Instruction manual

ManualsBrandsMitsubishi ManualsAmplifierMelservo-J3 Series MR-J3-B

General-Purpose AC Servo

MODEL

MR-J3- B

SERVO AMPLIFIER

INSTRUCTION MANUAL

SSCNET Compatible

J3 Series

Summary of content (271 pages)

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General-Purpose AC Servo J3 Series SSCNET Compatible MODEL MR-J3- B SERVO AMPLIFIER INSTRUCTION MANUAL B
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Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
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1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
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. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
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(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.
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(4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc.
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(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) General instruction To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards.
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About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
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COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
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(3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of overvoltage category III set forth in IEC60664-1.
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(7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 11.9. Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and other device by double insulation or reinforced insulation, or install a transformer between the main power supply and servo amplifier. Note.
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CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier Servo motor :MR-J3-10B to MR-J3-22KB MR-J3-10B1 to MR-J3-40B1 MR-J3-11KB4 to MR-J3-22KB4 :HF-MP HF-KP HF-SP HC-RP HC-UP HC-LP HA-LP HA-LP 4 (2) Installation Install a fan of 100CFM (2.8m3/min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of at least equivalent capability.
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(5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. This servo amplifier is UL/C-UL-listed when using the fuses indicated in the following table. When the servo amplifier must comply with the UL/C-UL Standard, be sure to use these fuses.
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CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -24 1.1 Introduction............................................................................................................................................... 1 - 1 1.2 Function block diagram............................................................................................................................ 1 - 2 1.3 Servo amplifier standard specifications........................................................................................
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3.10.1 Connection instructions.................................................................................................................. 3 -31 3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -32 3.11 Servo motor with electromagnetic brake.............................................................................................. 3 -40 3.11.1 Safety precautions .................................................
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6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12 6.1 Different adjustment methods.................................................................................................................. 6 - 1 6.1.1 Adjustment on a single servo amplifier............................................................................................. 6 - 1 6.1.2 Adjustment using MR Configurator (servo configuration software)................................................. 6 - 2 6.2 Auto tuning ..............................
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11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11 - 74 11.1 Cable/Connector Sets........................................................................................................................... 11- 1 11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 2 11.1.2 Encoder cable/connector sets ....................................................................................................... 11- 8 11.1.
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J3 series general-purpose AC servo has further higher performance and higher functions compared to the current MELSERVO-J2-Super series. The MR-J3-B servo amplifier connects to servo system controller and others via high speed synchronous network and operates by directly reading position data.
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1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below.
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1. FUNCTIONS AND CONFIGURATION 1.
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1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field.
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1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Rating plate AC SERVO Model Capacity MR-J3-10B POWER : 100W INPUT : 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT: 170V 0-360Hz 1.
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1. FUNCTIONS AND CONFIGURATION 1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes.
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1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100B or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 4 Rotary axis setting switch (SW1) 3 4 56 2 F01 F0 1 ON 4E 1 SW2 2 1 Section 3.13 B C DE 2 Used to set the axis No. of servo amplifier.
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1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200B MR-J3-350B Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 4 Rotary axis setting switch (SW1) SW1 3456 3 4 56 2 F01 F01 ON 4E 1 2 Section 3.13 B CDE 2 A BCDE SW1 TES SW2 A 789 Used to set the axis No. of servo amplifier. 789 SW2 1 2 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator (Setup Section 3.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 4 Rotary axis setting switch (SW1) 3 4 56 2 F01 F01 ON 4E 1 Test operation select switch (SW2-1) SW2 2 1 Cooling fan Section 3.13 B C DE 2 Used to set the axis No. of servo amplifier.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 4 Rotary axis setting switch (SW1) 2 F01 34 56 BCDE F0 1 2 Used to set the axis No. of servo amplifier.
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1. FUNCTIONS AND CONFIGURATION (5) MR-J3-11KB(4) or more POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 4 Rotary axis setting switch (SW1) F01 2 3456 2 F01 ON 4E 1 Section 3.13 BCDE Fixed part (4 places) Used to set the axis No. of servo amplifier.
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1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover CAUTION Before removing or reinstalling the front cover, make sure that the charge lamp is off more than 15 minutes after power off. Otherwise, you may get an electric shock. (1) For MR-J3-700B or more Removal of the front cover A A Hold the ends of lower side of the front cover with both hands. Pull up the cover, supporting at point Pull out the front cover to remove. 1 - 15 A.
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1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab A A Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Setting tab Push the setting tabs until they click. 1 - 16 Pull up the cover, supporting at point A.
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1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KB(4) or more Removal of the front cover C B A 1) Press the removing knob on the lower side of the front cover ( A and B ) and release the installation hook. 2) Press the removing knob of C and release the external hook. 3) Pull it to remove the front cover. Reinstallation of the front cover (Note1) (Note1) C D (Note2) B A Installation hook 1) Fit the front cover installation hooks on the sockets of body cover ( A to D ) to reinstall it.
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1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
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2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
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2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Mounting closely is available for a combination of servo amplifiers of 3.5kw or less. The servo amplifiers of 5kw or more can not be mounted closely. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
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2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
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2. INSTALLATION 2.4 SSCNET cable laying SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
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2. INSTALLATION (4) Lateral pressure If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of control box or others.
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2. INSTALLATION 2.5 Inspection Items WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
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3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
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3. SIGNALS AND WIRING 3.1 Input power supply circuit CAUTION When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Use the trouble signal to switch main circuit power supply off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire. POINT Even if alarm has occurred, do not switch off the control circuit power supply.
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3. SIGNALS AND WIRING (2) For 1-phase 200V to 230VAC power supply to MR-J3-10B to MR-J3-70B (Note4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF MC MC SK NFB MC 1-phase 200V to 230VAC (Note 1) Servo amplifier CNP1 L1 CNP3 L2 U Servo motor (Note 6) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 L11 (Note 3) Encoder cable Encoder L21 Forced stop (Note 5) CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Trouble (Note 4) (Note 5) Note 1.
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3. SIGNALS AND WIRING (3) For MR-J3-10B1 to MR-J3-40B1 (Note4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF MC MC SK NFB MC 1-phase 100 to 120VAC (Note 1) Servo amplifier CNP1 L1 CNP3 Blank U Servo motor (Note 6) U 2 L2 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 L11 (Note 3) Encoder cable Encoder L21 Forced stop (Note 5) CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1-P2. (Factory-wired.
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3. SIGNALS AND WIRING (4) MR-J3-500B MR-J3-700B (Note4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF MC MC SK Servo amplifier NFB MC 3-phase 200 to 230VAC TE1 L1 Built-in L2 regenerative U L3 brake resistor V (Note 2) P Servo motor (Note 6) W U 2 V 3 W 4 Motor M 1 C TE2 L11 PE L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 (Note 5) Forced stop CN3 CN3 EMG DOC DOCOM DICO ALM 24VDC RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1-P2.
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3. SIGNALS AND WIRING 3.
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3. SIGNALS AND WIRING Note 1 To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits. 3.
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3. SIGNALS AND WIRING 3.3 Explanation of Power Supply System 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in Chapter 9. Abbreviation Connection Target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open.
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3. SIGNALS AND WIRING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply.
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3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to Table 11.1 in Section 11.11 for the wire sizes used for wiring. MR-J3-500B or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-100B or less (a) Servo amplifier power supply connectors (Note) Servo amplifier power supply connectors Connector for CNP1 54928-0610 (Molex) Servo amplifier Cable finish OD: to 3.
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3. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to Appendix 3 for details of connector. Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21 (2) MR-J3-200B MR-J3-350B (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.
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3. SIGNALS AND WIRING (b) Termination of the cables 1) CNP1 CNP3 Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 7mm (0.276in) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together.
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3. SIGNALS AND WIRING (3) Insertion of cable into 54928-0610 54927-0510 and 54928-0310 (Molex) POINT It may be difficult for a cable to be inserted to the connector depending on wire size or bar terminal configuration. In this case, change the wire type or correct it in order to prevent the end of bar terminal from widening, and then insert it. How to connect a cable to the servo amplifier power supply connector is shown below.
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3. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow. 4) Release the cable connection lever.
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3. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] (22) 3 0.6 (R0.3) 3 to 3.5 (R0.3) 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly. 2) If inserted properly, the screwdriver is held. 3) With the screwdriver held, insert the cable in the direction of arrow.
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3. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Push the screwdriver in the direction of arrow. 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.) 4) Releasing the screwdriver connects the cable. (4) How to insert the cable into PC4/6-STF-7.62-CRWH or PC4/3-STF-7.
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3. SIGNALS AND WIRING 3.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) Signal arrangement The servo amplifier front view shown is that of the MR-J3-20B or less. Refer to Chapter 9 Outline Drawings for the appearances and connector layouts of the other servo amplifiers. CN5 (USB connector) Refer to Section 11.8.
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3. SIGNALS AND WIRING 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.7.2. In the control mode field of the table The pin No.s in the connector pin No. column are those in the initial status. (1) Connector applications Connector Name CN1A Connector for bus cable from preceding axis. CN1B Connector for bus cable to next axis Function/Application Used for connection with the controller or preceding-axis servo amplifier.
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3. SIGNALS AND WIRING Device Symbol Speed reached SA Limiting torque TLC Zero speed ZSP Connector Pin No. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When the servo is off, SA will be turned OFF. When servo motor rotation speed becomes approximately setting speed, SA will be turned ON. When the preset speed is 20r/min or less, SA always turns on. This signal cannot be used in position loop mode.
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3. SIGNALS AND WIRING (c) Output signals Encoder A-phase pulse (Differential line driver) LA LAR Connector Pin No. CN3-6 CN3-16 Encoder B-phase pulse (Differential line driver) LB LBR CN3-7 CN3-17 Encoder Z-phase pulse (Differential line driver) LZ LZR CN3-8 CN3-18 Outputs the zero-point signal in the differential line driver system of the encoder. One pulse is output per servo motor revolution. turns on when the zero-point position is reached. The minimum pulse width is about 400 s.
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3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. CAUTION When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
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3. SIGNALS AND WIRING 3.7 Interfaces 3.7.1 Internal connection diagram Servo amplifier CN3 Forced stop (Note 1) Approx 5.6k CN3 EM1 20 10 DI1 2 13 DI2 12 DI3 19 DICOM 5 DOCOM 3 (Note 3) Approx 5.
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3. SIGNALS AND WIRING 3.7.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in Section 3.5. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Refer to Section 3.7.3 for the source input. Servo amplifier For transistor EM1, 5.6k etc. Approx. 5mA Switch TR DICOM VCES 1.
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3. SIGNALS AND WIRING (3) Encoder pulse output DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier LA (LB, LZ) Am26LS32 or equivalent LA (LB, LZ) 100 150 LAR (LBR, LZR) LAR (LBR, LZR) LG SD SD b) Output pulse Servo motor CCW rotation LA LAR Time cycle (T) is determined by the settings of parameter No.PA15 and PC13. T LB LBR /2 LZ LZR 400 s or more (4) Analog output Servo amplifier MO1 (MO2) LG Output voltage 10V Max. 1mA Max.
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3. SIGNALS AND WIRING 3.7.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier EM1, Approx. 5.6k etc. Switch DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 150mA (2) Digital output interface DO-1 A maximum of 2.6V voltage drop occurs in the servo amplifier.
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3. SIGNALS AND WIRING 3.8 Treatment of cable shield external conductor In the case of the CN2 and CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath.
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3. SIGNALS AND WIRING 3.9 SSCNET cable connection POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET corresponds to class1 defined in JISC6802 or IEC60825-1.) (1) SSCNET cable connection For CN1A connector, connect SSCNET cable connected to controller in host side or servo amplifier.
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3. SIGNALS AND WIRING 3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector of servo amplifier until you hear the click. If the end face of optical code tip is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. Click Tab (b) Removal With holding a tab of SSCNET cable connector, pull out the connector.
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3. SIGNALS AND WIRING 3.10 Connection of servo amplifier and servo motor 3.10.1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent an electric shock. CAUTION Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur. POINT Refer to Section 11.
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3. SIGNALS AND WIRING 3.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series HF-KP series servo motor (a) When cable length is 10m or less Servo amplifier CNP3 U V W 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) Servo motor U V W M (b) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below.
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3. SIGNALS AND WIRING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor (a) Wiring diagrams Refer to Section 11.11 for the cables used for wiring.
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3. SIGNALS AND WIRING Encoder connector signal allotment CN10-R10P Terminal No. Signal 3 2 1 MR 7 10 6 9 5 8 1 2 Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B C MRR B D Terminal No. Signal A U A Power supply connector signal allotment CE05-2A22-23PD-B G B V C W F H B E C D 4 3 A 4 BAT 5 LG View b D A B View b C W (earth) E 7 G B1 (Note) H B2 (Note) P5 Note.
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3. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to Section 11.11 for the cables used for wiring. 1) 200VAC class MC Servo amplifier CNP3 L1 U L2 V L3 W Servo motor U V W M Fan 24VDC power supply for electromagnetic brake (Note1) Electromagnetic Servo brake (MBR) alarm Forced stop (EM1) (Note3) (Note2) B1 B2 OHS1 24VDC power supply BU BV BW (Note4) OHS2 Servo motor thermal relay RA3 Note 1.
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3. SIGNALS AND WIRING 2) 400VAC class (Note5) Cooling fan power supply MC Servo amplifier CNP3 L1 U L2 V L3 W Servo motor U V W M BU BV Fan 24VDC power supply for electromagnetic brake Electromagnetic (Note1) Forced stop Servo brake (MBR) alarm (EM1) BW (Note3) (Note2) B1 B2 OHS1 24VDC power supply (Note4) OHS2 Servo motor thermal relay RA3 Note 1. Configure the power supply circuit which turns off the magnetic contactor after detection of alarm occurrence on the controller side. 2.
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3. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector CM10-R10P Terminal box Encoder connector signal allotment CN10-R10P 7 10 1 MR 2 MRR 3 2 4 BAT 5 LG 5 1 8 Signal 3 6 9 Terminal No. Brake connector MS3102A10SL-4P Brake connector signal allotment MS3102A10SL-4P 1 2 6 4 7 8 P5 9 10 Terminal No. Signal 1 B1 (Note) 2 B2 (Note) Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity.
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3.
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3. SIGNALS AND WIRING Signal Name Poower supply Abbreviation U V W Description Connect to the motor output terminals (U, V, W) of the servo amplifier. Supply power which satisfies the following specifications. HA-LP801 HA-LP12K1 HA-LP11K1M HA-LP11K2 Item Description Voltage/frequency Single-phase 200 to 220VAC, 50Hz Single-phase 200 to 230VAC, 60Hz Power consumption [W] 42(50Hz)/54(60Hz) Rated voltage [V] 0.12(50Hz)/0.
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3. SIGNALS AND WIRING 3.11 Servo motor with electromagnetic brake 3.11.1 Safety precautions Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1). Contacts must be open when servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR). Circuit must be opened during forced stop (EM1).
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3. SIGNALS AND WIRING 3.11.2 Timing charts (1) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
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3.
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3. SIGNALS AND WIRING 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to Section 3.10.2 (2). (1) When cable length is 10m or less 24VDC power supply for electromagnetic brake 10m or less (Note 3) Electromagnetic Servo Forced stop brake (MBR) alarm (EM1) MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL M-A1-L M-A2-L M-A1-H Servo motor M-A2-H (Note3) AWG20 B1 + (Note 2) AWG20 - B2 Note 1.
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3. SIGNALS AND WIRING 3.12 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. WARNING The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
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3. SIGNALS AND WIRING 3.13 Control axis selection POINT The control axis number set to rotary axis setting switch (SW1) should be the same as the one set to the servo system controller. Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the SSCNET cable connection sequence.
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3.
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4. STARTUP 4. STARTUP WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off.
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4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy the defined specifications. (Refer to Section 1.3.
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4. STARTUP 2) When regenerative brake option is used over 5kW The lead of built-in regenerative brake resistor connected to P terminal and D terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to Section 11.
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4. STARTUP 4.2 Start up Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (1) Power on When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the servo amplifier display. In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and the servo system cannot be switched on. The alarm can be deactivated by then switching power off once and on again.
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4. STARTUP 4.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
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4. STARTUP (2) Indication list Indication Status Description Power of the servo amplifier was switched on at the condition that the power of servo system controller is OFF. The axis No. set to the servo system controller does not match the axis No. set A b Initializing with the rotary axis setting switch (SW1) of the servo amplifier. A servo amplifier fault occurred or an error took place in communication with the servo system controller.
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4. STARTUP 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to Section 4.2 for the power on and off methods of the servo amplifier. POINT If necessary, verify controller program by using motorless operation. Refer to Section 4.5.2 for the motorless operation. Test operation of servo motor alone in JOG operation of test operation mode In this step, confirm that the servo amplifier and servo motor operate normally.
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4. STARTUP 4.5 Test operation mode CAUTION The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop. POINT The content described in this section indicates the environment that servo amplifier and personal computer are directly connected.
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4. STARTUP (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the MR Configurator (servo configuration software).
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4. STARTUP 4.5.2 Motorless operation in controller POINT Use motor-less operation which is available by making the servo system controller parameter setting. Motorless operation is done while connected with the servo system controller. (1) Motorless operation Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running.
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5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. In the MR-J3-B servo amplifier, the parameters are classified into the following groups on a function basis. Parameter Group Main Description Basic setting parameters (No. PA ) When using this servo amplifier in the position control mode, make basic setting with these parameters. Gain/filter parameters (No. PB ) Use these parameters when making gain adjustment manually.
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5. PARAMETERS 5.1.2 Parameter write inhibit Parameter No. Symbol PA19 *BLK Initial Value Name Parameter write inhibit Unit 000Bh Setting Range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.
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5. PARAMETERS 5.1.3 Selection of regenerative brake option Parameter No. PA02 Symbol Initial Value Name **REG Regenerative brake option Unit 0000h Setting Range Refer to the text. POINT This parameter value and switch power off once, then switch it on again to make that parameter setting valid. Wrong setting may cause the regenerative brake option to burn. If the regenerative brake option selected is not for use with the servo amplifier, parameter error (37) occurs.
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5. PARAMETERS 5.1.5 Forced stop input selection Parameter No. Symbol Initial Value Name PA04 *AOP1 Function selection A-1 0000h Unit Setting Range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. The servo forced stop function is voidable. Parameter No.PA04 0 0 0 Selection of servo forced stop 0: Valid (Forced stop (EM1) is used.) 1: Invalid (Forced stop (EM1) is not used.
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5. PARAMETERS 5.1.6 Auto tuning Parameter No. Symbol Initial Value Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Unit 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to Section 6.2 for details. (1) Auto tuning mode (parameter No. PA08) Select the gain adjustment mode. Parameter No. PA08 0 0 0 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No.
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5. PARAMETERS (2) Auto tuning response (parameter No. PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Setting Response Guideline for Machine Resonance Frequency [Hz] Setting Response Guideline for Machine Resonance Frequency [Hz] 1 Low response 10.0 17 Low response 67.1 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.
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5. PARAMETERS 5.1.8 Selection of servo motor rotation direction Parameter No. Symbol PA14 *POL Initial Value Name Rotation direction selection Unit Setting Range 0 0 1 POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. This parameter cannot be used in the speed control mode. Select servo motor rotation direction relative. Parameter No.
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5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No. PC03. Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated below: A B-phase output pulses 5600 1400[pulse] 4 (2) For output division ratio setting 1 " in parameter No. PC03. Set " The number of pulses per servo motor revolution is divided by the set value.
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5. PARAMETERS 5.2 Gain/Filter Parameters (No. PB ) POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. 5.2.1 Parameter list No.
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5. PARAMETERS No. Symbol PB42 PB43 PB44 PB45 Name Initial Value For manufacturer setting Unit 1125 0004h 0.0 0000h 5.2.2 Detail list PB01 FILT Initial Value Name and Function Adaptive tuning mode (adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No. PB13) and notch shape selection (parameter No. PB14).
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5. PARAMETERS No. Symbol PB02 VRFT Initial Value Name and Function Vibration suppression control tuning mode (advanced vibration suppression control) This parameter cannot be used in the speed control mode. The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning.
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5. PARAMETERS Setting Range Initial Value Unit Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1) In this case, it varies between 0 and 100.0. When parameter No. PA08 is set to " 2" or " 3", this parameter can be set manually. 7.0 times 0 to 300.
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5. PARAMETERS No. Symbol PB14 NHQ1 Name and Function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial Value Unit 0000h Refer to Name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting Range Setting parameter No. PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.
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5. PARAMETERS Initial Value Unit Low pass filter setting Set the low pass filter. Setting parameter No. PB23 (low pass filter selection) to " 0 " automatically changes this parameter. When parameter No. PB23 is set to " 1 ", this parameter can be set manually. 3141 rad/s 100 to 18000 VRF1 Vibration suppression control - vibration frequency setting This parameter cannot be used in the speed control mode.
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5. PARAMETERS No. Symbol PB26 *CDP Name and Function Gain changing selection Select the gain changing condition. (Refer to Section 7.6.) Initial Value Unit 0000h Setting Range Refer to Name and function column. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No. PB29 to PB32 settings. 0: Invalid 1: Control instructions from a controller. 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.
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5. PARAMETERS No. Symbol Name and Function PB34 VRF2B Gain changing - vibration suppression control - resonance frequency setting This parameter cannot be used in the speed control mode. Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No. PB02 setting is " 2" and the parameter No. PB26 setting is " 1".
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5. PARAMETERS 5.3 Extension Setting Parameters (No. PC ) POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again. 5.3.1 Parameter list No.
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5. PARAMETERS 5.3.2 List of details No. Symbol PC01 *ERZ PC02 MBR Initial Value Unit Error excessive alarm level This parameter cannot be used in the speed control mode. Set error excessive alarm level with rotation amount of servo motor. 3 rev 1 to 200 Electromagnetic brake sequence output Used to set the delay time (Tb) between electronic brake interlock (MBR) and the base drive circuit is shut-off.
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5. PARAMETERS No. Symbol Name and Function PC09 MOD1 Analog monitor 1 output Used to selection the signal provided to the analog monitor 1 (MO1) output. (Refer to Section 5.3.3) Initial Value Unit Setting Range 0000h Refer to Name and function column. 0001h Refer to Name and function column. 0 0 0 Analog monitor 1 (MO1) output selection Setting 0 1 2 3 4 5 6 7 8 9 A B C D Item Servo motor speed ( 8V/max. speed) Torque ( 8V/max. torque) (Note 2) Servo motor speed (+8V/max.
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5. PARAMETERS Initial Value Unit 0 mV -999 to 999 PC13 MOSDL Analog monitor feedback position output standard data Low Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 (M02). For this parameter, the lower-order four digits of standard position in decimal numbers are set. 0 pulse -9999 to 9999 PC14 MOSDH Analog monitor feedback position output standard data High Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 (M02).
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5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter. (1) Setting Change the following digits of parameter No. PC09, PC10: Parameter No. PC09 0 0 0 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No. PC10 0 0 0 Analog monitor (MO2) output selection (Signal output to across MO2-LG) Parameters No.
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5.
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5. PARAMETERS (3) Analog monitor block diagram Speed command Position command received from a controller Current command Droop pulse Bus voltage Speed command Differential Current encoder Position control Speed control Current control PWM M Servo Motor Current feedback Encoder Differential Position feedback data returned to a controller Feedback position standard position (Note) Position feedback Servo Motor speed Torque Feedback position Note.
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5. PARAMETERS 5.4 I/O Setting Parameters (No. PD ) POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. 5.4.1 Parameter list No.
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5. PARAMETERS 5.4.2 List of details No. Symbol PD01 PD02 PD03 PD04 PD05 PD06 PD07 *DO1 Name and Function Initial Value Unit Setting Range For manufacturer setting Do not change this value by any means. 0000h 0000h 0000h 0000h 0000h 0000h Output signal device selection 1 (CN3-13) Any input signal can be assigned to the CN3-13 pin. 0005h Refer to Name and function column. 0004h Refer to Name and function column. 0003h Refer to Name and function column.
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5. PARAMETERS No. PD10 PD11 Symbol Name and Function For manufacturer setting Do not change this value by any means. Initial Value 0004h 0000h PD13 0000h PD14 *DOP3 Function selection D-3 Set the ALM output signal at warning occurrence. 0000h 0 Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence.
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6. GENERAL GAIN ADJUSTMENT 6. GENERAL GAIN ADJUSTMENT 6.1 Different adjustment methods 6.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order. (1) Gain adjustment mode explanation Gain adjustment mode Auto tuning mode 1 Parameter No.
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6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Yes Used when you want to match the position gain (PG1) Interpolation mode No between 2 or more axes. Normally not used for other Operation purposes. Allows adjustment by merely Auto tuning mode 1 changing the response level setting. Operation First use this mode to make adjustment.
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6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1.
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6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Encoder Loop gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Current feedback Set 0 or 1 to turn on. Gain table Parameter No. PA08 Parameter No. PA09 0 0 0 Gain adjustment mode selection Real-time auto tuning section Switch Load inertia moment ratio estimation section Position/speed feedback Speed feedback Parameter No.
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6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied.
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6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
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6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No. PB13 to PB16) may be used to suppress machine resonance. (Refer to Section 7.3.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment: Parameter No.
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6. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed loop gain (parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate.
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6. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment: Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB08 VG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adjustment procedure Step Operation 1 2 Brief-adjust with auto tuning. Refer to Section 6.2.3.
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6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate.
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6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the model loop gain and speed loop gain which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
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6. GENERAL GAIN ADJUSTMENT 6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MELSERVO-J2S-Super series. The following table lists comparison of the response level setting. MELSERVO-J2-Super Parameter No. 9 Setting 1 MELSERVO-J3 Guideline for Machine Resonance Frequency [Hz] Parameter No. PA09 Setting 15 Guideline for Machine Resonance Frequency [Hz] 1 10.0 2 11.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
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7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Parameter No.60 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode 2 Manual mode Parameter No. PB13 Parameter No. PB14 Note. Parameter No. PB19 and PB20 are fixed to the initial values.
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7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration or unusual noise occurred? Yes Execute or re-execute adaptive tuning. (Set parameter No. PB01 to "0001".) Tuning ends automatically after the predetermined period of time. (Parameter No. PB01 turns to "0002" or "0000".
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7. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual mode.
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7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective. POINT The machine resonance suppression filter is a delay factor for the servo system.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Advanced Vibration Suppression Control Position Position (1) Operation Vibration suppression control is used to further suppress machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
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7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. Has vibration of workpiece end/device increased? No Yes Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No. PB02 to "0001".) Resume operation. Tuning ends automatically after operation is performed the predetermined number of times.
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7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No. PB19) and vibration suppression control resonance frequency (parameter No. PB20) to set vibration suppression control manually.
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7. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine end vibration does not show up in motor end vibration, the setting of the motor end vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Low-pass filter (1) Function When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression: VG2 Filter frequency(rad/s) 10 1 + GD2 When parameter No.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No. PB26) and gain changing condition CDS (parameter No. PB27). CDP Parameter No. PB26 Control command of controller Command pulse frequency Droop pulses Changing Model speed CDS Parameter No. PB27 Comparator GD2 Parameter No. PB06 GD2B Parameter No. PB29 Valid GD2 value PG2 Parameter No.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.3 Parameters When using the gain changing function, always set " 3" in parameter No. PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter Abbrevi No.
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7. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed. (2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No. PB29) Set the ratio of load inertia moment to servo motor inertia moment after changing.
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7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation PB07 PG1 PB06 GD2 Name Model loop gain Ratio of load inertia moment to servo motor inertia moment Setting Unit 100 rad/s 4.0 times PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 3000 rad/s PB10 VIC Speed integral compensation 20 ms PB29 GD2B 10.
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7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Setting Unit 100 rad/s 4.0 times Position loop gain 120 rad/s VG2 Speed loop gain 2 3000 rad/s VIC Speed integral compensation 20 ms 10.
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7.
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8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. If an alarm/warning has occurred, refer to this chapter and remove its cause. 8.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, the ALM turns OFF.
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8. TROUBLESHOOTING 8.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (25) occurred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs, mark Servo-off and power off the main circuit and control circuit.
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8. TROUBLESHOOTING Display Name Definition 12 Memory error 1 RAM, memory fault (RAM) 13 Clock error Printed board fault Cause Faulty parts in the servo amplifier Checking method Alarm (any of 12 and 13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. Faulty controller Clock error transmitted from the Checking method controller Alarm(13) occurs, if servo controller is used in multiple CPU system.
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8. TROUBLESHOOTING Display Name 30 Regenerative alarm Definition Permissible regenerative power of the built-in regenerative brake resistor or regenerative brake option is exceeded. Cause 1. Wrong setting of parameter No. PA02 2. Built-in regenerative brake resistor or regenerative brake option is not connected. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded.
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8. TROUBLESHOOTING Display 33 Name Overvoltage Definition Cause The following shows 1. Regenerative brake option is not the input value of converter bus Action Use the regenerative brake option. used. Setcorrectly. 400VDC or more 2. Though the regenerative brake option is used, the parameter 00 (not No.PA02 setting is " used)". MR-J3- B4: 3. Lead of built-in regenerative brake 1. Change lead. voltage. MR-J3- B(1): 800VDC or more resistor or regenerative brake option 2. Connect correctly.
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8. TROUBLESHOOTING Display Name Definition 45 Main circuit Main circuit device device overheat overheat 46 Servo motor overheat 47 Cooling fan alarm 50 Overload 1 Cause 1. Servo amplifier faulty. 2. The power supply was turned on and off continuously by overloaded status. 3. Ambient temperature of servo motor is over 55 . 4. Used beyond the specifications of close mounting. Servo motor 1. Ambient temperature of servo motor temperature rise is over 40 . actuated the thermal 2.
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8. TROUBLESHOOTING Display 52 Name Definition Error excessive The deviation between the model position and the Cause 1. Acceleration/deceleration time constant is too small. Action Increase the acceleration/deceleration time constant. 2. Torque limit value set with controller Increase the torque limit value. actual servo motor is too small. position exceeds the 3. Motor cannot be started due to parameter No.PC01 torque shortage caused by power setting value (initial supply voltage drop.
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8. TROUBLESHOOTING 8.3 Remedies for warnings CAUTION If an absolute position counter warning (E3) occurred, always make home position setting again. Otherwise, misoperation may occur. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty.
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8. TROUBLESHOOTING Display Name 92 Open battery cable warning 96 Home position setting warning Definition Cause Absolute position detection 1. Battery cable is open. system battery voltage is 2. Battery voltage supplied from the servo low. amplifier to the encoder fell to about 3V or less. (Detected with the encoder) Home position setting 1. Droop pulses remaining are greater than could not be made. the in-position range setting. Action Repair cable or changed. Change battery. 2.
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8.
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9. OUTLINE DRAWINGS 9. OUTLINE DRAWINGS 9.1 Servo Amplifier (1) MR-J3-10B MR-J3-20B MR-J3-10B1 MR-J3-20B1 [Unit: mm] 6 mounting hole 40 4 Approx.80 135 6 6 (Note) CNP1 (Note) 161 168 CNP2 6 Approx.68 Approx. 25.5 With MR-J3BAT Approx.14 6 156 CNP3 Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 0.8 [kg] (1.
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9. OUTLINE DRAWINGS (2) MR-J3-40B MR-J3-60B MR-J3-40B1 [Unit: mm] 6 mounting hole 40 5 Approx.80 170 6 6 L1 L2 L3 N P1 P2 CNP1 (Note) CN5 (Note) L1 L2 L3 CNP2 CN3 P2 161 168 N P1 P C D L11 L21 P CN1A C D CNP3 L11 L21 U CN1B V W 156 U V W Approx.68 6 Approx. 25.5 With MR-J3BAT Approx.14 6 CN4 CN2L CN2 CHARGE Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
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9. OUTLINE DRAWINGS (3) MR-J3-70B MR-J3-100B [Unit: mm] 12 6 mounting hole 60 6 185 6 Approx.80 CNP1 156 161 168 CNP2 CNP3 6 12 Approx.68 Approx.25.5 With MR-J3BAT 42 Approx.14 6 FAN WIND DIRECTION Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout L1 Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.
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9. OUTLINE DRAWINGS (4) MR-J3-200B MR-J3-350B [Unit: mm] 6 mounting hole 90 85 Approx.80 195 6 6 45 168 6 6 Approx.68 With MR-J3BAT Approx. 25.5 78 6 Approx.14 6 156 21.4 FAN WIND DIRECTION Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout L1 Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.
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9. OUTLINE DRAWINGS (5) MR-J3-500B [Unit: mm] Approx.80 2- 6 mounting hole 130 7.5 6 200 131.5 118 68.5 Fan air orientation Terminal layout (Terminal cover open) 6 235 TE2 TE3 With MR-J3BAT CHARGE TE1 20.5 3 places for ground (M4) 6 7.5 250 FAN Mass: 4.6 [kg] (10.1 [lb]) Terminal signal layout TE1 L1 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) TE2 L11 Terminal screw: M3.5 Tightening torque: 0.8[N m] (7.
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9. OUTLINE DRAWINGS (6) MR-J3-700B [Unit: mm] 6 Approx.80 2- 6 mounting hole 200 138 7.5 172 160 62 Fan air orientation Terminal layout (Terminal cover open) 6 CN3 CN1A CN1B With MR-J3BAT TE3 CHARGE 20.5 TE1 6 7.5 300 285 CN1B CN1A CN3 FAN 3 places for ground (M4) TE2 Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout TE1 L1 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) TE2 L11 Terminal screw: M3.5 Tightening torque: 0.8[N m] (7.
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9. OUTLINE DRAWINGS (7) MR-J3-11KB(4) to 22KB(4) [Unit: mm] 260 236 12 12 12 Approx.80 260 12 mounting hole Fan air orientation 400 376 2- With MR-J3BAT Rating plate 13 36.5 23 123.5 12 12 183 227 26 6 26 156 TE 183 260 227 52 Servo amplifier Mass[kg]([lb]) MR-J3-11KB(4) 18.0(40) MR-J3-15KB(4) 18.0(40) MR-J3-22KB(4) 19.
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9. OUTLINE DRAWINGS 9.2 Connector (1) For CN1A CN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 4.8 13.4 13.4 4.8 1.7 15 15 1.7 2.3 17.6 0.2 20.9 0.2 6.7 9.3 9.3 6.7 2.3 8 17.6 0.2 20.9 0.2 8 (2) For CN2 connector Receptacle : 36210-0100JL Shell kit : 36310-3200-008 [Unit: mm] 39.5 22.4 11.0 34.
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9. OUTLINE DRAWINGS (3) For CN3 connector (a) Soldered type Model Connector Shell kit : 10120-3000VE : 10320-52F0-008 [Unit: mm] 10.0 12.0 14.0 A 39.0 23.8 Logo etc, are indicated here. B 12.7 Each type of dimention Connector Shell kit 10120-3000VE 10320-52F0-008 A B 22.0 33.3 (b) Threaded type Model Connector : 10120-3000VE Shell kit : 10320-52A0-008 Note. This is not available as option and should be user prpared (0.472) [Unit: mm] 10.0 12.0 22.0 27.4 14.0 23.8 33.3 5.7 39.
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9.
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10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 10.1. Overload 2 alarm (51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
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10. CHARACTERISTICS 1000 1000 During operation During operation 100 Operation time[s] Operation time[s] 100 During servo lock 10 1 0.1 0 During servo lock 10 1 50 100 150 200 250 0.1 0 300 50 100 (Note) Load ratio [%] 150 200 250 300 (Note) Load ratio [%] a. Electronic thermal relay protection characteristics1 b. Electronic thermal relay protection characteristics2 10000 1000 During operation 1000 Operation time[s] Operation time[s] 100 During servo lock 10 1 0.
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10. CHARACTERISTICS 10000 Operation time [s] 1000 During operation 100 During servo lock 10 1 0 100 200 300 (Note) Load ratio [%] e. Electronic thermal relay protection characteristics5 Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.
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10. CHARACTERISTICS 10.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 10.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
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10. CHARACTERISTICS Servo amplifier MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation (Note 1) Power supply capacity[kVA] At rated torque With servo off [m2] HF-SP702 10.0 300 25 6.0 HA-LP702 10.6 300 25 6.0 HA-LP601 10.0 260 25 5.2 HA-LP701M 11.0 300 25 6.0 HC-LP11K2 (4) 16.0 530 45 11.0 HC-LP801 (4) 12.0 390 45 7.8 HC-LP12K1 (4) 18.0 580 45 11.6 HC-LP11K1M (4) 16.0 530 45 11.
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10. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 10.1: P ..........................................................
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10. CHARACTERISTICS 10.3 Dynamic brake characteristics 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 varies with the servo motor and machine operation speeds. (Refer to Fig. 10.4) ON OFF Forced stop(EM1) Time constant V0 Machine speed Time te Fig. 10.
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10. CHARACTERISTICS 120 [ms] [ms] 60 20K1 50 100 80 12K1 15K1 30 20 Time constant Time constant 40 22K1M 11K1M 801 10 25K1 0 0 200 400 60 40 701M 20 601 800 1000 1200 600 15K1M 0 0 500 HA-LP1000r/min series [ms] 11K2 60 40 22K2 702 20 500 502 1500 2000 1000 160 Time constant [ms] Time constant 2000 200 15K2 0 0 52 202 120 80 302 102 40 152 0 0 500 Speed[r/min] HA-LP2000r/min series [ms] 20K14 12K14 Time constant 0.025 0.020 0.015 0.010 15K14 8014 0.
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10. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.
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10. CHARACTERISTICS 10.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 11.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.
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11. OPTIONS AND AUXILIARY EQUIPMENT From previous page a From previous page b 26) 24)25) 38) Servo motor HC-RP HC-UP HC-LP 30)39)40) Power supply connector Encoder Brake connector connector 26) 24)25) Servo motor HA-LP Terminal box No. Product 1) Servo amplifier power supply connector Model Description Supplied with servo amplifiers of 1kW or less CNP2 CNP1 connector: 54928-0610 connector: 54927-0510 (Molex) (Molex) Wire size: 0.14mm2(AWG26) to 2.
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11. OPTIONS AND AUXILIARY EQUIPMENT No. Product 3) Motor power supply cable MR-PWS1CBL Cable length: 2 Model M-A1-L 5 10m Description 4) Motor power supply cable MR-PWS1CBL Cable length: 2 M-A1-H 5 10m 5) Motor power supply cable MR-PWS1CBL Cable length: 2 M-A2-L 5 10m Motor power supply cable MR-PWS1CBL Cable length: 2 M-A2-H 5 10m Application Power supply connector HF-MP series HF-KP series IP65 Load side lead IP65 Load side lead Long flex life Refer to Section 11.1.3 for details.
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11. OPTIONS AND AUXILIARY EQUIPMENT No Product Model Description Application 15) Encoder cable MR-J3ENCBL M-A1-L Cable length: 2 5 10m Encoder connector 16) Encoder cable MR-J3ENCBL M-A1-H Cable length: 2 5 10m HF-MP series HF-KP series 17) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m 18) Encoder cable MR-J3ENCBL M-A2-H Cable length: 2 5 10m Refer to Section 11.1.2 (1) for details. Encoder connector HF-MP series HF-KP series Refer to Section 11.1.2 (1) for details.
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11. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Application 28) Power supply MR-PWCNS4 connector set IP67 Plug: CE05-6A18-10SD-B-BSS Cable clamp: CE3057-10A-1 (D265) (DDK) For HF-SP51 81 Example of applicable cable 2 2 For HF-SP52 152 Applicable wire size: 2mm (AWG14) to 3.5mm (AWG12) Cable finish D: 10.5 to 14.
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11. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 38) Break MR-BKCN connector set 39) Power supply MR-PWCNS1 connector set 40) Power supply MR-PWCNS2 connector set Description Plug: MS3106A10SL-4S(D190) (DDK) For cable connector : YS010-5-8(Daiwa Dengyo) Example of applicable cable Applicable wire size: 0.3mm2 (AWG22) to 1.25mm2 (AWG16) Cable finish: 5 to 8.3mm Plug: CE05-6A22-23SD-B-BSS Cable clamp: CE3057-12A-2(D265) (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Cable Length Cable Model MR-J3ENCBL 0.
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11. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector P5 1 LG 2 MR 3 MRR 4 9 BAT Plate SD (2) MR-EKCBL 3 6 5 4 2 9 P5 LG MR MRR BAT SHD M-L/H POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set parameter No. PC04 to "1 " to select the four-wire type.
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11. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-EKCBL M-H MR-J3JCBL03M-L Cable length: 0.
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11.
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11. OPTIONS AND AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to Section 11.8 for the specifications of the used cable.
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11.
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11. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP Series servomotors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.
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11.
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11. OPTIONS AND AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable Length Cable Model MR-J3BTCBL03M 0.3m Application For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier 1) MR-J3BTCBL03M (Note) Encoder cable Servo motor CN2 2) Battery 3) Note.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to Section 3.10 when wiring. Cable Model 0.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to Section 3.11 when wiring. Cable Model Cable Length 0.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.5 SSCNET cable POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, you may feel something is wrong for eye. (The light source of SSCNET corresponds to class1 defined in JISC6802 or IEC60825-1.) (1) Model explanations Numeral in the column of cable length on the table is a symbol put in the which symbol exists are available. Cable Model MR-J3BUS M part of cable model.
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11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings (a) MR-J3BUS015M [Unit: mm] (6.7) (15) (13.4) Protective tube (37.65) 150 (20.9) (1.7) 0 (2.3) 8 50 0 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm] Protective tube (Note) (100) (100) L Note. Dimension of connector part is the same as that of MR-J3BUS015M. (c) MR-J3BUS5M-A to MR-J3BUS20M-A MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (1) for cable length (L).
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.2 Regenerative brake options The specified combinations of regenerative brake options and servo amplifiers may only be used. Otherwise, a fire may occur. CAUTION (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers.
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11. OPTIONS AND AUXILIARY EQUIPMENT Formulas for calculating torque and energy in operation Regenerative power 1) T1 2) T2 3) T3 4), 8) T4 5) T5 6) T6 7) T7 Torque applied to servo motor [N m] (JL JM) N0 1 TU TF Tpsa1 9.55 104 TU TF (JL JM) N0 9.55 104 TU (JL JM) N0 4 9.55 10 TU TF (JL JM) N0 9.55 104 1 Tpsd1 1 Tpsa2 TU TU E1 E2 Tpsd2 TU 0.1047 0.1047 2 N0 T2 t1 TF E3 TF E4 0 (No regeneration) 0.1047 E5 N0 T5 Tpsa2 2 E6 1 Energy [J] 0.1047 N0 T1 Tpsa1 2 TF E7 0.1047 0.
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11. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection of the regenerative brake option Set parameter No. PA02 according to the open to be used. Parameter No. PA02 Selection of regenerative 00: Regenerative brake option is not used For MR-J3-10B, regenerative brake resistor is not used. For MR-J3-20B or more 700B or less, built-in regenerative brake resistor is used. Supplied regenerative brake resistors or regenerative brake option is used with the MR-J3-11KB(4) or more servo amplifier.
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11. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50 install the cooling fan as shown. [Unit : mm] Fan installation screw hole dimensions 2-M3 screw hole Top (for fan installation) Depth 10 or less (Screw hole already machined) Terminal block 82.5 Fan 133 Thermal relay Bottom 82.
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11. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-500B. For built-in regenerative brake resistor lead terminal fixing screw, refer to Chapter 9. Built-in regenerative brake resistor lead terminal fixing screw For the MR-RB51 install the cooling fan as shown. [Unit : mm] Fan installation screw hole dimensions 2-M3 screw hole Top (for fan installation) Depth 10 or less (Screw hole already machined) Terminal block 82.5 Fan 133 Thermal relay Bottom Vertical installation 82.
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11. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-J3-11KB(4) to MR-J3-22KB(4) (when using the supplied regenerative brake resistor) When using the regenerative brake resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative brake resistors burn. Install the resistors at intervals of about 70mm.
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11. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX (when using the regenerative brake option) The MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX servo amplifiers are not supplied with regenerative brake resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 604 and 6K-4 regenerative brake option. The MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 are regenerative brake options that have encased the GRZG400-1.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.
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11. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] LA 12 (0.47) 6 (0.23) 6 (0.24) mounting hole LB TE1 Terminal block 5 (0.20) G3 G4 P C 6 (0.23) 12 (0.47) G3 G4 P C 6 (0.23) TE1 144 (5.67) 156 (6.14) 168 (6.61) MR-RB 1.6 (0.06) 20 (0.79) LD Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m](4 to 5 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.2 [N m](28.
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11. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 82.5 (3.25) 133 (5.24) 12.5 (0.49) Mounting screw Screw : M6 Wind blows in the arrow direction. Tightening torque: 5.4 [N m](47.79 [lb in]) Regenerative brake option MR-RB50 200 (7.87) 223 (8.78) 17 (0.67) 12.5 (0.49) MR-RB51 2.3 (0.09) 12 (0.47) 7 (0.28) 108 (4.25) 120 (4.73) Approx.30 (Approx.1.18) 8 (0.32) (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 480 (18.9) 500 (19.69) 440 (17.32) 30 (1.18) 10 (0.
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11. OPTIONS AND AUXILIARY EQUIPMENT (e) GRZG400-1.5 GRZG400-0.9 (standard accessories) (A) (330) 385 411 GRZG400-5.0 GRZG400-2.5 GRZG400-2.0 (2.4) 40 (K) ( C) 1.6 10 GRZG400-0.6 Regenerative brake Variable dimensions A C K 10 5.5 39 16 8.2 46 Mounting screw size Tightening torque [N m] ([lb in]) Mass [kg] ([lb]) M8 13.2 (116.83) 0.8 (1.76) 9.5 GRZG400-1.5 40 ( 47) GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 GRZG400-2.5 10 5.5 39 GRZG400-2.0 11.
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11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier No-fuse breaker Power NFB supply 3-phase 200 to 230VAC or 3-phase 380 to 480VAC MC L1 (Note 2) P P/ PR PR C L2 (Note 1) N L3 L11 P1 L21 P2 P (Note 1) TH1 HA N/ HB (Note 3) HC Alarm output THS TH2 FR-BR resistor unit FR-BU brake unit Note 1. Make up the external sequence to switch the power off when an alarm occurs or when the thermal relay is actuated. 2.
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11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions (a) Brake unit (FR-BU) [Unit : mm] D K K F (Note) Operation display Control circuit terminals Main circuit terminals E AA EE A BA B C EF Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Brake Unit A AA B BA C D E EE K F Approx. Mass [kg(Ib)] FR-BU-15K 100 60 240 225 128 6 18.5 6 48.5 7.5 2.4 (5.291) FR-BU-30K 160 90 240 225 128 6 33.5 6 78.5 7.5 3.2 (7.
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11. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) FR-BR-55K Two eye bolts are provided (as shown below). EE (E) 204 33 C 5 Eye bolt 40 AA 5 (Note) (F) EE (E) BB 3 B 5 BA 1 Control circuit terminals Main circuit terminals K 2- D (F) [Unit : mm] A 5 Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Unit Model A AA B BA BB C D E EE K F Approx. Mass [kg(Ib)] FR-BR-15K 170 100 450 432 410 220 6 35 6 1.
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11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 L21 NFB Power factor improving reactor FR-BAL MC L1 Power supply 3-phase 200V or 230VAC or 3-phase 380 to 480VAC L2 L3 CN3 EM1 DOCOM DOCOM DICOM Forced stop CN3 24VDC ALM RA Trouble(Note 3) (Note 2) P1 P2 N (Note 4) N/ C P P/ 5m(16.
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11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] 2- D hole Mounting foot (removable) Mounting foot movable E Rating plate Front cover Display panel window B B A Cooling fan D AA K F E E C A Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D E EE K F Approx. Mass [kg(Ib)] FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19 (41.888) 340 270 600 582 195 10 10 8 3.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200VAC class and the FR-CV-H for that of 400 VAC class. For details of the power regeneration common converter FR-CV(-H), refer to the FR-CV(-H) Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV(-H).
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11. OPTIONS AND AUXILIARY EQUIPMENT FR-CV-H Item 22K 30K Maximum number of connected servo amplifiers 37K 55K 6 Total of connectable servo amplifier capacities [kW] 11 15 18.5 27.5 Total of connectable servo motor rated currents [A] 90 115 145 215 Maximum servo amplifier capacity [kW] 11 15 15 22 When using the FR-CV(-H), always install the dedicated stand-alone reactor (FR-CVL(-H)). Power regeneration common converter FR-CV-7.5K(-AT) Dedicated stand-alone reactor FR-CVL-7.
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11.
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11.
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11. OPTIONS AND AUXILIARY EQUIPMENT (4) Wires used for wiring (a) Wire sizes 1) Across P-P, N-N The following table indicates the connection wire sizes of the DC power supply (P, N terminals) between the FR-CV and servo amplifier. The used wires are based on the 600V vinyl wires. Total of servo amplifier capacities [kW] 1 or less 2 5 7 11 15 22 Wires[mm 2 ] 2 3.5 5.
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11. OPTIONS AND AUXILIARY EQUIPMENT 2) 400VAC class Wire as short as possible. FR-CV-55K R2/L1 P/L+ S2/L2 N/L- T2/L3 50mm2 22mm2 22mm2 8mm2 (Note) R/L11 S/L21 T/MC1 Servo amplifier (15kW) First unit: P 50mm assuming that the total of servo amplifier N capacities is 27.5kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. Servo amplifier (7kW) Second unit: P 22mm assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. 8mm2 5.5mm2 (Note) Servo amplifier (3.
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11. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.6 External dynamic brake (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required. Assign the dynamic brake interlock (DB) to any of CN3-9, CN3-13, and CN3-15 pins in parameter No.PD07 to PD09.
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11. OPTIONS AND AUXILIARY EQUIPMENT Coasting Servo motor rotation Alarm Coasting Dynamic brake Dynamic brake Present Absent ON Base OFF ON RA1 OFF Dynamic brake Invalid Valid Forced stop (EM1) Short Open a. Timing chart at alarm occurrence b.
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11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K [Unit: mm] ([Unit: in]) D E (0.2)5 100(3.94) A B E 5 (0.2) G D F C Terminal block E a (GND) 2.3(0.09) U b 13 14 V W Screw : M4 Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in]) Tightening torque: 1.2 [N m](10.6 [lb in]) Dynamic brake A B C D E F G Mass [kg]([Ib]) Connection wire [mm 2 ] DBU-11K 200 (7.87) 190 (7.48) 140 (5.51) 20 (0.79) 5 (0.2) 170 (6.69) 163.5 (6.44) 2 (4.
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11. OPTIONS AND AUXILIARY EQUIPMENT 228 280 7 150 2.3 10 51 73.75 25 26 43 260 26 2- 7Mounting hole 10 (b) DBU-11K-4 DBU-22K-4 25 195 200 15 15 210 15 179.5 178.5 170 Mass: 6.7[kg] Terminal block TE1 TE2 a b 13 14 Screw: M3.5 Tightening torque: 0.8[N m](7[lb in]) Dynamic brake U V W Screw: M4 Tightening torque: 1.2[N m](10.6[lb in]) Wire [mm2] a b U V DBU-11K 2 5.5 DBU-15K, 22K 2 5.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.7 Junction terminal block PS7DW-20V14B-F (Recommended) (1) How to use the junction terminal block Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS M) as a set. A connection example is shown below: Servo amplifier Cable clamp (AERSBAN-ESET) Junction terminal block PS7DW-20V14B-F CN3 MR-J2HBUS M Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-ESET).
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11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings of junction terminal block [Unit : mm] 63 54 44.11 7.62 27 4.5 4 5 4.5 M3 5L 60 9.3 50 TB.E ( 6) M3 6L 27.8 36.5 1.42 18.8 6.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.8 MR Configurator The MR configurator (MRZJW3-SETUP221E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Monitor Alarm Diagnostic Parameters Test operation Advanced function File operation Others Description Display, high speed monitor, trend graph Minimum resolution changes with the processing speed of the personal computer.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.9 Battery Unit MR-J3BAT POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.10 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
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11. OPTIONS AND AUXILIARY EQUIPMENT (3)Fitting method Attachment Punched hole Servo amplifier Fit using the assembiling screws. Servo amplifier Control box Attachment a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing 236 280 j Servo amplifier 35 (400) 194 Attachment 84 510 12 580 Servo amplifier Panel 145 (58) 20 Mounting hole (260) 11 - 52 3.2 105 155 (260) Panel (11.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.11 Recommended wires POINT Refer to Section 11.1.5 for SSCNET cable. (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
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11. OPTIONS AND AUXILIARY EQUIPMENT Table 11.1 Recommended wires Wires [mm2] Servo amplifier 1) L1 L2 L3 2) L11 L21 U V 3) W 4) P C 5) B1 B2 BU 6) BV 7) BW OHS1 OHS2 MR-J3-10B (1) MR-J3-20B (1) MR-J3-40B (1) MR-J3-60B 1.25 (AWG16) 2 (AWG14) MR-J3-70B MR-J3-100B 2 (AWG14) 2(AWG14) MR-J3-200B 3.5 (AWG12) 3.5 (AWG12) MR-J3-350B 5.5 (AWG10) 5.5 (AWG10) MR-J3-500B (Note2) 5.5(AWG10): a(note1) 5.
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11. OPTIONS AND AUXILIARY EQUIPMENT Table 11.
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11. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 11.3 Wires for option cables Characteristics of one core Type Length [m] Model MR-J3ENCBL Core size Number Structure[ [mm2] of Cores Wires/mm] M-A2-L MR-J3ENCBL M-A1-H MR-J3ENCBL 7/0.26 53 or less 1.2 7.1 0.3 (Note 3) VSVP 7/0.26 (AWG#22 or equivalent)-3P Ban-gi-shi-16823 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.12 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.13 Power Factor Improving DC Reactor POINT For the 100VAC power supply type (MR-J3- B1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor. It can decrease the power supply capacity. As compared to the power factor improving AC reactor (FR-BAL), it can decrease the loss. The input power factor is improved to about 95%.
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11. OPTIONS AND AUXILIARY EQUIPMENT (2) 400V class [Unit: mm] (Note1)Terminal cover Screw size G C or less Name 5m or less FR-BEL Servo Amplifier P (Note 2) D P1 2-F L notch H B or less L E A or less F Mounting leg Note 1. Since the terminal cover is supplied, attach it after making a wire connection. 2. When using the power factor improving DC reactor, disconnect the wiring across P-P1.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.14 Power factor improving AC reactors The power factor improving AC reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%. In addition, it reduces the higher harmonic of input side.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.15 Relays (Recommended) The following relays should be used with the interfaces: Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of 40mA or less (Ex.) Omron : type MY 11.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.17 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies.
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11. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
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11. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1.
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11. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. MC Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short (within 20cm). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Rated voltage AC[V] 200 Outline drawing [Unit: mm] C [ F] R [Ω] Test voltage AC[V] 0.
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11. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] Earth plate Clamp section diagram 2- 5 hole installation hole 30 17.5 0.3 0 24 7 22 6 (Note)M4 screw 10 A 35 24 3 0 0.2 6 C B 0.3 L or less 11 35 Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type A B C Accessory fittings Clamp fitting L AERSBAN-DSET 100 86 30 clamp A: 2pcs. A 70 AERSBAN-ESET 70 56 clamp B: 1pc.
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11. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.18 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.
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11. OPTIONS AND AUXILIARY EQUIPMENT Table 11.4 Servo motor's leakage current example (Igm) Table 11.5 Servo amplifier's leakage current example (Iga) Servo motor output [kW] Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 0.1 to 0.6 0.1 0.75 to 3.5 0.15 2 0.2 3.5 0.3 5 7 2 5 0.5 11 15 5.5 7 0.7 11 1.0 15 1.3 22 2.3 22 7 Table 11.
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11. OPTIONS AND AUXILIARY EQUIPMENT 11.19 EMC filter (Recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Mass [kg]([lb]) Model Leakage current [mA] MR-J3-10B to MR-J3-100B MR-J3-10B1 to MR-J3-40B1 (Note) HF3010A-UN 5 3 (6.61) MR-J3-250B MR-J3-350B (Note) HF3030A-UN 5 5.5 (12.
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11. OPTIONS AND AUXILIARY EQUIPMENT HF3030A-UN HF-3040A-UN 6-K 3-L G F E D 1 2 1 2 3-L C 1 M J 2 C 1 H 2 B 2 A 5 Model Dimensions [mm] A B C D E F G H J K L M HF3030A-UN 260 210 85 155 140 125 44 140 70 M5 M4 HF3040A-UN 260 210 85 155 140 125 44 140 70 R3.25, length 8 M5 M4 HF3100A-UN 2-6.5 2- 6.
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11. OPTIONS AND AUXILIARY EQUIPMENT TF3030C-TX [Unit: mm] 6-R3.25 length8 M4 M4 3 M4 M4 155 2 140 1 16 16 125 2 Approx.12.2 3-M4 IN Approx.67.5 3 100 1 100 1 290 2 150 2 308 5 Approx.
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11. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] 8-M M4 M4 3-M6 M6 F 1 E 2 G 2 22 22 Approx.17 3-M6 IN D 1 D 1 D 1 L C 2 K 2 B 5 J A 5 Model H 5 Dimensions [mm] A B C D E F G H J K L M Approx.91.5 R3.25 length 8 (M6) TF3040C-TX 438 412 390 100 175 160 TF3060C-TX 11 - 73 145 200 Approx.
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11.
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12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase alarm (25) or absoluto position counter warning (E3) has occurred, always perform home position setting again. Not doing so can cause runaway. 12.1 Features For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
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12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Specifications POINT Replace the battery with only the control circuit power ON. Removal of the battery with the control circuit power OFF will erase the absolute position data. (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal Battery 3.6V) Type: MR-J3BAT Maximum revolution range Home position (Note 1) Maximum speed at power failure 3000r/min 32767 rev.
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12. ABSOLUTE POSITION DETECTION SYSTEM 12.3 Battery installation procedure WARNING Before starting battery installation procedure, make sure that the charge lamp is off more than 15 minutes after main circuit power is switched OFF. Then, confirm that the voltage between P-N terminals is safe in the tester or the like with control circuit power ON. Otherwise, you may get an electrical shock. POINT The internal circuits of the servo amplifier may be damaged by static electricity.
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12. ABSOLUTE POSITION DETECTION SYSTEM 12.4 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below: (2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.
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Appendix App 1. Parameter list POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again. Basic setting parameters (PA ) No.
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Appendix No.
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Appendix App 3. Twin type connector : Outline drawing for 721-2105/026-000(WAGO) [Unit: mm] Latch Coding finger Detecting hole 2.9 5.25 25 5 4.75 10.6 5.8 26.45 15.1 20.8 2.75 4 5( 20) (4 1.97( 0.788)) 5 2.
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Appendix App 4. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number May, 2005 SH(NA)030051-A Jan., 2006 SH(NA)030051-B Revision First edition Addition of servo amplifier MR-J3-11KB(4), 15KB(4) and 22KB(4) Addition of servo motor HC-RP, HC-UP, HC-LP and HA-LP4 series : Addition of regeneration brake resistor-less specification Section 1.5 (2) Section 1.7.2 : Addition of removal and reinstallation of front cover for 11KB(4) or more Section 2.
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MODEL MODEL CODE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030051-B (0601) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.