General-Purpose AC Servo J3 Series SSCNET Compatible Linear Servo MODEL (Servo Amplifier) MR-J3- B-RJ004U MODEL (Linear Servo Motor) LM-H2 LM-U2 INSTRUCTION MANUAL
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and linear servo motor until you have read through this Instruction Manual, Installation guide, MR-J3-B Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and linear servo motor until you have a full knowledge of the equipment, safety information and instructions.
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 linear 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 linear servo motor until they have been installed.
CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. 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, linear servo motor, etc.
CAUTION Do not modify the linear servo motor. Take safety measures, e.g. provide covers, to prevent accidental access to the linear servo motor during operation. The dynamic brake can be applied to the linear servo motor, but the coasting distance becomes longer when the moving body is heavy or when the speed is high. It may result in crashing into the stroke edge, which is highly dangerous.
(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the linear servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the linear servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the linear servo motor will operate improperly. Connect the linear servo motor power terminal (U, V, W) to the linear servo motor power input terminal (U, V, W) directly.
CAUTION 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. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier. Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
(7) Disposal CAUTION The linear servo motor uses a strong magnet on the secondary side. Therefore, not only the operators but also the people around the work place must use abundance of caution when the linear servo motor is disassembled or discarded. For example, one who uses a medical device like a pacemaker must keep away from the machine. The permanent magnet on the secondary side makes the magnetic bodies (primary side [coil] and secondary side [magnet]) generate suction.
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.
Handling of Linear Servo Motor 1. Magnetic suction Magnetic suction The secondary side of the linear servo motor contains a strong permanent magnet, so a magnetic suction power (power by which a magnet attracts magnetic bodies) is generated toward magnetic bodies such as iron. This magnet suction is always acting whether the motor power is turned ON/OFF.
3. Notes on handling (1) Handling must be done by the engineers who have a full knowledge of this product. (2) One who uses a medical device like a pacemaker must keep away from the machine and equipment. (3) Do not wear metals such as watch, pierced earring, necklace, etc. (4) Use nonmagnetic tools. (Example) Explosion-proof beryllium copper alloy safety tools: bealon (NGK Insulators, Ltd.) (5) Do not put magnetic card, watch, portable phone, etc close to the motor.
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.
(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. However, when using the neutral point of 400V system for single phasesupply, a reinforced reinforced insulating transformer is required in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulationreinforced in I/O.
(8) Performing EMC tests When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC directive guidelines on the servo amplifier, refer to the EMC Installation Guidelines(IB(NA)67310).
MEMO A - 14
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -12 1.1 Introduction............................................................................................................................................... 1 - 1 1.2 Servo amplifier standard specifications................................................................................................... 1 - 3 1.3 Function list .........................................................................................................................
3.2.4 Renishaw make linear encoder (Incremental type) ....................................................................... 3 –23 3.3 ABZ-phase Differential Output Encoder................................................................................................. 3 -26 3.4 Mitsubishi Optional Cable Connector Sets ............................................................................................ 3 -29 3.4.1 MR-EKCBL M-H ........................................................................
) ......................................................................................... 6 – 8 6.4 Extension Setting Parameters (No. PC 6.4.1 Parameter list .................................................................................................................................... 6 - 8 6.4.2 List of details...................................................................................................................................... 6 - 9 6.4.3 Analog monitor ..............................
MEMO 4
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction In fields of semiconductor and liquid crystal related equipment, installed machine, etc. with strong demands for high accuracy, high-speed and high efficiency, the system using the linear servo motor for drive shaft is increasing.
1. FUNCTIONS AND CONFIGURATION Classification Item External I/O signal Stroke limit input signal (FLS, RLS) Motor pole adjustment Magnetic pole detection operation Differences Linear servo motor Rotating servo motor (MR-J3- B-RJ004) (MR-J3- B) Required (when magnetic pole is detected) Required Automatically turns ON in the parameter setting. Unit: mm/s Not required (adjusted Automatically executed at the at shipment) first servo-on after turning the power on.
1. FUNCTIONS AND CONFIGURATION 1.
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Absolute position detection system Gain changing function Advanced vibration suppression control Adaptive filter Low-pass filter Machine analyzer function Machine simulation Gain search function Slight vibration suppression control Description Reference Merely setting a home position once makes home position return Section 5.
1. FUNCTIONS AND CONFIGURATION 1.4 Model code definition (1) Rating plate AC SERVO Model Capacity MR-J3-40B-RJ004 POWER : 400W INPUT : 2.6A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 3.9A 1PH 230V 50/60Hz OUTPUT: 170V 0-360Hz 2.8A SERIAL : A34230001 Applicable power supply Rated output current Serial number (2) Model MR-J3-70B-RJ004 or less Series MR-J3-200B 350B-RJ004 Linear servo motor compatible symbol Refer to Section 1.5.
1. FUNCTIONS AND CONFIGURATION 1.5 Combinations of Servo Amplifiers and Linear Servo Motors POINT Check the linear servo compatible symbols (U ) and use the servo amplifier and linear servo motor with correct combination. When used with incorrect combination, the servo amplifier or linear servo motor may fail.
1. FUNCTIONS AND CONFIGURATION 1.6 Parts identification (1) MR-J3-100B-RJ004 or less Name/Application Detailed Explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) 34 56 2 F01 F 01 2 BCDE B C DE SW1 TEST SW2 Used to set the axis No. of servo amplifier.
1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200B-RJ004 MR-J3-350B-RJ004 Name/Application Detailed Explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) 34 56 2 F01 F 01 2 B CDE B C DE SW1 TEST SW2 Used to set the axis No. of servo amplifier.
1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500B-RJ004 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Detailed Explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. Rotary axis setting switch (SW1) 34 56 2 F01 0 F 1 2 B CDE B C DE SW1 TEST SW2 Used to set the axis No. of servo amplifier.
1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and linear servo motor are optional or recommended products.
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2. LINEAR SERVO MOTOR 2. LINEAR SERVO MOTOR The secondary side of the linear servo motor contains a strong permanent magnet. The wrong handling may cause serious accidents, which is extremely dangerous. Please read this chapter carefully beforehand and use it correctly. 2.1 Handling 2.1.1 General instructions The linear servo motor uses a strong magnet on the secondary side. Therefore, not only the linear servo motor installation operators but also the machine operators must use abundance of caution.
2. LINEAR SERVO MOTOR 2.1.2 Instructions on design CAUTION The dynamic brake can be applied to the servo Amplifier, but the coasting distance becomes longer when the moving body is heavy or when the speed is high. It may result in crashing into the stroke edge, which is highly dangerous. Install the anticrash mechanism such as an air brake or an electric/mechanical stopper such as a shock absorber to reduce the shock of movable parts. (No linear servo motor with an electromagnetic brake is available.
2. LINEAR SERVO MOTOR POINT To execute the high accuracy positioning, ensure as much rigidity of machine as possible and make the machine resonance point higher. Make the moving parts as light as possible and make the base parts heavier and sturdier. As the operation and accuracy of machine could have an adverse effect, design it in order to make the thrust center of the linear servo motor closer to a moving body's gravity center.
2. LINEAR SERVO MOTOR CAUTION Do not subject the servo amplifier and linear servo motor to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier and linear servo motor. Use the equipment within the specified environmental condition range. (For the environmental condition, refer to Section 1.2.) Tap holes on the linear servo motor are for machine installation. Do not use for other purposes. Do not touch the linear servo motor with wet hands.
2. LINEAR SERVO MOTOR 2.2 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.
2. LINEAR SERVO MOTOR 2.2.2 Inspections on secondary side (magnet) (1) Attachment of water and oil Check that the primary side (coil) and secondary side (magnet) have not got wet with water and oil. When the linear servo motor has got wet, the insulation on the primary side (coil) is deteriorated, which may cause failure. Make sure to establish the mechanical structure in which water and oil are not attached to the linear motor.
2. LINEAR SERVO MOTOR 2.3 Replacement 2.3.1 Replacement of primary side (coil) or secondary side (magnet) After replacing the primary side (coil) or the secondary side (magnet), perform the magnetic pole detecting operation again. When not performing the magnetic pole detecting operation unavoidably, mount the primary side (coil) and secondary side (magnet) so that the mounting position gap is less than 0.1 mm, comparing before and after the replacement.
2. LINEAR SERVO MOTOR 2.4 Instructions for discarding the linear servo motor Demagnetize the secondary side (magnet) of the linear servo motor by heating over 300 , then discard it in accordance with Law for Promotion of Effective Utilization of Resources. The linear servo motor uses a strong magnet on the secondary side. Therefore, not only the operators but also the people around the work place must use abundance of caution when the linear servo motor is disassembled or discarded.
2. LINEAR SERVO MOTOR 2.5 LM-H2 series 2.5.
2. LINEAR SERVO MOTOR 2.5.
2. LINEAR SERVO MOTOR Note 1. Max. speed of the linear servo motor is smaller value of any max. speed of the linear servo motor and rated speed of the encoder. 2. Value in the case where the aluminum board of the following dimensions (L[mm] W[mm] H[mm]) is mounted on the primary side (coil).
2. LINEAR SERVO MOTOR 2.5.3 Thrust characteristics When the input power supply specifications of the servo amplifier are 3-phase 200VAC or 1-phase 230VAC, the thrust characteristic is indicated by the continuous line. The continuous/max. thrust and max. speed of the linear servo motor are in the case of the rated power voltage and frequency of the combined servo amplifier.
2. LINEAR SERVO MOTOR 2.5.4 Installation (1) Mounting dimensions [Unit: mm] 0.5 or less H 0.1(Note3) Center on the primary side (coil) (Note 1) 0.1 0.1 A A 0.1 Center on the secondary side (magnet) (Note 2) Note 1. Centers on the primary side (coil) are as follows. LM-H2P1 - : Center of mounting screw pitch LM-H2P2 - : Center mounting screw position LM-H2P3 - : Center mounting screw position 2. Centers on the secondary side (magnet) is the center of mounting screw pitch. 3.
2. LINEAR SERVO MOTOR (2) Mounting the secondary side (magnet) WARNING The linear servo motor uses a strong magnet on the secondary side. Therefore, not only the servo motor installation operators but also the machine operators must use abundance of caution. For example, one who uses a medical device like a pacemaker must keep away from the machine. When mounting the secondary side (magnet), use nonmagnetic tools.
2. LINEAR SERVO MOTOR Procedure 4. Securely fix with bolts the secondary side (magnet) fixed as temporary joint. Secondary side (magnet) to be a mounting standard (3) Mounting the primary side (coil) To avoid the danger caused by suction, which is generated between the primary side (coil) and the secondary side (magnet) by the permanent magnet, it is recommended to mount the primary side (coil) in the position free from the secondary side (magnet) as shown in this section.
2. LINEAR SERVO MOTOR 2.5.5 Outline drawings (1) Primary side (coil) (a) LM-H2P1A-06M [Unit: mm] Lead for motor (U, V, W): black,earth (E): green/yellow 4 wires-AWG20 (Standard finish OD 2.12 mm) Active length 400 mm 43.0 128 400 40 0 (Lead active length) 32 32 32 32 Approx.0.7 Round crimping terminal 210 Approx.10.5 31.8 1.25-4 Approx.3.5 Approx. 40 User system Wire mark Secondary side User system 3-M5 screw depth 6.
2. LINEAR SERVO MOTOR (c) LM-H2P3A-24M LM-H2P3B-48M LM-H2P3C-72M LM-H2P3D-96M [Unit: mm] Variable dimensions Model M M A 64 C 128 (32) 3 3 LM-H2P3B-48M 224 2 64( 128) (64) 6 3 LM-H2P3C-72M 320 4 64( 256) (32) 9 3 LM-H2P3D-96M 416 5 64( 320) (64) 12 3 210 10 Approx. 40 AWG20 2.12 AWG14 3.12 Lead for motor (U, V, W): black, earth (E) green/yellow Active length 400 mm 48.0 Approx.0.7 Round crimping terminal Approx.15.5 31.8 1.25-4 Approx.8.
2. LINEAR SERVO MOTOR (b) LM-H2S20[Unit: mm] Variable dimensions Model L M B LM-H2S20-288 288 5 48( 240) 6 2 LM-H2S20-384 384 7 48( 336) 8 2 LM-H2S20-480 480 9 48( 432) 10 2 LM-H2S20-768 768 15 48( 720) 16 2 Overall length L Approx. 24 M 24 10.5 or less Mark "N" 7 3.
2. LINEAR SERVO MOTOR 2.5.6 Connection of servo amplifier and linear servo motor (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 linear servo motor. Otherwise, the linear servo motor will operate improperly. Do not connect AC power supply directly to the linear servo motor. Otherwise, a fault may occur. POINT Refer to Section 11.
2. LINEAR SERVO MOTOR 2.6 LM-U2 series 2.6.1 Model code definition (1) Primary side: coil Series Primary side (coil) Max.
2. LINEAR SERVO MOTOR 2.6.2 LM-U2 series specification list Linear servo motor (Primary side) LM-U2P2B-40M Linear servo motor (Secondary side) Thrust Rated(Note2) Maximum Maximum speed (Note1) Magnetic suction 200B-RJ004U509 350B-RJ004U510 [kVA] 3.5 5.5 7.
2. LINEAR SERVO MOTOR 2.6.3 Thrust characteristics When the input power supply specifications of the servo amplifier are 3-phase 200VAC or 1-phase 230VAC, the thrust characteristic is indicated by the continuous line. The continuous/max. thrust and max. speed of the linear servo motor are in the case of the rated power voltage and frequency of the combined servo amplifier.
2. LINEAR SERVO MOTOR (2) Mounting the secondary side (magnet) WARNING The linear servo motor uses a strong magnet on the secondary side. Therefore, not only the servo motor installation operators but also the machine operators must use abundance of caution. For example, one who uses a medical device like a pacemaker must keep away from the machine. When mounting the secondary side (magnet), use nonmagnetic tools.
2. LINEAR SERVO MOTOR Procedure 4. Securely fix with bolts the secondary side (magnet) fixed as temporary joint. Secondary side to be a mounting standard (3) Mounting the primary side (coil) Procedure 1. Mount a part of the secondary side (magnet). Procedure 2. Mount the primary side (coil) in the position free from the secondary side (magnet). Procedure 3. Move the primary side (coil) over the secondary side (magnet) mounted.
2. LINEAR SERVO MOTOR 2.6.5 Outline drawings (1) Primary side (coil) [Unit: mm] Variable dimensions Model L M Lead C U LM-U2P2B-40M 286 4 60 (=240) 5 2 LM-U2P2C-60M 406 6 60 (=360) 7 2 LM-U2P2D-80M 526 8 60 (=480) 9 2 V W E G1 1.25mm2 (AWG16) (Standard finish 2.7mm) 2mm2 (AWG14) (Standard finish 3.12mm) G2 0.2mm2 (AWG24) (Standard finish 2mm) Total length L Approx.
2. LINEAR SERVO MOTOR 2.6.6 Connection of servo amplifier and linear servo motor (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 linear servo motor. Otherwise, the linear servo motor will operate improperly. Do not connect AC power supply directly to the linear servo motor. Otherwise, a fault may occur. POINT Refer to Section 11.
3. LINEAR ENCODER 3. LINEAR ENCODER POINT Always use the linear encoder cable introduced in this section. If the other products are used, a faulty may occur. For details of the linear encoder specifications, performance and assurance, contact each linear encoder manufacturer. 3.
3. LOAD SIDE ENCODER 3.2 Mitsubishi Serial Interface Compatible Linear Encoder 3.2.1 Mitutoyo Corpration make linear scales (Absolute type) (1) Specifications POINT When the absolute position system is configured, the MR-J3BAT battery is not required. Item Model System Effective measurement length Resolution Specifications AT343AAT543A-SC (Note) Capacitive, photoelectric, combined type 100 to 3000mm 100 to 2200mm ST741AMagnetic induction type 100 to 3000mm 0.05 m 0.
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3. LOAD SIDE ENCODER (3) Outline drawings (a) AT343A [Unit: mm] Full length L2 Mounting block fixing pitch L3 0.2 G Mounting block fixing pitch L4 Air supply port (M5) (Provided at both ends) 32.5 7 80 60 0.2 7.5 23 8 Elastically fixing 2 7 1.5 0.2 66 0.3 15 50.5 95.5 Scale body mounting surface Detection head mounting surface area 15 A Mounting block fixing pitch L4 Mounting block Completely Elastically fixing area fixing area 1.5 0.2 7 11.6 36 8 12.6 (0.
3. LOAD SIDE ENCODER (b) AT543A-SC 0.2 16 0.2 15.2 [Unit: mm] Completely fixing area Aluminum frame surface 0.1G - 0.05/500 (4.8) L4 R 20 0.2 30.2 44.5 1.5 0.2 Vertical direction 1 0.1 (Difference in level between the detection head and the aluminum frame) 23 S 0.1R Longitudinal direction (Clearance between the detection head and the aluminum frame) Adjusted with dedicated jigs (Provided on both sides) 0.
3. LOAD SIDE ENCODER (c) ST741A [Unit: mm] Scale base length: L1 (10) (L3 0.2) x n L4 0.2 L4 0.2 (10) : Scale base center position: L2 Detection head Scale base (25.6) 22.1 0.2 SERIAL + Count (46.4) R4 34 0.2 Z-4.6 drill hole 8 0.1 G 0.1/1000 (41.2) G: Machine guide Head cable length: 1m 2-M4 x 0.7 depth 5 (Identically processed opposite surface) 2.5 6.5 0.5 0.1 18 (0.7) 6.5 +0.1 -0.05 8 Head cable length: 1m (0.7) 0.05 G 0.05/1000 25.6 0.2 13 0.2 (16) 73 62 0.
3. LOAD SIDE ENCODER (4) Encoder cable (a) For AT343A 1) Cable composition Prepare a cable based on the following structure diagram. Servo amplifier Linear encoder AT343A Encoder cable 1) 3) 2) CN2L Cable Encoder cable Output cable When using an optional cable 1) MR-EKCBL M–H (Option manufactured by Mitsubishi Electric Corporation) 2m 5m 10m (Refer to Section 3.4.
3. LOAD SIDE ENCODER (b) For AT543A-SC 1) Cable composition Prepare a cable based on the following structure diagram. Servo amplifier Linear encoder AT543A-SC Encoder cable 1) Head cable Output cable 2) CN2L Cable Encoder cable When using an optional cable When producing a load side encoder cable 1) MR-EKCBL M-H (Option manufactured by Mitsubishi Electric Corporation) 2m 5m 10m (Refer to Section 3.4.
3. LOAD SIDE ENCODER (c) For ST741 1) Cable structure Prepare a cable based on the following structure diagram. Servo amplifier Linear encoder ST741A Encoder cable 1) Head cable 2) CN2L 3) For the signal adjustment and confirmation, connect the following equipments. (Note2) Software for signal adjustment Personal computer Conversion unit Cable Encoder cable Head cable When using an optional cable 1) Option manufactured by MITUTOYO CORPORATION (This should be prepared by the customer.
3. LOAD SIDE ENCODER 2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m.
3. LOAD SIDE ENCODER 3.2.2 Heidenhain make linear encoder (1) Specifications POINT When the absolute position system is configured, the MR-J3BAT battery is not required. (a) Absolute type Item Specifications Model LC491M System Photoelectric scanning system Effective measurement length 70 to 2040mm Resolution 0.05 m Accuracy grade (20 ) 5 m 3 m (up to effective measurement length 1240) Supply power voltage 5V 5% on the linear encoder side Current consumption Max.
3. LOAD SIDE ENCODER (b) Incremental type Item Specifications Model LIDA485 LIDA487 Serial interface conversion unit type name APE391M System Photoelectric scanning system Effective measurement length 140 to 30040mm Resolution 240 to 6040mm 0.05 m (20/4095 m) Resolution ratio of APE391M: 4096 Accuracy grade (20 ) 5 m Supply power voltage 5V 5% Current consumption Max.200mA Max.160mA Rated response speed 4.0m/s Maximum response speed 8.
3. LOAD SIDE ENCODER (3) Outline Drawings POINT For the outline drawings of LIDA485, contact with HEIDENHAIN CORPORATION. (a) LC491M (Absolute type) [Unit: mm] DIN ISO 8015 ISO 2768-m H F P mounting spur K U S 2 3 - 13 = Without mounting spur = With mounting spur = Machine guide = Measurement point for adjustment = Dimensional tolerance for machine installation = Compressed air filling port = Measurement length starting point (pos.
3. LOAD SIDE ENCODER (b) LIDA487 (Incremental type) [Unit: mm] = Example of scanning head installation F = Machine guide = Adjustment = Max.
3. LOAD SIDE ENCODER (4) Encoder cable (a) For LC491M (Absolute type) POINT This linear encoder is of four-wire type. When using any of these encoder, set parameter No. PC26 to "1 " to select the four-wire type. 1) Cable structure Prepare a cable based on the following structure diagram.
3. LOAD SIDE ENCODER 2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m.
3. LOAD SIDE ENCODER Cable Serial interface conversion unit Encoder cable When using an optional cable 1) Option manufactured by HEIDENHAIN CORPORATION 366 419m (This should be prepared by the customer.) (Note) When producing a load side encoder cable 2) Connector set MR-J3CN2 (Option manufactured by Mitsubishi Electric Corporation) (Refer to Section 3.4.) 3) Junction connector (This should be prepared by the customer.) D-SUB15 pin (female) Head cable APE391M Cable length: 0.
3. LOAD SIDE ENCODER 3.2.
3. LOAD SIDE ENCODER (2) Linear encoder unit structure Note that the increasing/decreasing directions change depending on the interpolator (MJ830/MJ831) settings. The following figure shows the moving direction when the MODE switch of the interpolator (MJ830/MJ831) is set to 5. Always set an linear encoder home position (reference mark).
3. LOAD SIDE ENCODER (b) PL101 [Unit: mm] 9 25 0.2 9 Effective measurement length (ML) (20) Full length = effective measurement length + 40 1.5 Cable length: 3000mm 48 20 11.5 Cable length: 3000mm 0.15 Clearance 12 6 0.15 Clearance 12 6 48 (20) 12 25 0.2 12 Effective measurement length (ML) Full length = effective measurement length + 40 20 Offset Offset Pitch Roll 2 2 - M3 depth 5 43.
3. LOAD SIDE ENCODER (d) MJ830/MJ831 [Unit: mm] 93 100 (115) 1 26 (13) 13 3 138 124 4.5 mounting hole 4.5 (4) Encoder cable 1) Cable structure Prepare a cable based on the following structure diagram.
3. LOAD SIDE ENCODER 2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a connector for interpolator as shown below. The encoder cable can be produced as the length of max. 30m. Supply linear encoder power from external. Connector set (option) MR-J3CN2 Receptacle: 36210-0100FD Shell kit: 36310-3200-008 (3M) 2 LG 4 MRR2 1 6 3 8 10 5 9 7 MR2 View seen from wiring side.
3. LOAD SIDE ENCODER 3.2.4 Renishaw make linear encoder (Incremental type) (1) Specifications Item Model Specifications RGH26P RGH26Q System RGH26R Optical system Effective measurement length Resolution Maximum length 70000mm 5 m Accuracy (20 ) 1 m 0.5 m 3 m/m (when compensation is made between two points) Supply power voltage 5V 5% Current consumption Max.230mA Rated response speed (Note 1) 4.0m/s 3.2m/s 1.6m/s Maximum response speed 5.0m/s 4.0m/s 2.
3. LOAD SIDE ENCODER (3) RGH26P, RGH26Q, RGH26R outline drawing [Unit: mm] Dynamic bending radius R50 Static bending radius R10 Reference mark sensor position Optical center 6 minimum M3 0.5, two 9.5 deep holes 22 (Yaw tolerance 0.5 ) 4 0.38 Reference mark actuator 14 7 23.5 14.5 6 Mounting surface Setup LED 17 16 11.6 (Roll tolerance 1.0 ) 0.13 3 9 15.5 13 27 10.5 P limit switch Mount it with the white point directed toward the machine stock side.
3. LOAD SIDE ENCODER 2) Production of encoder cable Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder cable can be produced as the length of max. 30m. Connector set (option) MR-J3CN2 Receptacle: 36210-0100FD Shell kit: 36310-3200-008 (3M) 2 LG 4 MRR2 6 1 P5 3 8 Servo amplifier side 10 5 Linear encoder side 15 Inner (Note2) 9 7 P5 LG MR2 MR MR2 View seen from wiring side.
3. LOAD SIDE ENCODER 3.3 ABZ-phase Differential Output Encoder This section describes the connection of the ABZ-phase differential output encoder. Prepare the MR-J3CN2 connector set for the encoder cable and produce it according to the wiring diagram in (3) of this section. (1) ABZ-phase differential output encoder specifications Each signal of the A-, B- and Z-phase of the encoder is provided in the differential line driver output. It cannot be provided in the collector output.
3. LOAD SIDE ENCODER (3) Internal wiring diagram For production of the load side encoder cable, use a cable durable against the long period of flexing action. Even though the cable length is max. 30m for the RS-422 communication, the length may be shortened due to the power supply voltage drop or the specifications of linear encoder. A connection example is shown below. For details, contact with the encoder manufacturer.
3. LOAD SIDE ENCODER 2) When the consumption current of the encoder is more than 350mA 5VDC external power supply ABZ-phase differential output encoder Connector on the servo amplifier side P5 LG PA PAR PB PBR PZ PZR 1 2 3 4 5 6 7 8 9 10 PSEL SD Plate 5V 0V A phase A phase B phase B phase Z phase Z phase (Note2) 30m or less Note 1. For the encoder without Z phase, set parameter No.PC27 to " 1 ". 2. Securely connect a shield cable to the plate (ground plate) in the connector.
3. LOAD SIDE ENCODER 3.4 Mitsubishi Optional Cable Connector Sets 3.4.1 MR-EKCBL M-H (1) Model explanations Model Long flex life Symbol 2 5 10 Cable length [m] 2 5 10 (2) Cable structure The table shows this optional cable structure. Protective Structure IP20 Flex Life Long flex Length [m] Core size [mm2] 2 5 10 0.2mm2 Number of Cores 12 (6 pairs) Characteristics of one core (Note 2) Conductor resistance Insulation coating Finishing OD Structere [mm] [Wires/mm] [ /mm] ODd [mm] (Note 1) 40/0.
3. LOAD SIDE ENCODER MR-EKCBL M-H 1) 2) Cable Model MR-EKCBL M-H 1) CN2 Connector Connector set: 54599-1019 (Molex) Receptacle: 36210-0100FD Shell kit: 536310-3200-008 (3M) 2 MRR 6 8 MDR 1 3 MR 5 2 10 7 or 9 BAT MD View seen from wiring side. 4 LG MRR 1 3 P5 MR 6 8 (Toa Electric Industries) 10 5 7 9 MD BAT . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.
3. LOAD SIDE ENCODER 3.4.2 MR-ECNM The following shows the connector combination for this connector set. Parts/Tool Description Connector set MR-ECNM Junction connector Housing: 1-172161-9 Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) For CN2 connector Receptacle: 36210-0100FD Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex) 3.4.3 MR-J3CN2 The following shows the details of this connector set.
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4. SIGNALS AND WIRING 4. 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 linear servo motor securely.
4. SIGNALS AND WIRING 4.1 Precautions on this Chapter The following items are not described in this chapter. For details of these items, refer to the MR-J3- B Servo Amplifier Instruction Manual as they are the same as those of MR-J3- B. item MR-J3- B Servo Amplifier Instruction Manual Explanation of Power Supply System Section 3.3 Signal (device) explanations Section 3.5 Interfaces Section 3.7 (excluding the internal connection diagram) Processing of cable shield external conductor Section 3.
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4. SIGNALS AND WIRING 4.3 I/O signal Connection Example POINT For details of each signal, refer to Section 3.5 of the MR-J3- B Servo Amplifier Instruction Manual.
4. 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.
4. SIGNALS AND WIRING 4.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to Chapter 8 SERVO AMPLIFIER OUTLINE DRAWINGS for the appearances and connector layouts of the servo amplifiers. CN5 (USB connector) Refer to MR-J3-B Servo Amplifier Instruction Manual Section 11.8.
4. SIGNALS AND WIRING 4.5 Internal connection diagram Servo amplifier Forced stop (Note 1) (Note 3) 24VDC CN3 Approx 5.6k EM1 20 DI1 2 DI2 12 DI3 19 DICOM 5 DOCOM 3 CN3 Approx 5.
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5. OPERATION AND FUNCTIONS 5. OPERATION AND FUNCTIONS 5.1 Startup 5.1.1 Startup procedure Start up the linear servo referring to the following procedure. Execution of installation and wiring (Note) Settings of the linear encoder direction and the linear servo motor direction (Refer to Section 5.1.2) What is the type of linear encoder? Incremental linear encoder Absolute position linear encoder (Note) Setting of the linear encoder resolution (Refer to Section 5.1.
5. OPERATION AND FUNCTIONS 5.1.2 Settings of the linear encoder direction and the linear servo motor direction Set the positive direction of linear servo motor to match with the increase direction of linear encoder feed back using the first digit (Encoder pulse count polarity selection) of the parameter No. PC27. Parameter No.
5. OPERATION AND FUNCTIONS (c) If the parameter No. PC27 is set to " 0" and the positive direction of linear servo motor matches with the increase direction of linear encoder, the motor speed will be a positive value by making the linear servo motor work to the positive direction. If the positive direction of linear servo motor does not match with the increase direction of linear encoder, the motor speed will be a negative value. If the parameter No.
5. OPERATION AND FUNCTIONS 5.2 Settings of the Magnetic Pole Detection and the Magnetic Pole Detection Voltage Level Make sure to perform the magnetic pole detection before starting the positioning operation in order to match the positional relationship between the linear servo motor and the linear encoder. 5.2.1 Preparation for the magnetic pole detection For the magnetic pole detection, the test operation mode (positioning operation) of MR Configuration is used.
5. OPERATION AND FUNCTIONS POINT Establish the machine configuration using the stroke limits (FLS and RLS). If the stroke limits (FLS and RLS) do not exist, it may cause the machine damage by a collision. At the magnetic pole detection, it is not predictable whether it moves to the positive direction or the positive direction. Setting the parameter No. PS09 (Magnetic pole detection voltage level) may cause the occurrence of overload, overcurrent, magnetic pole detection alarm, etc.
5. OPERATION AND FUNCTIONS For the following cases, the magnetic pole detection is required.
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5. OPERATION AND FUNCTIONS 5.2.3 Setting of the magnetic pole detection voltage level Set the magnetic pole detection voltage level with the parameter No.PS09 (magnetic pole detection voltage level). (1) Guideline of parameter settings Set the parameters referring to the following table. Parameter No.
5. OPERATION AND FUNCTIONS 5.2.4 Magnetic pole detection method using MR Configurator The following shows the procedure of the magnetic pole detection using MR Configurator. Magnetic pole detection 1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are ON, turn the power of servo amplifier off once and then turn it on again.
5. OPERATION AND FUNCTIONS 5.2.5 Magnetic pole detection at the replacement of servo amplifier When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier before the replacement to the one after the replacement using MR Configurator. (1) Procedures (a) Read the magnetic pole information of the servo amplifier before the replacement.
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5. OPERATION AND FUNCTIONS 5.2.6 Magnetic pole detection under the specified condition (1) Magnetic pole detection by the current detection 1 This method is used when the travel at the magnetic pole detection is expected to be smaller than the magnetic pole detection (initial value) of the positioning detection method. The use of this method is limited to when the load mass ratio (control gain) of equipment is clearly known.
5. OPERATION AND FUNCTIONS (b) Magnetic pole detection flow The magnetic pole detection by the current detection 1 is shown using the flow chart below. Is the gain adjustment completed? NO YES YES Is the load mass ratio (calculated value)against the linear servo motor primary side known? NO Change to the manual mode 2 (Parameter No. PA08: 2) and set the load mass ratio (calculated value) against the linear servo motor primary side.
5. OPERATION AND FUNCTIONS 5.3 Home position return POINT The incremental linear encoder and the absolute position linear encoder have different home position reference positions at the home position return. 5.3.1 Incremental linear encoder CAUTION If the resolution or stop interval (the third digit of the parameter No. PS01) of the linear encoder is too large, it is very dangerous since it may crash into the stroke end.
5. OPERATION AND FUNCTIONS Home position return direction Home position return speed Creep speed Home position return operation Zeroing dog signal ON OFF Home position reference position (Note) 1048576pulse 1048576 pulses n times Linear servo motor position Home position Linear encoder home position Note. Can be changed with the parameter No. PS01.
5. OPERATION AND FUNCTIONS (3) When using the positioning module QD 75MH The following shows the zeroing dog type home position return when using the incremental linear encoder on QD75MH1/QD75MH2/QD75MH4.
5. OPERATION AND FUNCTIONS 5.3.2 Absolute position linear encoder The home position reference position on the absolute position linear encoder is a position per 1048576 pulses (changeable with the third digit of the parameter No. PS 01), which is based on the linear encoder home position (absolute position data = 0). For the zeroing dog type home position return, the nearest home position reference position after turning the zeroing dog signal off will be the home position.
5. OPERATION AND FUNCTIONS 5.4 Test operation mode in MR Configurator 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 linear 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.
5. OPERATION AND FUNCTIONS (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. For full information, refer to the MR Configurator Installation Guide.
5. OPERATION AND FUNCTIONS 5.5 Operation from the controller When establishing the absolute position detection system, the absolute position linear encoder is required. There is no need to mount a battery (MR-J3BAT) on the servo amplifier. The linear servo motor can be used in combination with the following controllers. Servo system controller Model Motion controller Q17 HCPU Positioning module QD75MH Remarks Speed control (II) instructions (VVF and VVR) cannot be used. 5.5.
5. OPERATION AND FUNCTIONS 5.5.2 Servo system controller setting (1) Setting instructions When using the linear servo, set it as described in this section. For other servo parameters and control parameters, set them in the same method as that of MR-J3- B servo amplifier. The following servo parameters will be valid after writing to the servo amplifier, turning the power of servo amplifier off once and then turning it on again.
5. OPERATION AND FUNCTIONS Note 1. The parameters having * before the symbol will be valid in the following conditions: * : Turn the power of servo amplifier off once after the setting and then turn it on again, or execute the controller reset. ** : Turn the power of servo amplifier off once after the setting, and then turn it on again. 2. For the QD75 MH , make sure to set the initial value. 3.
5. OPERATION AND FUNCTIONS (3) Sequence program example of servo parameters on the QD75MH (a) Sequence program example The following shows the example of writing the axis No. 1 servo parameter to the flash ROM. After changing the servo parameter, turn on the power of QD75MH again or reset the CPU, then send the setting value to the servo amplifier. Refer to (4) of this section for the special setting parameter (No. PS ) address of servo parameter.
5. OPERATION AND FUNCTIONS (b) Initialization of the servo amplifier at the startup of linear servo 1) Before turning the power of servo amplifier on, write the servo parameter initial value, which is unique to the linear servo, to the flash ROM of QD75MH referring to the sequence program example shown in (3) (a) of this section. 2) After completion of writing to the flash ROM, turn the power of servo amplifier on.
5. OPERATION AND FUNCTIONS (4) QD75MH buffer address of special setting parameter (No. PS ) Initial value Description No.
5. OPERATION AND FUNCTIONS 5.6 Functions 5.6.1 Linear servo control error detection function POINT For the linear servo control error detection function, the position and speed deviation error detections are enabled as factory-set. (Parameter No. PS04: 3) If the linear servo control gets unstable for some reasons, the linear servo motor may not operate properly. The protective function for detecting this before happens and stopping the operation is the linear servo control error detection function.
5. OPERATION AND FUNCTIONS (2) Speed deviation error detection Set the parameter No. PS04 to " 2" to make the speed deviation error detection enabled. Parameter No. PS04 2 Speed deviation error detection If there is a deviation larger than the setting value (0 to Maximum speed m/s) of the parameter No. PS06 (Linear servo control speed deviation error detection level) after comparing the model feedback speed 3) and the feedback speed 4) in Figure 5.
5. OPERATION AND FUNCTIONS 5.6.2 Auto tuning function The auto tuning function during the linear servo operation is the same as that of normal servo, but the calculation method of load inertia moment ratio (J ratio) is different. The load inertia moment ratio (J ratio) on the linear servo is a mass ratio calculated dividing the load mass by the mass of linear servo motor primary side (coil).
6. PARAMETERS 6. PARAMETERS Never adjust or change the parameter values extremely as it will make operation instable. CAUTION 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.
6. PARAMETERS 6.2 Basic Setting Parameters (No.PA ) 6.2.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual. 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.
6. PARAMETERS Classification No. Basic setting parameter 6.2.2 List of details PA01 PA03 Symbol *ABS Initial Value Name and Function For manufacturer setting 0040h Absolute position detection system Set this parameter when using the absolute position detection system in the position control mode.
Classification No. Symbol Basic setting parameter 6. PARAMETERS PA14 *POL Initial Value Name and Function Moving direction selection Select linear servo motor moving direction relative.
6. PARAMETERS Basic setting parameter Classification No. Symbol Initial Value Name and Function PA16 *ENR2 Encoder output pulse 2 This parameter is made valid when parameter No.PC03 is set to " 3 ". Set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the encoder pulses output by the servo amplifier by parameter No.PA15 & parameter No.PA16. Travel [pulse] of the linear encoder is multiplied by the set value.
6. PARAMETERS 6.3 Gain/Filter Parameters (No. PB ) 6.3.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual. 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.
6. PARAMETERS 6.3.2 List of details No. Symbol PB06 GD2 Name and Function Load mass ratio to the linear servo motor primary side (coil) Used to set the load mass ratio to the mass of the linear servo motor primary side (coil) When auto tuning mode 1 and interpolation mode are selected, the result of auto tuning is automatically used. 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.
6. PARAMETERS 6.4 Extension Setting Parameters (No. PC ) 6.4.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual. 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.
6. PARAMETERS Classification No. Symbol Extension Setting Parameters 6.4.2 List of details PC01 *ERZ Name and Function Error excessive alarm level This parameter cannot be used in the speed control mode. Set error excessive alarm level with rotation amount of linear servo motor. PC03 *ENRS Encoder output pulse selection Use to select the, encoder output pulse direction and encoder pulse output setting.
6. PARAMETERS Extension Setting Parameters Classification No. Symbol Name and Function PC10 MOD2 Analog monitor 2 output Used to selection the signal provided to the analog monitor 2 (MO2) output. Initial Value 0001h 0 0 0 Unit Setting range Refer to the name and function column Analog monitor 2 (MO2) output selection The setting details are the same as analog monitor 1 output. For the setting details, refer to parameter No.PC09.
6. PARAMETERS 6.4.3 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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6. PARAMETERS 6.5 I/O Setting Parameters (No. PD ) 6.5.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual. 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.
6. PARAMETERS 6.5.2 List of details I/O Setting Parameters Classification No.
6. PARAMETERS 6.6 Special setting parameters (No. PS ) 6.6.1 Parameter list POINT For details of the parameters in which columns MR-J3- B is written, refer to the MR-J3- B Servo Amplifier Instruction Manual. 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.
6. PARAMETERS Classification No. Symbol Special setting parameters 6.6.2 List of details PS01 *LIT1 Name and Function Initial Value Unit Linear function selection 1 0301h The magnetic pole detection setting, the stop interval setting at home position return, the valid/invalid setting of the linear servo motor thermistor can be selected. (Refer to Section 5.
6. PARAMETERS Unit Setting range Linear servo motor control speed deviation error detection level Used to set the speed deviation error detection level of the linear servo motor control error detection. When the difference between the model feedback speed and the feedback speed is bigger than this setting value, the linear servo motor control error is detected (42). (Refer to Section 5.6.
Classification No. Special setting parameters 6. PARAMETERS PS24 PS25 Symbol Name and Function For manufacturer setting Do not change these values by any means.
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7. TROUBLESHOOTING 7. TROUBLESHOOTING POINT Alarms and warnings are basically the same as those of the MR-J3- B servo amplifier. Here, items different from the MR-J3- B servo amplifier are described. 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. 7.1 Alarms and warning list When an fault occurs during operation, the corresponding alarm or warning is displayed.
7. TROUBLESHOOTING 7.2 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. As soon as an alarm occurs, mark Servo-off and power off the main circuit and control circuit. POINT When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly. To do so will cause the servo amplifier/linear servo motor to fail.
7. TROUBLESHOOTING Display 17 19 20 24 27 Name Definition Cause Action Board error Refer to Chapter 8 of the MR-J3- B Servo Amplifier Instruction Manual. Memory error3 (Flash-ROM) Connect correctly. Encoder error2 Communication error 1. Encoder connector (CN2L) disconnected. occurred between 2. Encoder fault Change the linear encoder. serial 3. Encoder cable faulty Repair or change cable. communications type (Wire breakage or shorted) encoder and servo 4.
7. TROUBLESHOOTING Display 2A Name Definition Linear encoder An alarm is output error 1 from the linear encoder. Cause 1. The speed of linear encoder has exceeded the range of use. Action Change the speed of linear encoder within the range of use. 2. Noise entered. Take the noise reduction measures. 3. Alarm of the linear encoder Contact with the linear encoder manufacturer. 4. Defective installation positions of the Adjust the positions of the scale and head.
7. TROUBLESHOOTING Display 46 Name Definition Linear servo Linear servo motor motor overheat temperature rose. (Detected by thermistor) Cause Action 1. Ambient temperature of linear servo Review environment so that ambient motor is over 40 . temperature is 0 to 40 . 2. Linear servo motor is overloaded. 1. Reduce load. 2. Review operation pattern. 3. Use linear servo motor that provides larger output. 3. Thermistor in linear servo motor is faulty.
7. TROUBLESHOOTING Display 51 Name Overload2 Definition Machine collision or Cause 1. Machine struck something. the like caused max. output current to flow 2. Wrong connection of linear servo successively for motor. Servo amplifier's output several seconds. Action 1. Review operation pattern. 2. Install limit switches. Connect correctly. terminals U, V, W do not match linear servo motor's input terminals U, V, W. 3. Servo system is instable and hunting. 1.
7. TROUBLESHOOTING 7.3 Remedies for warnings 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 linear servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation. Excessive regenerative warning (E0) Overload warning 1 (E1) If E6, E7 or E9 occurs, the servo off status is established.
7. TROUBLESHOOTING 7.4 Detailed Explanation of Linear Encoder Error 1 (2A) If the cause of Linear encoder error 1(2A) occurrence is not identified, confirm the details shown on the following table according to the alarm detailed information for the alarm history display of MR Configurator, and then contact with the linear encoder manufacturer. Table 7.
8. SERVO AMPLIFIER OUTLINE DRAWINGS 8. SERVO AMPLIFIER OUTLINE DRAWINGS POINT For the outline drawings of connectors, refer to Section 9.2 of the MR-J3- B Servo Amplifier Instruction Manual. For the CN2L connector, refer to the outline drawing of the CN2 connector since the CN2L connector is almost the same as the CN2 connector. (1) MR-J3-40B-RJ004 [Unit : mm] 5 40 6 Fixed part Approx.80 Approx.170 6 6 L1 (Note) CNP1 L2 L3 P C D L11 L21 CNP3 U 156 161 168 P2 N P1 CNP2 V 6 W 6 Mass : 1.
8. SERVO AMPLIFIER OUTLINE DRAWINGS (2) MR-J3-70B-RJ004 [Unit : mm] 6 Fixed part 60 6 Approx.80 185 6 12 161 168 CNP2 U V 156 L1 L2 L3 N P1 P2 P C D L11 L21 CNP1 CNP3 6 W 6 12 42 Fan air orientation Mass : 1.4[kg] (3.09[lb]) Terminal signal layout CNP1 L1 L2 L3 N P1 P2 CNP2 P C D L11 L21 CNP3 U V W PE terminal Screw size: M4 Tightening torque : 1.2[N m] (10.6[lb in]) 8- 2 Mounting screw Screw size: M5 Tightening torque : 3.24[N m] (28.
8. SERVO AMPLIFIER OUTLINE DRAWINGS (3) MR-J3-200B-RJ004 MR-J3-350B-RJ004 [Unit : mm] 6 Fixed part 90 85 Approx.80 6 195 6 45 6 168 156 21. 4 6 Fan air orientation 6 78 6 Mass : 2.3[kg] (5.07[lb]) Terminal signal layout CNP1 L1 L2 L3 N P1 P2 CNP2 U V W CNP3 P C D L11 L21 PE terminal Screw size: M4 Tightening torque : 1.2[N m] (10.6[lb in]) 8- 3 Mounting screw Screw size: M5 Tightening torque : 3.24[N m] (28.
8. SERVO AMPLIFIER OUTLINE DRAWINGS (4) MR-J3-500B-RJ004 2- 6 Fixed part Approx.80 200 130 6 131.5 118 68.5 Fan air orientation 6 Terminal layout (Terminal cover open) CN1B 235 TE2 TE3 TE1 Approx.7.5 250 CN1A CN3 Approx.7.5 [Unit : mm] 6 3 places for ground (M4) Mass : 4.6[kg] (10.1[lb]) Terminal signal layout TE1 L1 L2 L3 TE2 L11 L21 TE3 N P1 PE terminal P2 P C U V W Screw size: M4 Tightening torque : 1.2[N m] (10.6[lb in]) Screw size: M3.5 Tightening torque : 0.
9. CHARACTERISTICS 9. CHARACTERISTICS 9.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the linear 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.
9. CHARACTERISTICS 9.2 Dynamic Brake Characteristics Use the next equation to calculate an approximate coasting distance to a stop when the dynamic brake is operated. Lmax 2 V0 {0.03 + M (A + B V0 )} Lmax : Machine coasting distance [m] V0 : Brake time speed [m/s] M : Movable part total mass [kg] A : Coefficient (according to the table below) B : Coefficient (according to the table below) Linear servo motor LM-H2P1A-06M LM-H2P2A-12M LM-H2P2B-24M Coefficient A 2.91 10-2 1.01 -2 3.
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.
APPENDIX No. Extension setting parameters (PC Symbol Name ) No.
APPENDIX App 2. Signal Layout Recording Paper 1 2 DI1 4 MO1 6 LA 8 LZ 11 12 LG DI2 3 MO2 LAR 18 LB 9 15 16 DICOM 7 13 14 DOCOM 5 LG LZR 10 20 DICOM EM1 17 LBR 19 DI3 App 3. Capacity selection of linear servo motor 3.1. Selection of linear servo motor Select a linear servo motor according to the purpose of the machine for which it is installed.
APPENDIX (2) Selection of the primary side (coil) (Logical value) The linear servo motor has the output area (maximum thrust) that can be used only for a short time such as acceleration/deceleration aside from the continuous thrust and that can provide about triple thrust of the rated. Calculate the continuous effective load thrust and the necessary maximum thrust from all data of the machine and the operation pattern, and select a linear servo motor applicable to those results.
APPENDIX 5) Determination of linear servo motor selected. Frms/ Frms/ REM Continuous thrust [N] of temporarily selected motor REM Max. thrust [N] of temporarily selected motor When the above equation is not satisfied after determination, increase the capacity of linear servo motor by one and calculate again. (3) Number selection of secondary side (magnets) Select number of the secondary side (magnets) by the combination with which the following equation is satisfied.
APPENDIX 3.2 Selection example including regenerative Mechanical conditions Load mass Feed speed Efficiency of mechanical system Feed distance Friction Feed time 1cycle time : 20 kg : 2m/s : 0.9 : 1600 mm : 0.01 : 1s : 2s (1) Temporary selection and calculation of load power When the operation pattern is decided by setting the acceleration time as t1=0.2s, the constant speed time will be t2=0.6s. 2 Acceleration: a=2[m/s]/0.
APPENDIX (4) Number of secondary side (magnets) (Max. feed distance) + (Length of primary side (coil)) = 1600 + 224 = 1824 [mm] As a result of this, the total length of the secondary side (magnet) that is set out needs 1824mm or more. For example, one of the following examples can be selected..
REVISIONS *The manual number is given on the bottom left of the back cover.
MODEL MODEL CODE HEAD OFFICE:TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030054-A (0605) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
