General-Purpose AC Servo J3 Series SSCNET Fully Closed Loop Control MODEL J3 Series MR-J3- B-RJ006 Servo Amplifier Instruction Manual MODEL MODEL CODE This Instruction Manual uses recycled paper. SH (NA) 030056-D (0908) MEE Printed in Japan Specifications subject to change without notice.
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 (Vol.2) 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.
1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and servo motor to ground.
3. To prevent injury, note the follow 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.
CAUTION When you keep or use it, please fulfill the following environmental conditions.
CAUTION 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. Servo amplifier U U Servo motor W Servo motor V V M W W U U V V Servo amplifier M W Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction.
CAUTION Use the servo amplifier with the specified servo motor. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.
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). EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may fail when the EEPROM reaches the end of its useful life.
Relevant manuals Manual name Manual No. MELSERVO-J3 Series MR-J3- B Servo Amplifier Instruction Manual SH(NA)030051 MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos IB(NA)0300077 MELSERVO Servo Motor Instruction Manual (Vol.2) SH(NA)030041 EMC Installation Guidelines IB(NA)67310 This Instruction Manual describes the functions unique to the fully closed loop control compatible servo amplifier MR-J3- B-RJ006.
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28 1.1 Overview................................................................................................................................................... 1 - 1 1.2 Control block diagram .............................................................................................................................. 1 - 2 1.3 Servo amplifier standard specifications......................................................................................
4.1.5 Setting of feedback pulse electronic gear ........................................................................................ 4 - 4 4.1.6 Confirmation of load side encoder position data.............................................................................. 4 - 6 4.1.7 Setting of fully closed loop dual feedback filter ................................................................................ 4 - 7 4.2 Home position return operation .....................................................
App. 2 Signal layout recording paper ........................................................................................................App.- 2 App. 3 Change of connector sets to the RoHS compatible products.......................................................App.- 3 App. 4 MR-J3-200B-RJ006 servo amplifiers manufactured before March 2008.....................................App.- 4 App. 5 Compliance with the european EC directives........................................................................
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Overview This Instruction Manual explains the product that imports a position feedback signal from a load side encoder, such as a linear encoder, to the MR-J3- B servo amplifier to perform fully closed loop control. A control mode has the semi closed loop control, dual feedback control and fully closed loop control. The control modes can be changed by the parameter setting. For the features of each control mode, refer to section 1.
1. FUNCTIONS AND CONFIGURATION 1.2 Control block diagram A fully closed loop control block diagram is shown below. The fully closed loop system is controlled in the load side encoder unit. Controller Servo motor Motor side feedback pulse (Load side resolution unit) (Motor side) Droop pulses (Motor side) Cumulative feedback pulses Load side droop pulses Load side cumulative feedback pulses S FBN FBD Encoder pulse setting (Refer to section 5.1.6.) Dual feedback filter (Note 2) Parameter No.
1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier MR-J3- -RJ006 10B Main circuit power supply output Item Rated voltage Rated current [A] 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 1.5 2.8 3.2 5.8 6.0 3-phase or 1-phase 200 to 230VAC, 50/60Hz Voltage/frequency Rated current 1.
1. FUNCTIONS AND CONFIGURATION (2) 400V class Servo amplifier MR-J3- -RJ006 60B4 100B4 200B4 350B4 1.5 2.8 5.4 8.6 500B4 700B4 11KB4 15KB4 22KB4 32.0 41.0 63.0 23.1 31.8 47.6 Main circuit power supply Output Item Rated voltage 3-phase 323VAC Rated current [A] Voltage/frequency Rated current [A] 1.4 2.5 5.1 7.9 Permissible voltage fluctuation 17.0 10.8 14.4 3-phase 323 to 528VAC Permissible frequency fluctuation Within 5 Power supply capacity Refer to section 10.
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.
1. FUNCTIONS AND CONFIGURATION 1.5 Selecting procedure of control mode 1.5.1 Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be selected as a control system. Also, on the fully closed loop system, the semi closed loop control, fully closed loop control and dual feedback control can be switched by the parameter No.PE08 settings. Semi closed loop system Semi closed loop control Control mode selection Parameter No.
1. FUNCTIONS AND CONFIGURATION 1.6 Model code definition (1) Rating plate AC SERVO Model Capacity MR-J3-10B-RJ006 POWER : 100W INPUT : 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT: 170V 0-360Hz 1.1A SERIAL : A34230001 Applicable power supply Rated output current Serial number (2) Model MR J3 Series B Fully closed loop control symbol Standard regeneration brake resistor Symbol 0.1kW to 7kW 11kW to 2kW RJ006 Built-in Standard (No built-in for attachment 0.
1. FUNCTIONS AND CONFIGURATION 1.7 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with an electromagnetic brake and the models with a reduction gear.
1. FUNCTIONS AND CONFIGURATION 1.8 Structure 1.8.1 Parts identification (1) MR-J3-100B-RJ006 or less Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. F01 3456 2 B C DE 2 F01 A SW1 TEST SW2 789 ON 4E 1 B CDE 3456 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier. 789 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60B4-RJ006 MR-J3-100B4-RJ006 Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 B CDE 2 F01 A SW1 TEST SW2 789 ON 4E 1 B CDE 34 56 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier. 789 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200B(4)-RJ006 Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 34 56 F01 2 B CD E BCDE 789 A SW1 TEST SW2 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier. 789 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. ON 4E 1 SW2 2 1 2 Spare (Be sure to set to the "Down" position).
1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350B-RJ006 Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 B CDE 2 F01 A SW1 TEST SW2 789 ON 4E 1 BCDE 3456 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier. 789 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator.
1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350B4-RJ006 MR-J3-500B(4)-RJ006 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.8.2 of the MR-J3- B Servo Amplifier Instruction Manual. Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 B CDE 2 F01 A SW1 TEST SW2 789 ON 4E 1 BCDE 3456 A Rotary axis setting switch (SW1) SW1 Used to set the axis No.
1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700B(4)-RJ006 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.8.2 of the MR-J3- B Servo Amplifier Instruction Manual. Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 3 456 F01 2 B CD E BCDE A SW1 TEST SW2 789 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of servo amplifier.
1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KB (4)-RJ006 to MR-J3-22KB(4)-RJ006 POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.8.2 of the MR-J3- B Servo Amplifier Instruction Manual. Name/Application Detailed explanation Display The 3-digit, seven-segment LED shows the servo status and alarm number.
1. FUNCTIONS AND CONFIGURATION 1.8.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab A) A) 1) Insert the setting tabs on the front cover into the sockets of the servo amplifier (2 places). 2) Pull up the cover, supporting at point A). Setting tab 3) Push the setting tabs until they click.
1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KB(4)-RJ006 to MR-J3-22KB(4)-RJ006 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 setting tabs. 2) Press the removing knob of C) and release the setting tabs. 3) Pull it to remove the front cover.
1. FUNCTIONS AND CONFIGURATION 1.9 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
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1. FUNCTIONS AND CONFIGURATION 1.10 System configuration POINT For details of configuration with auxiliary equipments, refer to the MR-J3Servo Amplifier Instruction Manual.
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2. SIGNALS AND WIRING 2. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. WARNING Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
2. SIGNALS AND WIRING 2.1 Precautions for this chapter The following items are not described in this chapter. Since these descriptions are the same as those of MRJ3- B Servo Amplifier, refer to the MR-J3- B Servo Amplifier Instruction Manual. Item MR-J3- B Servo Amplifier Instruction Manual Explanation of power supply system Section 3.3 Signal (device) explanations Section 3.5 Alarm occurrence timing chart Section 3.6 Interfaces SSCNET Section 3.
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2. SIGNALS AND WIRING Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MRJ3- B Servo Amplifier Instruction Manual. Use only one of power factor improving DC reactor or power factor improving AC reactor. 2. When using the regenerative option, refer to chapter 11 of the MR-J3- B Servo Amplifier Instruction Manual. 3. For the encoder cable, use of the option cable is recommended.
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2. SIGNALS AND WIRING Note 1. Always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3B Servo Amplifier Instruction Manual. Use only one of power factor improving DC reactor or power factor improving AC reactor. 2. Connect the regenerative resistor. When using a regenerative option for the MR-J3- B-RJ006 servo amplifier, refer to chapter 11 of the MR-J3- B-RJ006 Servo Amplifier Instruction Manual.
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2. SIGNALS AND WIRING Note 1. Always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to chapter 11 of the MR-J3B Servo Amplifier Instruction Manual. Use only one of power factor improving DC reactor or power factor improving AC reactor. 2. Connect the regenerative resistor. When using a regenerative option for the MR-J3- B-RJ006 servo amplifier, refer to chapter 11 of the MR-J3- B-RJ006 Servo Amplifier Instruction Manual.
2. SIGNALS AND WIRING 2.3 I/O signal connection example POINT For details of each signal, refer to chapter 3 of the MR-J3Instruction Manual.
2. SIGNALS AND WIRING Note 1 To prevent an electric shock, always connect the protective earth (PE) terminal ( ) 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 emergency stop and other protective circuits. 3. If the controller does not have an forced stop (EM1) function, always install a forced stop switch (Normally closed). 4.
2. SIGNALS AND WIRING 2.4 Connector and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The servo amplifier front view shown is for MR-J3-20B-RJ006 or less. For the appearances and connector layouts of other servo amplifiers, refer to chapter 7 OUTLINE DRAWINGS. CN5 (USB connector) Refer to section 11.8 of the MR-J3- B Servo Amplifier Instruction Manual.
2. SIGNALS AND WIRING 2.5 Internal connection diagram Servo amplifier CN3 Forced stop (Note 2) (Note 1) EM1 20 DI1 2 DI2 12 DI3 19 DICOM 5 DOCOM 3 24VDC Approx. 5.6k CN3 10 DICOM Approx. 5.
2. SIGNALS AND WIRING 2.6 Treatment of cable shield external conductor In the case of the CN2, CN2L 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.
3. LOAD SIDE ENCODER 3. LOAD SIDE ENCODER POINT Always use the load side encoder cable introduced in this section. If the other products are used, a faulty may occur. For details of the load side encoder specifications, performance and assurance, contact each encoder manufacturer. 3.1 Compatible linear encoder list Scale type Manufacturer Model AT343A Mitutoyo Corporation Absolute Heidenhain Corporation Incremental type Incremental type LC491M LC192M Rated speed 2.0m/s 3000mm 2200mm 4.
3. LOAD SIDE ENCODER 3.2 Mitsubishi serial interface compatible linear encoder 3.2.1 Linear scales manufactured by Mitutoyo Corporation (absolute type) POINT When the absolute position detection system is configured, the MR-J3BAT battery is not required. (1) For AT343A (a) Cable composition Prepare a cable based on the following structure diagram.
3. LOAD SIDE ENCODER (b) Production of load side encoder cable Produce the load side encoder cable using MR-EKCBL M-H (10m or less) or MR-ECNM as shown below. The load side encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m. Pin layout is one of the following. 2 LG 4 6 8 MRR2 1 P5 3 5 7 Servo amplifier side 10 9 P5 LG 1 2 Linear encoder side‘¤ (Note) 7 8 P5 LG MR2 View seen from wiring side.
3. LOAD SIDE ENCODER (2) For AT543A-SC (a) Cable composition Prepare a cable based on the following structure diagram. Servo amplifier Linear encoder AT543A-SC Load side encoder cable 1) Head cable Output cable 2) CN2L Cable Load side encoder cable When using an optional cable When producing a load side encoder cable Output cable 1) MR-EKCBL M-H (Options manufactured by Mitsubishi Electric Corporation) 2m 5m 10m (Refer to section 3.4.
3. LOAD SIDE ENCODER (3) For ST741A or ST743A (a) Cable structure Prepare a cable based on the following structure diagram. Servo amplifier Linear encoder ST741A Load side encoder cable 1) Head cable 2) CN2L 3) For the signal adjustment and confirmation, connect the following equipments.
3. LOAD SIDE ENCODER (b) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The load side encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m. Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Pin layout is one of the following.
3. LOAD SIDE ENCODER 3.2.2 Linear encoder manufactured by Heidenhain Corporation POINT When the absolute position detection system is configured, the MR-J3BAT battery is not required. (1) For LC491M or LC192M (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. (a) Cable structure Prepare a cable based on the following structure diagram.
3. LOAD SIDE ENCODER (b) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The load side encoder cable can be produced as the length of max. 30m. The following diagram shows a connecting example of more than 5m to 10m. Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Servo amplifier side P5 LG Pin layout is one of the following.
3. LOAD SIDE ENCODER Cable Serial interface conversion unit Load side encoder cable When using an optional cable 1) Option manufactured by HEIDENHAIN CORPORATION 630 856m (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.
3. LOAD SIDE ENCODER 3.2.3 Linear encoder manufactured by Sony Manufacturing Systems Corporation (Incremental type) (1) Cable structure POINT When turning on the power, turn on the interpolator and then turn on the servo amplifier. When turning off the power, turn off the servo amplifier and then turn off the interpolator. Prepare a cable based on the following structure diagram.
3. LOAD SIDE ENCODER (2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a connector for interpolator as shown below. The load side encoder cable can be produced as the length of max. 30m. Supply linear encoder power from external. Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Pin layout is one of the following. 2 LG 4 6 8 10 Servo amplifier side MRR2 1 3 5 7 9 MR2 LG MR2 MRR2 View seen from wiring side.
3. LOAD SIDE ENCODER 3.2.4 Linear encoder manufactured by Renishaw Inc. (Incremental type) (1) Cable structure Prepare a cable based on the following structure diagram. Servo amplifier RGH26 1) CN2L 2) Output cable Cable Load side encoder cable 1) Connector set (Option manufactured by Mitsubishi Electric Corporation) (Refer to section 3.4.) 2) Junction connector (This should be prepared by the customer.) D-SUB15 pin (female) Note. Produce an encoder cable.
3. LOAD SIDE ENCODER (2) Production of load side encoder cable Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The load side encoder cable can be produced as the length of max. 30m. Connector set (option) MR-J3CN2 Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Servo amplifier side Pin layout is one of the following.
3. LOAD SIDE ENCODER 3.3 ABZ-phase differential output load side encoder This section describes the connecti on of the ABZ-phase differential output load side encoder. Prepare the MRJ3CN2 connector set for the load side encoder cable and produce it according to the wiring diagram in (3) in this section. (1) ABZ-phase differential output load side encoder specifications Each signal of the A, B and Z-phase of the load side encoder is provided in the differential line driver 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 load side encoder is more than 350mA POINT When turning on the power, turn on the load side encoder and then turn on the servo amplifier. When turning off the power, turn off the servo amplifier and then turn off the load side encoder.
3. LOAD SIDE ENCODER 3.4 Mitsubishi optional cable connector sets POINT The IP rating indicated is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier or servo motor vary, the overall IP rating depends on the lowest IP rating of all components. 3.4.
3. LOAD SIDE ENCODER MR-EKCBL M-H 1) 2) Cable model MR-EKCBL M-H 1) CN2 connector 2) Junction connector Housing: 1-172161-9 Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) Connector set: 54599-1019 (Molex or equivalent) (Note) Signal layout 2 4 LG MRR2 1 3 6 8 10 5 7 9 Signal layout 1 2 RQ /RQ 4 5 P5 MR2 View seen from wiring side. Note. Keep open the pins shown with .
3. LOAD SIDE ENCODER 3.4.2 MR-ECNM The following shows the connector combination for this connector set. Parts 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 Connector set: 54599-1019 (Molex) 3.4.3 MR-J3CN2 The following shows the details of this connector set.
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4. OPERATION AND FUNCTIONS 4. OPERATION AND FUNCTIONS 4.1 Startup 4.1.1 Startup procedure Start up the fully closed loop system in the following procedure. Completion of installation and wiring Adjustment and operation check in semi closed loop system Positioning operation check using MR Configurator Gain adjustment Adjustment and operatin check in fully closed loop system Selection of fully closed loop system function (Refer to section 4.1.
4. OPERATION AND FUNCTIONS 4.1.2 Selection of fully closed loop system By setting parameter No.PA01, PE01 and the control command of controller, the following operations can be made. Parameter No. PA01 Parameter No.
4. OPERATION AND FUNCTIONS 4.1.3 Selection of load side encoder communication system The communication system changes depending on the load side encoder type. Refer to 3.1 for the communication system of the load side encoder. Select the cable to be connected to CN2L connector in parameter No.PC26. Parameter No.
4. OPERATION AND FUNCTIONS 4.1.5 Setting of feedback pulse electronic gear POINT If setting a wrong value in the feedback pulse electronic gear (parameter No.PE04, PE05, PE34, PE35), a parameter error (37) and an abnormal operation may occur. Also, a fully closed loop control error (42) may occur during the positioning operation. The numerator (parameter No.PE04, PE34) and denominator (parameter No.PE05, PE35) of the electronic gear are set to the motor side encoder pulse.
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4. OPERATION AND FUNCTIONS 4.1.6 Confirmation of load side encoder position data Check the load side encoder mounting and parameter settings for any problems. POINT Depending on the check items, the MR Configurator may be used. Refer to section 4.6 for the data displayed on the MR Configurator. When checking the following items, the fully closed loop control mode must be set. For the setting of control mode, refer to section 4.1.2. No.
4. OPERATION AND FUNCTIONS 4.1.7 Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in parameter No.PE08, make gain adjustment by auto tuning, etc. as in semi closed loop control. While observing the servo operation waveform with the graph function, etc. of the MR Configurator, adjust the dual feedback filter. The dual feedback filter operates as described below depending on the setting. Parameter No.
4. OPERATION AND FUNCTIONS 4.2 Home position return operation 4.2.1 General precautions Home position return operation is all performed according to the load side encoder feedback data, independently of the load side encoder type. It is irrelevant to the Z-phase position of the motor encoder.
4. OPERATION AND FUNCTIONS (2) About proximity dog type home position return using incremental linear encoder (a) When the linear encoder home position (reference mark) exists in the home position return direction When an incremental linear encoder is used, the home position is the position per servo motor revolution to the Linear encoder home position (reference mark) passed through first after a home position return start.
4. OPERATION AND FUNCTIONS (3) About dog type home position return when using the ABZ-phase pulse train specification rotary encoder The home position using a ABZ-phase pulse train specification rotary encoder as a load side encoder is as described below. It is the position per servo motor revolution, starting at the position where the Z-phase of the load side encoder is passed through first after power-on of the servo amplifier.
4. OPERATION AND FUNCTIONS To always make a home position return to the same position, perform the following operation. Once move the rotary encoder to the stroke end opposite to the home position return direction with the JOG operation of controller, etc. and then perform a home position return.
4. OPERATION AND FUNCTIONS 4.3 Operation from controller The fully closed loop control compatible servo amplifier can be used with any of the following controllers. Servo system controller Model Motion controller Q17 DCPU/ Q17 HCPU/ Q170MCPU Positioning module QD74MH /QD75MH Remarks Speed control (II) instructions (VVF and VVR) cannot be used. An absolute type linear scale is required to configure an absolute position detection system.
4. OPERATION AND FUNCTIONS (1) When using a linear encoder (unit setting: mm) Load side resolution unit User Controller Command [mm] AP AL Position feedback [mm] AL AP Servo amplifier Servo motor Linear encoder Electronic gear Speed feedback [r/min] Differential Motor speed Load side resolution unit Calculate the number of pulses (AP) and movement amount (AL) of the linear encoder per ball screw revolution in the following conditions. Ball screw lead: 20mm Linear encoder resolution: 0.
4. OPERATION AND FUNCTIONS 4.4 Functions 4.4.1 Fully closed loop control error detection If fully closed loop control becomes instable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre-detect it and stop operation.
4. OPERATION AND FUNCTIONS (b) Position deviation error detection Set " 2" in parameter No.PA03 to make the position deviation error detection valid. Parameter No.PE03 2 Position deviation error detection Comparing the motor side feedback position (2)) and load side feedback position (4)), if the difference is not less than the set value (1 to 20000kpulse) of parameter No.
4. OPERATION AND FUNCTIONS 4.4.4 Test operation mode Test operation can be performed by combining the MR Configurator software that runs on the personal computer and the servo amplifier. This servo amplifier cannot use motor-less operation. For details on the test operation, refer to the MR-J3- B Servo Amplifier Instruction Manual.
4. OPERATION AND FUNCTIONS 4.6 About MR Configurator Using MR Configurator can confirm if the parameter setting is normal or if the servo motor and the load side encoder operate properly. (1) Batch monitor display Select "MR-J3-B fully closed loop" in the system setting of the set-up menu. Name Explanation Unit Motor side cumu. FBpls (AfterGear) Feedback pulses from the servo motor encoder are counted and displayed. (Load side encoder unit) When the set value exceeds 999999999, it starts with 0.
4. OPERATION AND FUNCTIONS Name Explanation Unit Peak load ratio The maximum occurrence torque is displayed. The maximum value for the past 15 seconds is displayed considering a rated torque as 100 . Instantaneous torque The instantaneous occurrence torque is displayed. The value of torque being occurred is displayed in real time considering a rated torque as 100 . Motor ENC within-1-rev position The position in servo motor side 1-revolution is displayed in the encoder pulse unit.
4. OPERATION AND FUNCTIONS (2) Fully closed loop diagnostic screen Select the fully closed loop diagnostics of the diagnostics menu. Click "Monitor start" to constantly read the monitor display items from the servo amplifier. Then, click "Monitor stop" to stop reading. Click "Parameter read" to read the parameter items from the servo amplifier, and then click "Parameter write" to write them. n) f) p) c) a) h) g) o) b) d) e) j) k) i) Symbol l) Name m) Explanation Unit a) Motor side cumu.
4. OPERATION AND FUNCTIONS Symbol Name Explanation g) Encoder information The load side encoder information is displayed. The display contents differ depending on the load side encoder type. ID: The ID No. of the load side encoder is displayed. Data 1: For the incremental type linear encoder, the counter from powering ON is displayed. For the absolute position type linear encoder, the absolute position data is displayed.
4. OPERATION AND FUNCTIONS Symbol p) Name Parameter (fully closed loop selection) Explanation The parameter for the fully closed loop control is displayed/set. Click "Details" button to display the "Parameter – Fully closed selection" window. 1) Fully closed loop function (Parameter No.PE01) Select "Always valid" or "Semi/Fully closed loop change" for the fully closed loop control function. 2) Load side encoder polarity (Parameter No.
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5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT This chapter describes the parameters unique to the fully closed loop control compatible servo amplifier MR-J3- B-RJ006. For the same parameters as those of MR-J3- B servo amplifier, refer to chapter 5 of the MR-J3- B Servo Amplifier Instruction Manual. In this servo amplifier, the parameters are classified into the following groups on a function basis.
5. PARAMETERS 5.1.1 Parameter list No. Symbol Name Initial value Unit Reference PA01 **STY Control mode 0000h Section 5.1.3 PA02 **REG Regenerative option 0000h Chapter 5 of the MR-J3- B Servo Amplifier Instruction Manual PA03 *ABS PA04 *AOP1 PA05 Absolute position detection system 0000h Section 5.1.
5. PARAMETERS 5.1.2 Parameter write inhibit Parameter No. Symbol PA19 *BLK Initial value Name Parameter write inhibit Unit 000Fh 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.
5. PARAMETERS 5.1.3 Selecting a control mode Parameter No. Symbol PA01 **STY Initial value Name Control mode 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. Select a control mode. The initial value of this parameter is set to " 0 " (semi closed loop system). 1 ".
5. PARAMETERS 5.1.5 In-position range Parameter No. Symbol PA10 INP Name Initial value Unit Setting range 100 pulse 0 to 65535 In-position range POINT This parameter cannot be used in the speed control mode. Set the range, where ln position (INP) is output, in the command pulse unit. For the semi closed loop system, set it in the motor encoder unit. For the fully closed loop system, set it in the load side encoder unit.
5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No.PC03. When parameter No.PC03 has been set to " 1 ", the parameter error (37) occurs. 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 A B-phase output pulses are as indicated below. A B-phase output pulses 5600 4 1400[pulse] (2) For output division ratio setting Set " 1 " in parameter No.PC03.
5. PARAMETERS 5.2 Gain/filter parameters (No.PB ) POINT The gain/filter parameter (No.PB ) is the same as that of MR-J3 B servo amplifier. For details, 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. No.
5. PARAMETERS No. PB40 Symbol Name Initial value For manufacturer setting Unit Reference 0.0 PB41 1125 PB42 1125 PB43 0004h PB44 0.
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.
5. PARAMETERS 5.3.2 List of details No. Symbol Initial value Name and function 0000h PC03 *ENRS Encoder output pulse selection Use to select the, encoder output pulse direction and encoder output pulse setting. 0 Encoder output pulse phase changing Changes the phases of A B-phase encoder output pulses.
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 Analog monitor 1 (MO1) output selection Setting 00 01 02 03 04 05 06 07 08 09 0D 10 11 12 13 14 Item Servo motor speed ( 8V/max. speed) Torque ( 8V/max. torque) Servo motor speed ( 8V/max.
5. PARAMETERS No. Symbol Name and function PC26 ** COP8 Function selection C-8 Used to select the communication system of the serial interface encoder cable to be connected to the CN2L connector. Initial value Unit Setting range 0100h Refer to Name and function column. 0000h Refer to Name and function column.
5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. (1) Setting Change the following digits of parameter No.PC09,PC10. Parameter No.PC09 0 0 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No.PC10 0 0 Analog monitor (MO2) output selection (Signal output to across MO2-LG) Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.
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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.
5. PARAMETERS 5.5 Extension control parameters (No.PE ) 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. 5.5.1 Parameter list No.
5. PARAMETERS 5.5.2 List of details No. Symbol Initial value Name and function PE01 **FCT1 Fully closed loop Selection 1 Select the semi closed loop control/fully closed loop control. 0000h Parameter No.PE01 0 0 0 Unit Setting range Refer to Name and function column.
5. PARAMETERS Unit Fully closed loop control speed deviation error detection level Used to set the speed deviation error detection level of the fully closed loop control error detection. Valid/invalid of this function can be selected in parameter No.PE03(FCT2). Note. If the software version is A0, an alarm error (37) occurs when a value exceeding the permissible speed is set.
5. PARAMETERS No. PE28 PE29 Symbol Name and Function For manufacturer setting Initial Value Unit Setting Range 0000h 0000h Do not change this value by any means. PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 **FBN2 Fully closed loop control feedback pulse electronic gear 2 numerator Used to set the numerator of the electronic gear to the motor encoder pulse.
6. TROUBLESHOOTING 6. TROUBLESHOOTING POINT Alarms and warnings are basically the same as those of MR-J3- B servo amplifier. This chapter describes the contents different from those of MR-J3B servo amplifier. As soon as an alarm occurs, make the servo off status and interrupt the main circuit power. Remedies for warnings are the same as those of MR-J3- B servo amplifier. Refer to chapter 8 of the MR-J3- B Servo Amplifier Instruction Manual.
6. TROUBLESHOOTING 6.2 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/servo motor to fail.
6. TROUBLESHOOTING Display Name 28 Linear encoder error 2 2A Linear encoder error 1 30 Regenerative error Overspeed Overcurrent 31 32 33 Definition Cause Working 1. The temperature of linear encoder is environment of linear high. encoder is not normal. 2. The signal level of linear encoder has dropped. An alarm is output 1. The speed of linear encoder has from the linear exceeded the range of use. encoder. 2. Noise entered. 3.
6. TROUBLESHOOTING Display 70 Name Definition Cause Load side An error occurs in the 1. CN2L connector is disconnected. encoder error 1 communication 2. Faulty of the load side encoder between the load cable side encoder and the 3. Wrong wiring of the load side servo amplifier. encoder cable Action Connect correctly. Repair or change the cable. Review the wiring connection. 4. For the serial interface encoder, the Correct the setting in the fourth digit of parameter No.
6. TROUBLESHOOTING 6.3 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 6.
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7. OUTLINE DRAWINGS 7. 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 connector for CN2L, refer to the outline drawings of the connector for CN2 since it is the same as that for CN2. (1) MR-J3-10B-RJ006 MR-J3-20B-RJ006 MR-J3-10B1-RJ006 MR-J3-20B1-RJ006 [Unit: mm] 4 40 6 mounting hole Approx.
7. OUTLINE DRAWINGS (2) MR-J3-40B-RJ006 MR-J3-60B-RJ006 MR-J3-40B1-RJ006 [Unit: mm] 5 6 mounting hole 40 Approx. 80 Approx. 170 6 6 CNP1 (Note) P C D L11 L21 161 168 CNP2 U 156 L1 L2 L3 N P1 P2 (Note) CNP3 V 6 W 6 Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For 1-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.
7. OUTLINE DRAWINGS (3) MR-J3-70B-RJ006 MR-J3-100B-RJ006 [Unit: mm] 6 mounting hole Approx. 80 60 6 185 12 6 Air exhaust 161 168 CNP2 CNP3 6 U V W 156 L1 L2 L3 N P1 P2 P C D L1 L2 CNP1 Cooling fan air intake 6 12 42 Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout L1 Approx. 60 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P C CNP2 3-M5 screw D L11 L21 42 U CNP3 Approx. 12 V 0.3 Approx.
7. OUTLINE DRAWINGS (4) MR-J3-60B4-RJ006 MR-J3-100B4-RJ006 [Unit: mm] 6 mounting hole 6 60 Approx. 80 195 12 CNP1 CNP2 CNP3 6 12 42 Approx. 25.5 Mass: 1.7 [kg] (3.75 [lb]) Terminal signal layout L1 Approx. 60 PE terminal L2 L3 CNP1 N P1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P2 3-M5 screw P C CNP2 D L11 L21 Approx. 12 U CNP3 42 0.3 Approx. 6 Mounting hole process drawing V W Mounting screw Screw size: M5 Tightening torque: 3.
7. OUTLINE DRAWINGS (5) MR-J3-200B(4)-RJ006 POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200BRJ006 servo amplifier have been changed from April 2008 production. For existing servo amplifier, refer to appendix 4. [Unit: mm] 90 85 6 6 mounting hole Approx. 80 195 45 Air exhaust CNP1 CNP2 CNP3 6 6 78 Cooling fan air intake Approx. 25.5 6 Mass: 2.1 [kg] (4.63 [lb]) Terminal signal layout Approx. 90 L1 PE terminal L2 CNP1 L3 N P1 Screw size: M4 Tightening torque: 1.
7. OUTLINE DRAWINGS (6) MR-J3-350B-RJ006 [Unit: mm] 6 mounting hole 90 85 Approx. 80 6 195 45 6 Air exhaust 6 168 156 21.4 6 6 78 Cooling fan air intake 6 Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout Approx. 90 PE terminal L1 L2 CNP1 L3 N P1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P2 3-M5 screw U CNP3 V W P C CNP2 Approx. 6 78 0.3 Approx. 6 D Mounting hole process drawing L11 L21 Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.
7. OUTLINE DRAWINGS (7) MR-J3-350B4-RJ006 MR-J3-500B(4)-RJ006 [Unit: mm] Approx. 7.5 2- 6 mounting hole Approx. 80 200 131.5 130 6 68.5 Cooling fan air exhaust 118 6 Terminal layout (Terminal cover open) CN1B 235 250 CN1A CN3 Cooling fan TE2 TE3 Approx. 7.5 TE1 Air intake 6 3 places for ground (M4) Mass: 4.6 [kg] (10.1 [lb]) Terminal signal layout Approx. 6 TE1 L1 L2 L3 P C U V W Approx. 6 Terminal screw: M4 Tightening torque: 1.2[N m] 4-M5 screw TE2 L11 Approx.
7. OUTLINE DRAWINGS (8) MR-J3-700B(4)-RJ006 [Unit: mm] Approx. 7.5 2- 6 mounting hole Approx. 80 200 138 172 160 6 62 Cooling fan air exhaust 6 Terminal layout (Terminal cover open) CN2L 285 300 Cooling fan TE2 Air intake TE3 Approx. 7.5 6 TE1 3 places for ground (M4) Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Approx. 6 TE1 L1 L2 L3 P C U V W Approx. 6 Terminal screw: M4 Tightening torque: 1.2[N m] 4-M5 screw TE2 L11 Approx. 172 160 0.5 Terminal screw: M3.
7. OUTLINE DRAWINGS (9) MR-J3-11KB(4)-RJ006 to 22KB(4)-RJ006 [Unit: mm] 260 236 12 2- Approx. 80 12 260 Cooling fan air exhaust 12 mounting hole For MR-J3BAT mounted Rating plate 123.5 13 12 Air intake 183 26 52 6 227 26 156 Approx. 260 236 0.5 Approx. 12 Approx. 12 4-M10 screw Servo amplifier Mass ([lb]) MR-J3-11KB(4)-RJ006 18.0 (39.7) MR-J3-15KB(4)-RJ006 18.0 (39.7) MR-J3-22KB(4)-RJ006 19.0 (41.
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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. No.
APPENDIX Extension setting parameters (PC ) No. Symbol Name PC01 ERZ Error excessive alarm level PC02 MBR Electromagnetic brake sequence output PC03 *ENRS Encoder output pulses selection PC04 **COP1 Function selection C-1 PC05 **COP2 Function selection C-2 PC06 *COP3 Function selection C-3 I/O setting parameters (PD ) No.
APPENDIX App. 3 Change of connector sets to the RoHS compatible products The following connector sets have changed to RoHS compliant since September 2006. RoHS compliant and non-RoHS compliant connector sets may be mixed based on availability. Only the components of the connector set that have changed are listed below.
APPENDIX App. 4 MR-J3-200B-RJ006 servo amplifiers manufactured before March 2008 Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B-RJ006 servo amplifier have been changed from April 2008 production. The difference between new MR-J3-200B-RJ006 servo amplifier and existing servo amplifier is described in this appendix. Sections within parentheses in the following sections indicate corresponding sections of the instruction manual. App. 4.1 Parts identification (1.8.
APPENDIX App. 4.2 Configuration including auxiliary equipment (1.
APPENDIX App. 4.3 Outline drawings (Chapter 7 OUTLINE DRAWINGS) [Unit: mm] 6 mounting hole 90 85 Approx. 80 6 195 45 6 Air exhaust 6 168 156 21.4 6 6 78 Cooling fan air intake 6 Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout Approx. 90 PE terminal L1 L2 CNP1 L3 N P1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw P2 U CNP3 V W Approx. 6 78 0.3 Approx. 6 P Mounting hole process drawing C CNP2 Mounting screw Screw size: M5 Tightening torque: 3.
APPENDIX App. 5 Compliance with the european EC directives App. 5.1 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.
APPENDIX (3) Environment (a) Operate the servo amplifier at or above pollution degree 2 set forth in IEC/EN 60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).
APPENDIX (6) Wiring (a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals. Insulating tube Cable Crimping terminal (b) Use the servo motor side power connector which complies with the IEC/EN Standard. The IEC/EN Standard-compliant power connector sets are available from us as options. (c) The servo amplifier must install in the metal cabinet (control box).
APPENDIX App. 6 Compliance with UL/C-UL standard This servo amplifier is designed to comply with UL 508C, CSA C22.2 No.14. (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which standard product.
APPENDIX (2) Installation The MR-J3 series have been approved as the products which have been installed in the electrical enclosure. The minimum enclosure size is based on 150 of each MR-J3 combination. And also, design the enclosure so that the ambient temperature in the enclosure is 55 (131 ) or less, refer to the spec manual. The servo amplifier must install in the metal cabinet (control box).
APPENDIX (6) Options, peripheral devices Use the UL/C-UL Standard-compliant products. Use the no-fuse breaker (UL489 Listed MCCB) or a Class T fuse indicated in the table below.
APPENDIX (8) Selection example of wires To comply with the UL/C-UL Standard, use UL-approved copper wires rated at 60/75 (140/167 ) for wiring. The following table shows the wire sizes [AWG] and the crimping terminal symbols rated at 60 (140 ). The sizes and the symbols rated at 75 (167 ) are shown in the brackets.
APPENDIX Table: Recommended crimping terminals Servo amplifier side crimping terminals Symbol (Note 2) Applicable tool Crimping terminal a (Note 1) b FVD5.5-4 YNT-1210S 8-4NS YHT-8S c FVD14-6 d FVD22-6 (Note 1) e 38-6 (Note 1) f R60-8 g FVD2-4 h FVD2-M3 j FVD5.5-6 k FVD5.
APPENDIX (10) Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. The operation characteristics of the electronic thermal relay are shown below. It is recommended to use an unbalanced torque-generated machine, such as a vertical motion shaft, so that unbalanced torque is not more than 70 of the rated torque.
APPENDIX (11) Figure configuration Representative configuration example to conform to the UL/C-UL standard is shown below. The earth wiring is excluded from the figure configuration. Power supply Fuse or no-fuse breaker L1, L2, L3 L11, L21 CN1A Command device CN2 Encoder cable U, V, W Control panel side Machine side Servo motor Encoder App.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar, 2006 SH(NA)030056-A First edition Nov., 2007 SH(NA)030056-B Safety Instructions 1.To prevent electric shock 2.To prevent fire 4.Additional instructions (1) 4.Additional instructions (2) Compliance with EC directives 2.
Print Data *Manual Number Nov., 2007 SH(NA)030056-B Revision Section 2.4 Section 3.1 Section 3.2.1 (1) Section 3.2.1 (3) (c) Section 3.2.1 (4) (a) 2) Section 3.2.1 (4) (b) 2) Section 3.2.1 (4) 2) Section 3.2.2 (1) (a) Section 3.2.2 (3) Section 3.2.2 (4) (a) 1) Section 3.2.2 (4) (a) 2) Section 3.2.2 (4) (b) 2) Section 3.2.3 (4) 1) Section 3.2.3 (4) 2) Section 3.2.4 (4) 2) Section 3.3 (3) 2) Section 3.4.3 Section 4.1.5(2) Section 5.2 Section 5.3.2 Section 5.3.3 (3) Section 5.5.1 Section 5.5.2 Section 6.
Print Data *Manual Number Revision May, 2008 SH(NA)030056-C (2) Wiring Aug., 2009 SH(NA)030056-D Electronic symbols changed throughout the manual (JIS C0617 compliant) "Servo motor Instruction Manual" changed to "Servo motor Instruction Manual (Vol.2)" "Absolute position system" changed to "absolute position detection system" AC reactor changed to power improving AC reactor to be consistent DC reactor changed to power improving DC reactor to be consistent 4.
Print Data *Manual Number Revision Aug., 2009 NFB changed to MC in the figure SH(NA)030056-D 4. Additional Instructions (2) Figure changed 4. Additional Instructions (5) Conformance with Contents changed in (2)Installation and (3)Short circuit rating UL/C-UL Standard Description of conformance with the standard changed Description of moved Item of "Mounting closely" added Section 1.
Print Data *Manual Number Revision Aug., 2009 SH(NA)030056-D Section 2.5 Section 3.1 Section 3.2.1 (4) (c) 1) Section 3.2.2 (1) (b) Section 4.3 Section 4.3.2 Section 5.3.1 Section 5.3.2 Section 5.3.3 Section 5.3.3 (3) Section 6.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries.
General-Purpose AC Servo J3 Series SSCNET Fully Closed Loop Control MODEL J3 Series MR-J3- B-RJ006 Servo Amplifier Instruction Manual MODEL MODEL CODE This Instruction Manual uses recycled paper. SH (NA) 030056-D (0908) MEE Printed in Japan Specifications subject to change without notice.
