_ MR J4 200_ MR J4 350_ 1 2 MR J4 500_ 1 2 0 8 1 2 MR J4 700_ 1 2 0 8 1 2 MR J4 11K_ MR J4 15K_ 3 0 1 2 3 0 MR J4 22K_ 6 0 1 2 6 0 MR J4W_ _B 1 2 b 400 V class Tightening torque N m Servo amplifier L1 L2 L3 N P3 P4 P C L11 L21 U V W PE MR J4 60_4 MR J4 100_4 MR J4 200_4 MR J4 350_4 1 2 MR J4 500_4 1 2 0 8 1 2 MR J4 700_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 2...

Page 597: ... 10 000 hours 2 axes 7 000 hours 3 axes or 5 000 hours 4 axes equipment power supply off ambient temperature 20 C Approximately 15 000 hours 2 axes 13 000 hours 3 axes or 10 000 hours 4 axes power on time ratio 25 ambient temperature 20 C Note 5 Note 3 Battery life 5 years from date of manufacture Note 1 The data holding time by the battery using MR BAT6V1SET Replace the batteries within three yea...

Page 598: ... Item Environment Operation C 0 to 55 Class 3K3 IEC EN 60721 3 3 Ambient temperature 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 to 90 RH Test values 10 Hz to 57 Hz with constant deviation of 0 075 mm 57 Hz to 150 Hz with constant acceleration of 9 8 m s2 1 g to IEC EN 61800 5 1 Tes...

Page 599: ...ime TM 20 years Response performance 8 ms or less STO input off energy shut off Pollution degree 2 IEC EN 60664 1 Overvoltage category III IEC EN 60664 1 Protection class I IEC EN 61800 5 1 Short circuit current rating SCCR 100 kA 2 400 V class Item MR J4 60_4 MR J4 100_4 MR J4 200_4 MR J4 350_4 MR J4 500_4 MR J4 700_4 MR J4 11K_4 MR J4 15K_4 MR J4 22K_4 Main circuit line voltage 3 phase 380 V AC ...

Page 600: ... 260 18 2 App 4 8 3 Mounting hole Variable dimensions mm Screw size Servo amplifier a a1 b c d d1 e MR J4 10_ MR J4 20_ MR J4 40_ 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_ MR J4 350_ 6 45 156 0 5 6 78 0 3 M5 MR J4 500_ 6 6 235 0 5 7 5 93 0 3 93 0 3 M5 MR J4 700_ 6 6 285 0 5 7 5 160 0 5 160 0 5 M5 MR J4 11K_ MR J4 15K_ 12 12 380 0 5 10 196 0 5 196 0 5 M5 M...

Page 601: ...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 protection class effective Yes No 5 Is the STO function checked test of all the shut off w...

Page 602: ...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 603: ...ponsible for all risk evaluations and all associated residual risks Below are residual risks associated with the STO EMG function Mitsubishi 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 for i...

Page 604: ...2A SDO1A SDO2A SRESA SRESA TOF1A TOF2A STO1A STO2A SDO1A SDO2A TOFA 0 V 24 V 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 Normal close Shut off open A axis EMG start reset B axis EMG start reset A axis STO state 1 and 2 B axis STO state 1 and ...

Page 605: ... 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 0s 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 10 9 1 h Safety performance CE marking LVD EN 61800 5 1 EMC EN 61800 3 MD EN ISO 13849 1 EN 61800...

Page 606: ...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_A_ RJ STO cable MR D05UDL3M B CN9 CN10 CN8 CN1 L1 L2 L3 U V W EM2 Forced stop 2 ...

Page 607: ...A axis CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 MR J4_A_ RJ SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24 V 7A 0 V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 MR J3 D05 Note Note S1 24 V DC 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 Set the delay time of STO output with SW1 and SW2 The...

Page 608: ...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 609: ...tching 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 ax...

Page 610: ...tion apply 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 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 ...

Page 611: ...d wires are bent feazed 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 inse...

Page 612: ... 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 feazed It is easy to insert the wire if the wire is inserted diagonally while twisting the tool e Remove the tool ...

Page 613: ...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 614: ...act and or wires may be damaged 4 Compatible wire Compatible wire size is listed below Wire size mm 2 AWG 0 22 24 0 34 22 0 50 20 5 Others a Fix a wire tie at least distance of A 1 5 away from the end of the connector A 1 5 or more 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 2...

Page 615: ...elay 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 A axis B axis POWER Power supply 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...

Page 616: ...upplied 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 1 The delay time settings are not matched Check the settings of the rotary switch FAULT LED of A axis or B axis is on and will not turn off 2 Switch input error Check the wiring or sequence of the input s...

Page 617: ...CN8B 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 Tighteni...

Page 618: ... 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_A...

Page 619: ...CN9 1 1871940 4 TE Connectivity Connector for CN10 1 1871940 8 TE Connectivity 2 STO cable Connector set 2069250 1 TE Connectivity MR D05UDL3M B Cable length 3 m COMPLIANCE WITH THE MACHINERY DIRECTIVES The MR J3 D05 complies with the safety components laid down in the directive 2006 42 EC Machinery ...

Page 620: ...APPENDIX App 37 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 621: ...APPENDIX App 38 ...

Page 622: ...al provided to the output across MO1 and LG 0 0 Pr PC14 Analog monitor 2 output selection the signal provided to the output across MO2 and LG 0 0 Pr PC15 Pr PC39 and Pr PC40 can be used to set the offset voltages to the analog output voltages The setting range is between 9999 mV and 9999 mV Parameter Description Setting range mV PC39 This is used to set the offset voltage of MO1 Analog monitor 1 P...

Page 623: ...e 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 Maximum torque Power runningin CW direction Power running in CCW direction Maximum torque 0 8 V 04 Current command Maximum current command Maximum torque command CW direction CCW direction Maximum current command Maximum torque command 0 8 V 8 V 05 Command pulse f...

Page 624: ...n 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 droop pulses Note 3 4 5 6 10 V 1 Mpulses 1 Mpulse CW direction CCW direction 1 Mpulse 0 10 V 10 V 15 Motor side load side position deviation Note 3 4 5 6 10 V 100000 pulses 100000 pulse CW direction CCW direction 100000 puls...

Page 625: ... temperature Home position CR input position Droop pulses Speed command Position control Speed control PWM Current control Current command Bus voltage Speed command Current encoder Servo motor Encoder Current feedback Position feedback M Differen tiation Servo motor speed Torque Speed command 2 ...

Page 626: ...R HG MR Servo motor HG KR HG MR For driving For load side encoder App 8 2 Connector set Connector set 1 Servo amplifier side connector 2 Servo motor side connector Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex MR ECNM MRR LG P5 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 No...

Page 627: ...etic pole detection again If the magnetic pole detection cannot be performed unavoidably write the magnetic pole information from the servo amplifier before the replacement to the one after the replacement using MR Configurator2 1 Procedures a Read the magnetic pole information of the servo amplifier before the replacement b Write the read magnetic pole information to the servo amplifier after the...

Page 628: ...Open the project in MR Configurator2 select MR J4 A 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 the Magnetic pole information button 1 in figure to open the magnetic pole information window 4 Input the value of the magnetic pole information taken notes to the data 1 an...

Page 629: ...ged Added The diagram is changed The diagram is changed The table and Note are changed The item of detailed explanation is changed Note 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 The sentences are changed Note 10 is added Note 10 is added Note 10 is added Note 10 is add...

Page 630: ...CAUTION is changed Note is added The sentences are added to POINT The sentences are changed The value in table is changed The diagram is changed Added The part of diagram is changed The sentences are changed The sentences are added Note is changed The sentences are added The sentences are added Added The sentences are changed The sentences are changed The sentences are changed POINT and diagram ar...

Page 631: ...ed The table of combination is changed Function item is added Table is changed and added Table item 17 18 and Note are added The diagram is changed The diagram is changed 11 kW to 22 kW are added The sentences are added CN2L connector and Note 4 are added 11 kW to 22 kW are added Two items are added to CAUTION Note 1 and 2 are added Note 5 is added The diagram of CAUTION is changed POINT is added ...

Page 632: ...r PD03 Note 3 and content are added The content of Pr PD23 is added The content of Pr PD30 is changed Pr PE01 PR PE03 to Pr PE08 Pr PE10 Pr PE34 Pr PE35 and Pr PE39 are added The name of Pr PF25 is changed Newly added The display of MR Configurator2 is changed POINT is added The table is changed The sentences are added POINT is added POINT is added The content of POINT is changed The table is chan...

Page 633: ...s are changed The content is added Newly added Table and Note 3 are changed Note 6 is added Note 1 is partly added Note 6 is added The content is changed Newly added POINT is added Note is added The diagram is changed The title is changed The sentences are added CAUTION is added Oct 2013 SH NA 030107 G 400 V class is added Safety Instructions 4 1 About the manuals Section 1 2 1 Section 1 2 2 Secti...

Page 634: ...OINT 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 POINT is added The content of the table is changed Note 2 of alarm table is changed Note 2 of warning table is changed Newly added The table is newly added The content of the table is added Newly added Newly added The content of the table is added POINT is added T...

Page 635: ... 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 added The content of the table is added The diagram is changed The sentences are added The content of the table is changed Newly added Newly added The sentences are changed Note 2 is added Note is added Newly added Note is added Note is added Newly added T...

Page 636: ... 1386 Hongqiao Road Mitsubishi Electric Automation Center Changning District Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889 Taiwan R O C MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 1480 6 Gayang Dong Gangseo Gu Seoul 157 200 Korea MITSUBISHI ELECTRIC ASIA PTE LTD 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 MITSUBISHI ELEC...

Page 637: ... 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 note that the Product including it...

Page 638: ...ion Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A RJ MR J4 _A4 RJ SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface AC Servo 1CW804 MR J4 A INSTRUCTIONMANUAL G G ...

Page 639: ......

Page 640: ...t C S S R O Czech Republic Kafkova 1853 3 CZ 702 00 Ostrava 2 Phone 420 595 691 150 Fax 420 595 691 199 Beijer Electronics A S Denmark Lykkegardsvej 17 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 HANS FØLSGAARD A S Denmark TheilgaardsTorv 1 DK 4600 Køge Phone 45 4320 8600 Fax 45 4396 8855 Beijer Electronics Eesti OÜ Estonia Pärnu mnt 160i EE 11317Tallinn Phone 372 0 6 51 81 40 Fax...

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