Instruction manual

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General-Purpose AC Servo

MODEL

MR-J3- A

SERVO AMPLIFIER

INSTRUCTION MANUAL

General-Purpose Interface

J3 Series

Summary of content (396 pages)

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General-Purpose AC Servo J3 Series General-Purpose Interface MODEL MR-J3- A SERVO AMPLIFIER INSTRUCTION MANUAL C
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Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
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1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. Connect the servo amplifier and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
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. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
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(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
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(5) Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the purpose of prevention. Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop (EMG).
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About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
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COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
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(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.
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(7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 12.9. Use a type B (Note) breaker. When it is not used, provide insulation between the servo amplifier and other device by double insulation or reinforced insulation, or install a transformer between the main power supply and servo amplifier. Note.
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CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier Servo motor :MR-J3-10A to MR-J3-700A MR-J3-10A1 to MR-J3-40A1 :HF-MP HF-KP HF-SP (2) Installation 3 Install a fan of 100CFM (2.8m /min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of at least equivalent capability.
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(6) Attachment of a servo motor For the flange size of the machine side where the servo motor is installed, refer to "CONFORMANCE WITH UL/C-UL STANDARD" in the Servo Motor Instruction Manual. (7) About wiring protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes.
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<> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J3-A for the first time. Always purchase them and use the MR-J3-A safely. Relevant manuals Manual name Manual No. MELSERVO-J3 Series To Use the AC Servo Safely IB(NA)0300077 MELSERVO Servo Motor Instruction Manual Vol.
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CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -18 1.1 Introduction............................................................................................................................................... 1 - 1 1.2 Function block diagram............................................................................................................................ 1 - 2 1.3 Servo amplifier standard specifications........................................................................................
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3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -52 3.10.1 Connection instructions.................................................................................................................. 3 -52 3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -53 3.11 Servo motor with electromagnetic brake...................................
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5.1.10 In-position range ................................................................................................................................ 5 -11 5.1.11 Torque limit..................................................................................................................................... 5 -12 5.1.12 Selection of command pulse input form ........................................................................................ 5 -13 5.1.13 Selection of servo motor rotation direction...
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7.2.3 Adjustment procedure by auto tuning............................................................................................... 7 - 5 7.2.4 Response level setting in auto tuning mode .................................................................................... 7 - 6 7.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 7 - 7 7.4 Interpolation mode ................................................................
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12.7 Battery Unit MR-J3BAT ....................................................................................................................... 12-35 12.8 Recommended wires ........................................................................................................................... 12-36 12.9 No-fuse breakers, fuses, magnetic contactors ................................................................................... 12-39 12.10 Power Factor Improving DC Reactor ..........................
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14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-62 14.1 Outline ................................................................................................................................................... 14- 1 14.1.1 Features.......................................................................................................................................... 14- 1 14.1.2 Restrictions..............................................................................................................
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The Mitsubishi MELSERVO-J3 series general-purpose AC servo is based on the MELSERVO-J2-Super series and has further higher performance and higher functions. It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control.
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1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below.
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1.
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1. FUNCTIONS AND CONFIGURATION 1.
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1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description (Note) Control mode Position control mode This servo is used as position control servo. P Speed control mode This servo is used as speed control servo. S Torque control mode This servo is used as torque control servo.
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1. FUNCTIONS AND CONFIGURATION Function (Note) Control mode Description Used when the regenerative brake option cannot provide enough regenerative power. Can be used with the MR-J3-500A MR-J3-700A. Used when the regenerative brake option cannot provide Return converter enough regenerative power. Can be used with the MR-J3-500A MR-J3-700A. Alarm history clear Alarm history is cleared.
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1. FUNCTIONS AND CONFIGURATION (2) Model MR-J3-200A 350A MR-J3-100A or less MR J3 A Power supply Series Power supply Symbol None 3-phase 200 to 230VAC (Note 1) 1-phase 230VAC (Note 2) 1-phase 100 to 120VAC 1 Note 1. 1-phase 230V is supported by the MR-J3-70A or less. 2. No supplied to the servo amplifier of MR-J3-60A or Rating plate more. Rating plate General purpose interface MR-J3-500A Rated output MR-J3-700A Symbol Rated output [kW] 10 0.1 20 0.2 40 0.4 60 0.6 70 0.75 100 1 200 2 300 3.
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1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100A or less Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 6 Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE MODE UP DOWN UP DOWN SET Used to set data. SET Chapter 6 Used to change the display or data in each mode. Used to change the mode.
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1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200A MR-J3-350A Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 6 Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MO UP DO SET MODE UP DOWN SET Chapter 6 Used to set data. Used to change the display or data in each Used to change the mode. Main circuit power supply connector (CNP1) Connect the input power supply. Section 3.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 6 Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE UP DOWN SET MODE UP Chapter 6 DOWN SET Used to set data.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700A POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Name/Application Display The 5-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Chapter 6 Operation section Used to perform status display, diagnostic, alarm and parameter setting operations. MODE UP DOWN SET MODE UP DOWN SET Chapter 6 Used to set data.
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1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover CAUTION Before removing or reinstalling the front cover, make sure that the charge lamp is off more than 15 minutes after power off. Otherwise, you may get an electric shock. For MR-J3-500A or more Removal of the front cover A A Hold the ends of lower side of the front cover with both hands. Pull up the cover, supporting at point Pull out the front cover to remove. 1 - 12 A.
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1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab A A Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Setting tab Push the setting tabs until they click. 1 - 13 Pull up the cover, supporting at point A.
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1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
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1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC 1-phase 100V to R 120VAC power supply S No-fuse breaker (NFB) or fuse CN6 Magnetic contactor (MC) Power factor improving reactor (FR-BAL) Line noise filter (FR-BLF) Servo amplifier CN5 (Note 2) Analog monitor MR Configurator (Servo configuration software) Personal computer CN3 CN1 L1 L2 UV W Junction terminal block CN2 CN4 (Note 1) Battery unit MR-J3BAT Servo motor P C Regenerative brake option L11 L21 Note 1.
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1.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500A 3-phase 200V RST to 230VAC power supply No-fuse breaker (NFB) or fuse CN6 Servo amplifier Analog monitor MR Configurator (Servo configuration software) Magnetic contactor (MC) Personal computer CN5 Line noise filter (FR-BLF) (Note2) CN3 (Note1) Battery unit MR-J3BAT CN1 Junction terminal block CN2 CN4 L11 L21 P1 P2 L3 (Note2) Power factor improving DC reactor (FR-BEL) L2 L1 P C Regenerative brake U V W Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700A 3-phase 200V to 230VAC power supply RST No-fuse breaker (NFB) or fuse CN6 Servo amplifier Analog monitor MR Configurator (Servo configuration software) Magnetic contactor (MC) Personal computer CN5 (Note1) Battery unit MR-J3BAT Line noise filter (FR-BLF) (Note2) CN3 CN1 L11 L21 Junction terminal block CN2 (Note2) Power factor improving DC reactor (FR-BEL) CN4 P2 P1 L3 L2 L1 P C U V W Regenerative brake Servo motor Note 1.
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2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range.
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2. INSTALLATION (2) Installation of two or more servo amplifiers POINT Mounting closely is available for a combination of servo amplifiers of 3.5kw or less. The servo amplifiers of 5kw or more can not be mounted closely. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
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2. INSTALLATION 2.4 Inspection Items WARNING Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.
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2.
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3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like. Otherwise, you may get an electric shock. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed.
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3. SIGNALS AND WIRING 3.1 Input power supply circuit CAUTION When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Use the trouble signal to switch power off. Otherwise, a regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
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3. SIGNALS AND WIRING (2) For 1-phase 230VAC power supply to MR-J3-10A to MR-J3-70A Emergency RA stop OFF ON MC MC SK NFB MC 1-phase 230VAC (Note 1) Servo amplifier CNP1 L1 CNP3 L2 U Servo motor (Note 3) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 L11 (Note 3) Encoder cable Encoder L21 Emergency stop (Note 4) Servo-on CN1 CN1 EMG DOCOM SON DICOM DOCOM ALM 24VDC RA Trouble (Note 4) Note 1. Always connect P1-P2. (Factory-wired.
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3. SIGNALS AND WIRING (3) For 1-phase 100 to 120VAC power supply to MR-J3-10A1 to MR-J3-40A1 Emergency RA stop OFF ON MC MC SK NFB MC 1-phase 100 to 120VAC (Note 1) Servo amplifier CNP1 L1 CNP3 Blank U Servo motor (Note 3) U 2 L2 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 L11 (Note 3) Encoder cable Encoder L21 Emergency stop (Note 4) Servo-on CN1 CN1 EMG DOCOM SON DICOM DOCOM ALM 24VDC RA Trouble (Note 4) Note 1. Always connect P1-P2.
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3. SIGNALS AND WIRING (4) MR-J3-500A MR-J3-700A RA Emergency stop OFF ON MC MC SK Servo amplifier NFB MC 3-phase 200 to 230VAC TE1 L1 Built-in L2 regenerative U L3 brake resistor V (Note 2) P Servo motor (Note 3) W U 2 V 3 W 4 Motor M 1 C TE2 L11 PE L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 (Note 4) Emergency stop Servo-on CN1 CN1 EMG DOC SON DICO DOC ALM 24VDC RA Trouble (Note 4) Note 1. Always connect P1-P2. (Factory-wired.
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3. SIGNALS AND WIRING 3.2 I/O Signal Connection Example 3.2.
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3. SIGNALS AND WIRING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits. 3. The emergency stop switch (normally closed contact) must be installed. 4.
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3. SIGNALS AND WIRING 3.2.2 Speed control mode (Note 4) 24VDC power supply + - (Note 3, 5) Emergency stop Servo-on Speed selection 1 Speed selection 2 Forward rotation start Reverse rotation start (Note 5) Forward rotation stroke end Reverse rotation stroke end 10m max. Upper limit setting (Note 11) Analog speed command 10V/rated speed Upper limit setting (Note 8) Analog torque limit +10V/max.
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3. SIGNALS AND WIRING 3.2.3 Torque control mode Servo amplifier (Note 6) CN1 (Note 6) 21 DICOM CN1 DICOM 20 48 ALM DOCOM 46 23 ZSP EMG 42 SON 15 25 VLC RES 19 49 RD SP1 41 (Note 4) 24VDC power supply + - (Note 3) Emergency stop Servo-on Reset (Note 10) Speed selection 1 SP2 RS1 RS2 16 18 17 DOCOM 47 Speed selection 2 Forward rotation selection Reverse rotation selection 10m max.
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3. SIGNALS AND WIRING 3.3 Explanation of Power Supply System 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in Chapter 10. Abbreviation Connection Target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 230VAC power supply, connect the power supply to L1, L2, and keep L3 open.
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3. SIGNALS AND WIRING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L1, L2, L3, single-phase 230V signal-phase 100V: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.
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3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to Table 12.1 in Section 12.8 for the wire sizes used for wiring. MR-J3-500A or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-100A or less (a) Servo amplifier power supply connectors (Note) Servo amplifier power supply connectors Connector for CNP1 54928-0610 (molex) Servo amplifier Cable finish OD: to 3.
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3. SIGNALS AND WIRING (2) MR-J3-200A MR-J3-350A (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (phoenix contact) Servo amplifier Cable finish OD: to 5mm CNP1 Connector for CNP3 PC4/3-STF-7.62-CRWH (phoenix contact) CNP3 CNP2 Connector for CNP2 54927-0510 (molex) Cable finish OD: to 3.
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3. SIGNALS AND WIRING (3) Insertion of cable into 54928-0610 54927-0510 and 54928-0310 (Molex) How to connect a cable to the servo amplifier power supply connector is shown below. (a) When using the supplied cable connection lever 1) The servo amplifier is packed with the cable connection lever 54932-0000 (Molex). [Unit: mm] ([Unit: in]) 20.6 (0.811) MXJ 54932 7.7 (0.303) 4.9 (0.193) 6.5 (0.256) 4.7 3 (0.185) (0.118) 7.7 (0.303) 4.9 (0.193) 3.4 (0.134) 10 (0.394) 3.4 (0.
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3. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] (22) 3 0.6 (R0.3) 3 to 3.5 (R0.3) 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly. 2) If inserted properly, the screwdriver is held. 3) With the screwdriver held, insert the cable in the direction of arrow.
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3. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Push the screwdriver in the direction of arrow. 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.) 4) Releasing the screwdriver connects the cable. (4) How to insert the cable into PC4/6-STF-7.62-CRWH or PC4/3-STF-7.
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3. SIGNALS AND WIRING 3.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to (2) in this section for CN1 signal assignment. (1) Signal arrangement The servo amplifier front view shown is that of the MR-J3-20A or less. Refer to Chapter 10 Outline Drawings for the appearances and connector layouts of the other servo amplifiers. CN5 (USB connector) CN6 Refer to Section 12.6.
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3. SIGNALS AND WIRING (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below; For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters. Pin No.
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3. SIGNALS AND WIRING Pin No. (Note 2) I/O Signals in Control Modes (Note 1) I/O P P/S S S/T T T/P 46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 47 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD Related Parameter No. PD18 50 Note 1. I: Input signal, O: Output signal 2.
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3. SIGNALS AND WIRING 3.5 Signal explanations For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.6.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status. : Denotes that the signal may be used by setting the corresponding parameter No. PD03 to PD08, PD10 to PD12, PD13 to PD16, PD18. The pin No.s in the connector pin No.
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3. SIGNALS AND WIRING Device ConnecSymbol tor pin No. Functions/Applications I/O division External torque limit selection TL CN1-18 Turn TL off to make Forward torque limit (parameter No. PA11) and Reverse torque limit (parameter No. PA12) valid, or turn it on to make Analog torque limit (TLA) valid. For details, refer to (5), Section 3.6.1. DI-1 Internal torque limit selection TL1 When using this signal, make it usable by making the setting of parameter No. PD03 to PD08, PD10 to PD12.
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3. SIGNALS AND WIRING Device Symbol Connector pin No. Speed selection 1 SP1 CN1-41 Speed selection 2 SP2 CN1-16 Functions/Applications Used to select the command speed for operation. When using SP3, make it usable by making the setting of parameter No. PD03 to PD08, PD10 to PD12. I/O division DI-1 DI-1 (NOTE) Input signals Speed command SP3 SP2 SP1 Speed selection 3 SP3 0 0 0 Analog speed command (VC) 0 0 1 Internal speed command 1 (parameter No.
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3. SIGNALS AND WIRING Connector pin No. Symbol Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.
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3. SIGNALS AND WIRING Device Control change Symbol LOP Connector pin No. Functions/Applications CN1-45 Used to select the control mode in the position/speed control change mode. I/O division DI-1 Control mode P S T Refer to Functions/ Applications. (Note) LOP Control mode 0 Position 1 Speed Note. 0: off 1: on Used to select the control mode in the speed/torque control change mode.
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3. SIGNALS AND WIRING (b) Output devices Device ConnecSymbol tor pin No. I/O division Functions/Applications Trouble ALM CN1-48 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after power-on. DO-1 Ready RD CN1-49 RD turns on when the servo is switched on and the servo amplifier is ready to operate.
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3. SIGNALS AND WIRING Device ConnecSymbol tor pin No. Functions/Applications I/O division Electromagnetic brake interlock MBR Set the parameter No. PD13 to PD16/PD18 or parameter No. PA04 to make this signal usable. Note that ZSP will be unusable. MBR turns off when the servo is switched off or an alarm occurs. DO-1 Warning WNG To use this signal, assign the connector pin for output using parameter No. PD13 to PD16, PD18. The old signal before assignment will be unusable.
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3. SIGNALS AND WIRING Signal Alarm code ConnecSymbol tor pin No. ACD 0 ACD 1 ACD 2 I/O division Functions/Applications CN1-24 To use this signal, set " 1 " in parameter No. PD24. CN1-23 This signal is output when an alarm occurs. When there is no alarm, CN1-22 respective ordinary signals (RD, INP, SA, ZSP) are output.
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3. SIGNALS AND WIRING (2) Input signals Signal Symbol Analog torque limit TLA Analog torque command TC Analog speed command VC Analog speed limit VLA Forward rotation pulse train Reverse rotation pulse train PP NP PG NG Connector pin No. Functions/Applications CN1-27 To use this signal in the speed control mode, set any of parameters No. PD13 to PD16, PD18 to make TL available. When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range.
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3. SIGNALS AND WIRING (4) Communication POINT Refer to Chapter 13 for the communication function. Symbol Connector pin No. RS-422 I/F SDP SDN RDP RDN CN3-5 CN3-4 CN3-3 CN3-6 Terminals for RS-422 communication. (Refer to Chapter 13.) RS-422 termination TRE CN3-8 Termination resistor connection terminal of RS-422 interface. When the servo amplifier is the termination axis, connect this terminal to RDN (CN3-6). Symbol Connector pin No.
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3. SIGNALS AND WIRING 3.6 Detailed description of the signals 3.6.1 Position control mode (1) Pulse train input (a) Input pulse waveform selection Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in parameter No. PA13. Refer to Section 5.1.10 for details. (b) Connections and waveforms 1) Open collector system Connect as shown below: Servo amplifier 24VDC OPC DOCOM PP Approx. 1.2k NP Approx. 1.
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3. SIGNALS AND WIRING 2) Differential line driver system Connect as shown below: Servo amplifier Approx. PP 100 PG Approx. NP 100 NG SD The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No. PA13 has been set to 0010). The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.
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3. SIGNALS AND WIRING (3) Ready (RD) Servo-on (SON) ON OFF Yes Alarm No Ready (RD) 100ms or less ON 10ms or less 10ms or less OFF (4) Electronic gear switching The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters. As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (parameter No. PB03) to relieve shock.
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3. SIGNALS AND WIRING (b) Torque limit value selection As shown below, the forward torque limit (parameter No. PA11), or reverse torque limit (parameter No. PA12) and the analog torque limit (TLA) can be chosen using the external torque limit selection (TL). When internal torque limit selection (TL1) is made usable by parameter No. PD03 to PD08, PD10 to PD12, internal torque limit 2 (parameter No. PC35) can be selected. However, if the parameter No. PA11 and parameter No.
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3. SIGNALS AND WIRING 3.6.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below: The maximum speed is achieved at 10V. The speed at 10V can be changed using parameter No. PC12.
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3. SIGNALS AND WIRING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC). (Note) External input signals Speed command value SP2 SP1 0 0 Analog speed command (VC) 0 1 Internal speed command 1 (parameter No. PC05) 1 0 Internal speed command 2 (parameter No.
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3. SIGNALS AND WIRING 3.6.3 Torque control mode (1) Torque control (a) Torque command and torque A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V. Note that the torque at 8V input can be changed with parameter No. PC13.
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3. SIGNALS AND WIRING (b) Analog torque command offset Using parameter No. PC38, the offset voltage of voltage as shown below. 999 to 999mV can be added to the TC applied Generated torque Max. torque Parameter No. PC38 offset range 999 to 999mV 0 8( 8) TC applied voltage [V] (2) Torque limit By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque is always limited to the maximum value during operation.
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3. SIGNALS AND WIRING (b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the speed limit command (VLA), as indicated below. (Note) Input signals Speed limit value SP3 SP2 SP1 0 0 0 Analog speed limit (VLA) 0 0 1 Internal speed limit 1 (parameter No.
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3. SIGNALS AND WIRING 3.6.4 Position/speed control change mode Set " 1" in parameter No. PA01 to switch to the position/speed control change mode. This function is not available in the absolute position detection system. (1) Control change (LOP) Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact.
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3. SIGNALS AND WIRING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run at the speed set in parameter No. 8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section 3.6.2.
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3. SIGNALS AND WIRING 3.6.5 Speed/torque control change mode Set " 3" in parameter No. PA01 to switch to the speed/torque control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact. Relationships between LOP and control modes are indicated below: (Note) LOP Servo control mode 0 Speed control mode 1 Torque control mode Note. 0: off 1: on The control mode may be changed at any time.
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3. SIGNALS AND WIRING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No. 8 (internal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA). A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is as in (a), (3) in section 3.6.3.
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3. SIGNALS AND WIRING 3.6.6 Torque/position control change mode Set " 5" in parameter No. PA01 to switch to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact. Relationships between LOP and control modes are indicated below: (Note) LOP Servo control mode 0 Torque control mode 1 Position control mode Note.
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3. SIGNALS AND WIRING 3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, turn off Servo-on (SON) and power off. CAUTION When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence.
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3. SIGNALS AND WIRING 3.8 Interfaces 3.8.1 Internal connection diagram Servo amplifier (Note 1) P S T SON SON SON SP2 SP2 PC ST1 RS2 TL ST2 RS1 RES RES RES (Note 3) CR SP1 SP1 EMG LSP LSP LSN LSN LOP LOP LOP DOCOM OPC 24VDC DICOM DOCOM (Note 2) PP PG NP NG (Note 1) P S T CN1 15 16 17 18 19 41 42 43 44 45 46 12 20 47 10 11 35 36 CN1 2 TLA TLA TC 27 1 LG LG LG SD 3 28 30 Case DICOM 21 22 INP SA RA 23 ZSP ZSP ZSP 24 (Note 3) INP SA 25 TLC TLC TLC 48 Approx. 5.6k 49 Approx.
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3. SIGNALS AND WIRING Note 1. P: Position control mode S: Speed control mode T: Torque control mode 2. For the differential line driver pulse train input. For the open collector pulse train input, make the following connection. 24VDC DOCO OPC DICOM DOCOM PP PG NP NG 46 12 20 47 10 11 35 36 3. For the sink I/O interface. For the source I/O interface, refer to Section 3.8.3. 3.8.
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3. SIGNALS AND WIRING (3) Pulse train input interface DI-2 Give a pulse train signal in the differential line driver system or open collector system. (a) Differential line driver system 1) Interface Servo amplifier Max. input pulse frequency 1Mpps 10m or less PP(NP) Approx. 100 PG(NG) Am26LS31 or equivalent SD 2) Input pulse condition tHL tc PP PG tLH=tHL<0.1 s tc>0.35 s tF>3 s 0.9 0.1 tc tLH tF NP NG (b) Open collector system 1) Interface Servo amplifier 24VDC OPC Max.
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3. SIGNALS AND WIRING (4) Encoder pulse output DO-2 (a) Open collector system Interface Max. output current : 35mA Servo amplifier Servo amplifier OP OP LG LG SD SD 5 to 24VDC Photocoupler (b) Differential line driver system 1) Interface Max.
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3. SIGNALS AND WIRING (6) Analog output Servo amplifier MO1 (MO2) LG Output voltage 10V Max. 1mA Max.
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3. SIGNALS AND WIRING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier SON, Approx. 5.6k etc. Switch DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 300mA (2) Digital output interface DO-1 A maximum of 2.6V voltage drop occurs in the servo amplifier.
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3. SIGNALS AND WIRING 3.9 Instructions for the 3M connector In the case of the CN1 connector, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath.
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3. SIGNALS AND WIRING 3.10 Connection of servo amplifier and servo motor 3.10.1 Connection instructions WARNING Insulate the connections of the power supply terminals to prevent an electric shock. CAUTION Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Otherwise, the servo motor will operate improperly. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur. POINT Refer to Section 12.
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3. SIGNALS AND WIRING 3.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less Servo amplifier CNP3 U V W 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) Servo motor U V W M (b) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below.
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3. SIGNALS AND WIRING (2) HF-SP series servo motor (a) Wiring diagrams Refer to Section 12.8 for the cables used for wiring. 50m or less Servo amplifier CNP3 U V W 24VDC power supply for electromagnetic brake Servo motor U V W (Note1) Trouble Emergency stop (ALM) (EMG) M (Note2) B1 B2 Note 1. Shut off the circuit upon detection of a servo alarm. 2. There is no polarity in electromagnetic brake terminals B1 and B2.
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3. SIGNALS AND WIRING 3.11 Servo motor with electromagnetic brake 3.11.1 Safety precautions Configure the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal. Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR). Circuit must be opened during emergency stop (EMG).
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3. SIGNALS AND WIRING 3.11.3 Timing charts (1) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
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3.
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3. SIGNALS AND WIRING 3.11.4 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series servo motors, refer to Section 3.10.2 (2). (1) When cable length is 10m or less 10m or less 24VDC power MR-BKS1CBL M-A1-L supply for MR-BKS1CBL M-A2-L electromagnetic MR-BKS1CBL M-A1-H (Note 1) brake MR-BKS1CBL M-A2-H Trouble (ALM) Emergency stop (EMG) AWG20 + (Note 2) AWG20 - Servo motor (Note3) B1 B2 Note 1. Shut off the circuit on detection of the servo amplifier alarm. 2.
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3. SIGNALS AND WIRING 3.12 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal of the servo amplifier with the protective earth (PE) of the control box. The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cablerouting, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor.
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3.
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4. STARTUP 4. STARTUP WARNING Do not operate the switches with wet hands. You may get an electric shock. CAUTION Before starting operation, check the parameters. Some machines may perform unexpected operation. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative brake resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off.
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4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy the defined specifications. (Refer to Section 1.3.
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4. STARTUP 2) When regenerative brake option is used over 5kW The lead of built-in regenerative brake resistor connected to P terminal and D terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to Section 12.
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4. STARTUP 4.2 Startup in position control mode Make a startup in accordance with Section 4.1. This section provides the methods specific to the position control mode. 4.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (SON). 2) Make sure that a command pulse train is not input. 3) Switch on the main circuit power supply and control circuit power supply.
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4. STARTUP 4.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to Section 4.2.1 for the power on and off methods of the servo amplifier. Test operation of servo motor alone in JOG operation of test operation mode In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly.
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4. STARTUP 4.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No. PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (AL. 16) will occur at power-on. Encoder Cable MR-EKCBL20M-L/H Parameter No.
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4. STARTUP 4.2.6 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the optional MR Configurator, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. (1) Troubleshooting No. 1 Start-up sequence Power on Fault LED is not lit. LED flickers.
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4. STARTUP (2) How to find the cause of position shift Positioning unit Servo amplifier (a) Output pulse counter Electronic gear (parameters No.
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4. STARTUP 4.3 Startup in Speed Control Mode Make a startup in accordance with Section 4.1. This section provides the methods specific to the speed control mode. 4.3.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (SON). 2) Make sure that the Forward rotation start (ST1) and Reverse rotation start (ST2) are off. 3) Switch on the main circuit power supply and control circuit power supply.
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4. STARTUP 4.3.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to Section 4.3.1 for the power on and off methods of the servo amplifier. Test operation of servo motor alone in JOG operation of test operation mode In this step, confirm that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly.
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4. STARTUP 4.3.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No. PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (AL. 16) will occur at power-on. Encoder Cable MR-EKCBL20M-L/H Parameter No.
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4. STARTUP 4.3.6 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. No. Start-up sequence 1 2 3 Power on Switch on servoon (SON). Fault LED is not lit. LED flickers.
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4. STARTUP 4.4 Startup in Torque Control Mode Make a startup in accordance with Section 4.1. This section provides the methods specific to the torque control mode. 4.4.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Always follow this procedure at power-on. 1) Switch off the servo-on (SON). 2) Make sure that the Forward rotation selection (RS1) and Reverse rotation selection (RS2) are off. 3) Switch on the main circuit power supply and control circuit power supply.
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4. STARTUP 4.4.3 Trouble at start-up CAUTION Excessive adjustment or change of parameter setting must not be made as it will make operation instable. POINT Using the optional servo configuration software, you can refer to unrotated servo motor reasons, etc. The following faults may occur at start-up. If any of such faults occurs, take the corresponding action. No. 1 2 3 Start-up sequence Power on Switch on servo-on (SON). Fault LED is not lit. LED flickers.
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4. STARTUP 4.4.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No. PC22 setting to be changed depending on its length. Check whether the parameter is set correctly. If it is not set correctly, the encoder error 1 (AL. 16) will occur at power-on. Encoder Cable MR-EKCBL20M-L/H Parameter No.
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4.
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5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. In the MR-J3-A servo amplifier, the parameters are classified into the following groups on a function basis. Parameter Group Main Description Basic setting parameters (No. PA ) When using this servo amplifier in the position control mode, make basic setting with these parameters. Gain/filter parameters (No. PB ) Use these parameters when making gain adjustment manually.
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5. PARAMETERS 5.1.2 Parameter write inhibit Parameter No. Symbol PA19 *BLK Initial Value Name Parameter write inhibit 000Bh Unit Control Mode Setting Range Position Speed Torque Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.
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5. PARAMETERS 5.1.3 Selection of control mode Parameter No. Symbol PA01 *STY Initial Value Name Control mode Unit Control Mode Setting Range Position Speed Torque Refer to the text. 0000h POINT This parameter is made valid when power is switched off, then on after setting. Select the control mode of the servo amplifier. Parameter No.
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5. PARAMETERS 5.1.5 Using absolute position detection system Parameter No. Symbol PA03 *ABS Initial Value Name Absolute position detection system Unit Control Mode Setting Range Position Speed Torque Refer to the text. 0000h POINT This parameter is made valid when power is switched off, then on after setting. Set this parameter when using the absolute position detection system in the position control mode. Parameter No.
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5. PARAMETERS 5.1.7 Number of command input pulses per servo motor revolution Parameter No. Symbol PA05 *FBP Initial Value Name Number of command input pulses per revolution Unit 0 Control Mode Setting Range Position Speed Torque 0 1000 to 50000 POINT This parameter is made valid when power is switched off, then on after setting. When "0" (initial value) is set in parameter No. PA05, the electronic gear (parameter No. PA06, No. PA07) is made valid.
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5. PARAMETERS 5.1.8 Electronic gear Parameter No. Symbol Initial Value Name PA06 CMX Electronic gear numerator (command pulse multiplying factor numerator) PA07 CDV Electronic gear denominator (command pulse multiplying factor denominator) CAUTION Control Mode Setting Range Position Speed Torque Unit 1 1 to 1048576 1 1 to 1048576 Wrong setting can lead to unexpected fast rotation, causing injury. POINT 1 CMX 2000.
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5. PARAMETERS (a) For motion in increments of 10 m per pulse n n NL/NM 1/2 NL Machine specifications Ballscrew lead Pb 10 [mm] Reduction ratio: n 1/2 Servo motor resolution: Pt 262144 [pulses/rev] CMX CDV 0 Pt S 0 Pt n Pb 10 10 3 262144 1/2 10 Pb 10[mm] NM Servo motor 262144 [pulse/rev] 524288 1000 65536 125 Hence, set 65538 to CMX and 125 to CDV. (b) Conveyor setting example For rotation in increments of 0.
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5. PARAMETERS (2) Instructions for reduction The calculated value before reduction must be as near as possible to the calculated value after reduction. In the case of (1), (b) in this section, an error will be smaller if reduction is made to provide no fraction for CDV. The fraction of Expression (5.1) before reduction is calculated as follows. 102760488 7023125 CMX CDV 146.1481927 ..................................................................................................... (5.
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5. PARAMETERS To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows f N0 60 CMX CDV f : N0 : Pt : pt Input pulses [pulse/s] Servo motor speed [r/min] Servo motor resolution [pulse/rev] 200 103 CMX CDV CMX CDV 3000 262144 60 3000 60 262144 200 103 3000 262144 60 200000 8192 125 The following table indicates the electronic gear setting example (ballscrew lead QD75 is used in this way.
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5. PARAMETERS 5.1.9 Auto tuning Parameter No. Symbol PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Initial Value Name Unit Control Mode Setting Range Position Speed Torque 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to Section 7.2 for details. (1) Auto tuning mode (parameter No. PA08) Select the gain adjustment mode. Parameter No. PA08 0 0 0 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No.
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5. PARAMETERS (2) Auto tuning response (parameter No. PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Setting Response Guideline for Machine Resonance Frequency [Hz] Setting Response Guideline for Machine Resonance Frequency [Hz] 1 Low response 10.0 17 Low response 67.1 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.
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5. PARAMETERS 5.1.11 Torque limit Parameter Name Initial Value Unit Control Mode Setting Range Position Speed Torque No. Symbol PA11 TLP Forward rotation torque limit 100.0 % 0 to 1000 PA12 TLN Reverse rotation torque limit 100.0 % 0 to 1000 The torque generated by the servo motor can be limited. Refer to Section 3.6.1 (5) and use these parameters. (1) Forward rotation torque limit (parameter No. PA11) Set this parameter on the assumption that the maximum torque is 100[%].
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5. PARAMETERS 5.1.12 Selection of command pulse input form Parameter No. Symbol PA13 Initial Value Name *PLSS Command pulse input form Unit Control Mode Setting Range Position Speed Torque Refer to the text. 0000h POINT This parameter is made valid when power is switched off, then on after setting. Select the input form of the pulse train input signal. Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen.
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5. PARAMETERS 5.1.13 Selection of servo motor rotation direction Parameter No. Symbol PA14 *POL Initial Value Name Rotation direction selection Unit 0 Control Mode Setting Range Position Speed Torque 0 1 POINT This parameter is made valid when power is switched off, then on after setting. Select servo motor rotation direction relative to the input pulse train. Parameter No.
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5. PARAMETERS (1) For output pulse designation 0 " (initial value) in parameter No. PC19. Set " Set the number of pulses per servo motor revolution. Output pulse set value [pulses/rev] For instance, set "5600" to Parameter No. pa15, the actually output A/B-phase pulses are as indicated below: A B-phase output pulses 5600 1400[pulse] 4 (2) For output division ratio setting Set " 1 " in parameter No. PC19. The number of pulses per servo motor revolution is divided by the set value.
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5. PARAMETERS 5.2 Gain/Filter Parameters (No. PB ) POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.2.1 Parameter list No.
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5. PARAMETERS No. Symbol PB42 PB43 PB44 PB45 Name Initial Value For manufacturer setting Unit Control Mode Position Speed Torque 1125 0004h 0.0 0000h 5.2.2 Detail list PB01 FILT Initial Unit Value Name and Function Adaptive tuning mode (adaptive filter ) 0000h Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No. PB13) and notch shape selection (parameter No. PB14).
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5. PARAMETERS No. Symbol PB02 VRFT Initial Unit Value Name and Function Vibration suppression control tuning mode (advanced vibration suppression control) The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning.
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5. PARAMETERS No. Symbol PB03 PST Initial Unit Value Name and Function Position command acceleration/deceleration time constant (position smoothing) Used to set the time constant of a low pass filter in response to the position command. You can use parameter No. PB25 to choose the primary delay or linear acceleration/deceleration control system. When you choose linear acceleration/deceleration, the setting range is 0 to 10ms. Setting of longer than 10ms is recognized as 10ms.
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5. PARAMETERS Initial Unit Value Control Mode Setting Range Position Speed Torque No. Symbol Name and Function PB07 PG1 Model loop gain Set the response gain up to the target position. Increase the gain to improve trackability in response to the position command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used. 24 rad/s 1 to 2000 PB08 PG2 Position loop gain Used to set the gain of the position loop.
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5. PARAMETERS No. Symbol PB14 NHQ1 Name and Function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial Unit Value Control Mode Setting Range Position Speed Torque 0000h Refer to Name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 1" Setting parameter No.
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5. PARAMETERS Initial Unit Value Control Mode Setting Range Position Speed Torque Low pass filter setting Set the low pass filter. Setting parameter No. PB23 (low pass filter selection) to " 0 " automatically changes this parameter. When parameter No. PB23 is set to " 1 ", this parameter can be set manually.
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5. PARAMETERS No. Symbol Name and Function PB25 *BOP1 Function selection B-1 Select the control systems for position command acceleration/deceleration time constant (parameter No. PB03). 0 0 Initial Unit Value Control Mode Setting Range Position Speed Torque 0000h Refer to Name and function column. 0000h Refer to Name and function column.
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function Control Mode Setting Range Position Speed Torque PB31 VG2B Gain changing - speed loop gain Set the speed loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No. PA08: 3). Note. The setting range of 50000 applies to the servo amplifier whose software version is A3 or later. The setting range of the servo amplifier whose software version is older than A3 is 20 to 20000.
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5. PARAMETERS 5.2.3 Position smoothing By setting the position command acceleration/deceleration time constant (parameter No. PB03), you can run the servo motor smoothly in response to a sudden position command. The following diagrams show the operation patterns of the servo motor in response to a position command when you have set the position command acceleration/deceleration time constant. Choose the primary delay or linear acceleration/deceleration in parameter No. PB25 according to the machine used.
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5. PARAMETERS 5.3 Extension Setting Parameters (No. PC ) POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.3.1 Parameter list No.
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5. PARAMETERS No. Symbol PC34 CMX4 PC35 TL2 PC36 *DMD PC37 VCO Name Initial Value Command pulse multiplying factor numerator 4 1 Internal torque limit 2 100.
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5. PARAMETERS 5.3.2 List of details Initial Unit Value No. Symbol Name and Function PC01 STA Acceleration time constant Used to set the acceleration time required to reach the rated speed from 0r/min in response to the analog speed command and internal speed commands 1 to 7. 0 ms 0 to 50000 If the preset speed command is lower than the rated speed, acceleration/deceleration time will be shorter. Speed Rated speed Zero speed Control Mode Setting Range Position Speed Torque Time Parameter No.
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5. PARAMETERS No. Symbol PC04 TQC Initial Unit Value Name and Function Torque command time constant Used to set the constant of a low pass filter in response to the torque command.
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5. PARAMETERS No. Symbol PC11 SC7 Initial Unit Value Name and Function Internal speed command 7 Used to set speed 7 of internal speed commands. 800 r/min Internal speed limit 7 Used to set speed 7 of internal speed limits. PC12 PC13 VCM TLC Analog speed command maximum speed Used to set the speed at the maximum input voltage (10V) of the analog speed command (VC). Set "0" to select the rated speed of the servo motor connected.
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function PC15 MOD2 Analog monitor 2 output Used to selection the signal provided to the analog monitor 2 (MO2) output. (Refer to Section 5.3.3) 0001h Refer to the Name and Function field. 0 0 0 Setting 0 1 2 3 4 5 6 7 8 9 A B C D Control Mode Setting Range Position Speed Torque Analog monitor 2 (MO2) output selection Item Servo motor speed ( 8V/max. speed) Torque ( 8V/max. torque) (Note 2) Servo motor speed (+8V/max. speed) Torque (+8V/max.
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function PC19 *ENRS Encoder output pulse selection Use to select the, encoder output pulse direction and encoder pulse output setting. 0000h Control Mode Setting Range Position Speed Torque Refer to the Name and Function field. 0 0 Encoder pulse output phase changing Changes the phases of A, B-phase encoder pulses output .
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function PC22 *COP1 Function selection C-1 0000h Select the execution of automatic restart after instantaneous power failure selection, and encoder cable communication system selection. 0 0 Control Mode Setting Range Position Speed Torque Refer to the Name and Function field.
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function PC24 *COP3 Function selection C-3 Select the unit of the in-position range. 0000h Refer to the Name and Function field. 0 0 0 In-position range unit selection 0: Command input pulse unit 1: Servo motor encoder pulse unit PC25 For manufacturer setting Do not change this value by any means. 0000h PC26 *COP5 Function selection C-5 Select the stroke limit warning (AL. 99). 0000h Refer to the Name and Function field.
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5. PARAMETERS No. Symbol PC36 *DMD Initial Unit Value Name and Function Status display selection Select the status display to be provided at power-on.
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5. PARAMETERS Initial Unit Value No. Symbol Name and Function PC38 TPO Analog torque command offset Used to set the offset voltage of the analog torque command (TC). Control Mode Setting Range Position Speed Torque 0 mV 999 to 999 Analog torque limit offset Used to set the offset voltage of the analog torque limit (TLA). PC39 MO1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor (MO1).
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5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo. (1) Setting Change the following digits of parameter No. PC14, PC15: Parameter No. PC14 0 0 0 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No. PC15 0 0 0 Analog monitor (MO2) output selection (Signal output to across MO2-LG) Parameters No.
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5.
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5. PARAMETERS (3) Analog monitor block diagram Command pulse frequency Current command Droop pulse Bus voltage Speed command Current encoder Position control Command pulse Speed control Current control PWM M Servo Motor Current feedback Encoder Differential Position feedback Feedback position Servo Motor speed Torque Home position (CR input position) 5.3.4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first.
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5. PARAMETERS 5.4 I/O Setting Parameters (No. PD ) POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.4.1 Parameter list No.
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5. PARAMETERS 5.4.2 List of details No. Symbol PD01 *DIA1 Initial Unit Value Name and Function Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. 0000h Refer to the Name and Function field. 0000h Refer to the Name and Function field.
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5. PARAMETERS No. Symbol PD03 *DI1 Initial Unit Value Name and Function Input signal device selection 1 (CN1-15) Any input signal can be assigned to the CN1-15 pin. Note that the setting digits and the signal that can be assigned change depending on the control mode. Control Mode Setting Range Position Speed Torque 0002 0202h Refer to the Name and Function field. 0021 2100h Refer to the Name and Function field.
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5. PARAMETERS No. Symbol PD05 *DI3 Initial Unit Value Name and Function Input signal device selection 3 (CN1-17) Any input signal can be assigned to the CN1-17 pin. The devices that can be assigned and the setting method are the same as in parameter No. PD03. Control Mode Setting Range Position Speed Torque 0007 0704h Refer to the Name and Function field. 0008 0805h Refer to the Name and Function field. 0003 0303h Refer to the Name and Function field.
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5. PARAMETERS No. Symbol PD10 *DI8 Initial Unit Value Name and Function Input signal device selection 8 (CN1-43) Any input signal can be assigned to the CN1-43 pin. The devices that can be assigned and the setting method are the same as in parameter No. PD03. Control Mode Setting Range Position Speed Torque 0000 0A0Ah Refer to the Name and Function field. 0000 0B0Bh Refer to the Name and Function field. 0023 2323h Refer to the Name and Function field.
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5. PARAMETERS No. Symbol PD13 *DO1 Initial Unit Value Name and Function Output signal device selection 1 (CN1-22) Any output signal can be assigned to the CN1-22 pin. Note that the device that can be assigned changes depending on the control mode. Control Mode Setting Range Position Speed Torque 0004h Refer to the Name and Function field. 000Ch Refer to the Name and Function field. 0 0 0 Select the output device of the CN1-22 pin.
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5. PARAMETERS No. Symbol PD15 *DO3 Initial Unit Value Name and Function Output signal device selection 3 (CN1-24) Any output signal can be assigned to the CN1-24 pin. The devices that can be assigned and the setting method are the same as in parameter No. PD13. Control Mode Setting Range Position Speed Torque 0004h Refer to the Name and Function field. 0007h Refer to the Name and Function field. 0 0 0 Select the output device of the CN1-24 pin.
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function PD20 *DOP1 Function selection D-1 Select the stop processing at forward rotation stroke end (LSP)/reverse rotation stroke end (LSN) OFF and the base circuit status at reset (RES) ON. 0000h 0 0 Control Mode Setting Range Position Speed Torque Refer to the Name and Function field. How to make a stop when forward rotation stroke end (LSP) reverse rotation stroke end (LSN) is valid. (Refer to Section 5.4.2.
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5. PARAMETERS No. Symbol Initial Unit Value Name and Function PD24 *DOP5 Function selection D-5 Select the alarm code and warning (WNG) outputs. 0000h 0 0 Setting of alarm code output Connector pins of CN1 Set value 23 22 0 Alarm code is output at alarm occurrence. 1 (Note) Alarm code Alarm CN1 CN1 CN1 display pin 22 pin 23 pin 24 0 0 0 0 0 1 0 1 0 0 1 1 0 0 1 1 1 24 Alarm code is not output. 1 0 1 0 Name 88888 Watchdog AL.12 Memory error 1 AL.13 Clock error AL.
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5. PARAMETERS No. PD25 PD26 Symbol Initial Unit Value Name and Function Control Mode Setting Range Position Speed Torque 0 For manufacturer setting Do not change this value by any means. 0 PD27 0 PD28 0 PD29 0 PD30 0 5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern The stopping pattern is factory-set to make a sudden stop when the forward/reverse rotation stroke end is made valid. A slow stop can be made by changing the parameter No. PD20 value. Parameter No.
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5.
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6. DISPLAY AND OPERATION SECTIONS 6. DISPLAY AND OPERATION SECTIONS 6.1 Overview The MR-J3-A servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 pushbuttons) for servo amplifier status display, alarm display, parameter setting, etc. The operation section and display data are described below. 5-digit LED MO UP DO Displays data. SET Decimal LED Displays the decimal points, alarm presence/absence, etc.
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6. DISPLAY AND OPERATION SECTIONS 6.2 Display Sequence Press the "MODE" button once to shift to the next display mode. Refer to Section 6.3 and later for the description of the corresponding display mode. To refer to or set the gain filter parameters, extension setting parameters and I/O setting parameters, make them valid with parameter No. PA19 (parameter write disable). Display mode transition Initial screen Function Reference Servo status display. appears at power-on.
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6. DISPLAY AND OPERATION SECTIONS 6.3 Status display The servo status during operation is shown on the 5-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display its data. At only power-on, however, data appears after the symbol of the status display selected in parameter No. PC36 has been shown for 2[s].
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6. DISPLAY AND OPERATION SECTIONS 6.3.2 Display examples The following table lists display examples: Item Displayed data Status Servo amplifier display Forward rotation at 3000r/min Servo motor speed Reverse rotation at 3000r/min Reverse rotation is indicated by " ". Load inertia moment 15.5 times 11252pulse Multi-revolution counter 12566pulse Lit Negative value is indicated by the lit decimal points in the upper four digits.
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6. DISPLAY AND OPERATION SECTIONS 6.3.3 Status display list The following table lists the servo statuses that may be shown: Refer to Appendix 2 for the measurement point. Name Display range Symbol Unit Description Cumulative feedback pulses C pulse 99999 to 99999 Servo motor speed r r/min Feedback pulses from the servo motor encoder are counted and displayed.
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6. DISPLAY AND OPERATION SECTIONS Display range Name Symbol Unit Description Within one-revolution position high Cy2 100 pulse The within one-revolution position is displayed in 100 pulse increments of the encoder. The value returns to 0 when it exceeds the maximum number of pulses. The value is incremented in the CCW direction of rotation.
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6. DISPLAY AND OPERATION SECTIONS 6.4 Diagnostic mode Name Display Description Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Sequence Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate. External I/O signal display Indicates the ON-OFF states of the external I/O signals. The upper segments correspond to the input signals and the lower segments to the output signals.
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6. DISPLAY AND OPERATION SECTIONS Name Display Description Motor series Press the "SET" button to show the motor series ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual. Motor type Press the "SET" button to show the motor type ID of the servo motor currently connected. For indication details, refer to the optional MELSERVO Servo Motor Instruction Manual.
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6. DISPLAY AND OPERATION SECTIONS 6.5 Alarm mode The current alarm, past alarm history and parameter error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display examples are shown below. Name Display Description Indicates no occurrence of an alarm. Current alarm Indicates the occurrence of overvoltage (AL.33). Flickers at occurrence of the alarm. Indicates that the last alarm is overload 1 (AL.50).
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6. DISPLAY AND OPERATION SECTIONS 6.6 Parameter mode POINT To use the I/O setting parameters, change the parameter No. PA19 (parameter write inhibit value. (Refer to Section 5.1.1) The I/O signal settings can be changed using the I/O setting parameter No. PD03 to PD08, PD10 to PD18. 6.6.1 Parameter mode transition After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or "DOWN" button changes the display as shown below.
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6. DISPLAY AND OPERATION SECTIONS 6.6.2 Operation example (1) Parameter of 5 or less digits The following example shows the operation procedure performed after power-on to change the control mode (Parameter No. PA01) into the speed control mode. Press "MODE" to switch to the basic setting parameter screen. Press MODE four times. Select parameter No.8 with UP or DOWN. The parameter number is displayed. Press UP or DOWN to change the number. Press SET twice.
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6. DISPLAY AND OPERATION SECTIONS (2) Signed 6-digit or more parameter The following example gives the operation procedure to change the electronic gear numerator (parameter No. PA06) to "123456". (Note) Press MODE three times. Press UP or DOWN to choose parameter No. PA06. Press SET once. Setting of lower 4 digits Setting of upper 1 digits Press MODE once. Press SET once. The screen flickers. Press UP or DOWN to change the setting. Press SET once. Enter the setting. Press MODE once. Note.
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6. DISPLAY AND OPERATION SECTIONS 6.7 External I/O signal display The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed. (1) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press UP once. External I/O signal display screen (2) Display definition The 7-segment LED segments and CN1 connector pins correspond as shown below.
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6. DISPLAY AND OPERATION SECTIONS (a) Control modes and I/O signals Connector Pin No. Signal input/output (Note 1) I/O 15 I 16 I 17 I CN1 (Note 2) Symbols of I/O signals in control modes P P/S S S/T T T/P Related parameter SON SON SON SON SON SON No. PD03 /SP2 SP2 SP2/SP2 SP2 SP2/ No. PD04 PC PC/ST1 ST1 ST1/RS2 RS2 RS2/PC No. PD05 18 I TL TL/ST2 ST2 ST2/RS1 RS1 RS1/TL No. PD06 19 I RES RES RES RES RES RES No.
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6.
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6. DISPLAY AND OPERATION SECTIONS 6.8 Output signal (DO) forced output POINT When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side. The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc.
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6. DISPLAY AND OPERATION SECTIONS 6.9 Test operation mode CAUTION The test operation mode is designed to confirm servo operation. Do not use it for actual operation. If any operational fault has occurred, stop operation using the emergency stop (EMG) signal. POINT The test operation mode cannot be used in the absolute position detection system. Use it after choosing "Incremental system" in parameter No. PA03. The servo configuration software is required to perform positioning operation.
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6. DISPLAY AND OPERATION SECTIONS 6.9.2 Jog operation POINT When performing jog operation, turn ON EMG, LSP and LSN. LSP and LSN can be set to automatic ON by setting parameter No. PD01 to " C ". Jog operation can be performed when there is no command from the external command device. (1) Operation Connect EMG-SG to start jog operation and connect VDD-COM to use the internal power supply. Hold down the "UP" or "DOWN" button to run the servo motor. Release it to stop.
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6. DISPLAY AND OPERATION SECTIONS 6.9.3 Positioning operation POINT MR Configurator (Servo Configuration software) is required to perform positioning operation. Turn ON EMG when performing positioning operation. With no command given from the external command device, positioning operation can be executed once. (1) Operation a) g) b) h) c) i) j) d) e) k) f) l) a) Motor speed [r/min] Enter the servo motor speed into the "Motor speed" input field.
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6. DISPLAY AND OPERATION SECTIONS g) Forward/Reverse Click the "Forward" button to rotate the servo motor in the forward rotation direction. Click the "Revers" button to rotate the servo motor in the reverse rotation direction. h) Pause Click the "Pause" button during servo motor rotation to temporarily stop the servo motor. This button is valid during servo motor rotation. i) Restart Click the "Restart" button during a temporary stop to restart the servo motor rotation.
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7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT POINT For use in the torque control mode, you need not make gain adjustment. 7.1 Different adjustment methods 7.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order.
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7. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Interpolation made for 2 or more axes? Yes Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No OK? Yes Auto tuning mode 2 Operation Yes Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes.
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7. GENERAL GAIN ADJUSTMENT 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1.
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7. GENERAL GAIN ADJUSTMENT 7.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Encoder Loop gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Current feedback Set 0 or 1 to turn on. Gain table Parameter No. PA08 Parameter No. PA09 0 0 0 Gain adjustment mode selection Real-time auto tuning section Switch Load inertia moment ratio estimation section Position/speed feedback Speed feedback Parameter No.
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7. GENERAL GAIN ADJUSTMENT 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied.
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7. GENERAL GAIN ADJUSTMENT 7.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
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7. GENERAL GAIN ADJUSTMENT 7.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No. PB13 to PB16) may be used to suppress machine resonance. (Refer to Section 8.1.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment: Parameter No.
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7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate.
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7. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Model loop gain (parameter No. PB07) This parameter determines the response level of the model loop. Increasing position loop gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling. Model loop gain guideline Speed loop gain 2 setting (1 ratio of load inertia moment to servo motor inertia moment) ( 14 to 18 ) 2) Speed loop gain (VG2: parameter No.
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7. GENERAL GAIN ADJUSTMENT 7.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the model loop gain and speed loop gain which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.
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7. GENERAL GAIN ADJUSTMENT 7.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MELSERVO-J2S-Super series. The following table lists comparison of the response level setting. MELSERVO-J2-Super Parameter No. 2 Setting 1 2 MELSERVO-J3 Guideline for Machine Resonance Guideline for Machine Resonance Parameter No. PA09 Setting Frequency [Hz] Frequency [Hz] 15 20 1 10.
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7.
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8. SPECIAL ADJUSTMENT FUNCTIONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
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8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Parameter No.60 0 0 0 Filter tuning mode selection Setting 0 Filter adjustment mode Automatically set parameter Filter OFF (Note) 1 Filter tuning mode Parameter No. PB13 Parameter No. PB14 2 Manual mode Note. Parameter No. PB19 and PB20 are fixed to the initial values.
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8. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration or unusual noise occurred? Yes Execute or re-execute adaptive tuning. (Set parameter No. PB01 to "0001".) Tuning ends automatically after the predetermined period of time. (Parameter No. PB01 turns to "0002" or "0000".
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8. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual mode.
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8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective. POINT The machine resonance suppression filter is a delay factor for the servo system.
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8. SPECIAL ADJUSTMENT FUNCTIONS 8.4 Advanced Vibration Suppression Control Position Position (1) Operation Vibration suppression control is used to further suppress machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
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8. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. Has vibration of workpiece end/device increased? No Yes Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No. PB02 to "0001".) Resume operation. Tuning ends automatically after operation is performed the predetermined number of times.
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8. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No. PB19) and vibration suppression control resonance frequency (parameter No. PB20) to set vibration suppression control manually.
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8. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine end vibration does not show up in motor end vibration, the setting of the motor end vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance.
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8. SPECIAL ADJUSTMENT FUNCTIONS 8.5 Low-pass filter (1) Function When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression: VG2 Filter frequency(rad/s) 10 1 + GD2 When parameter No.
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8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No. PB26) and gain changing condition CDS (parameter No. PB27). CDP Parameter No. PB26 External signal CDP Command pulse frequency Droop pulses Changing Model speed CDS Parameter No. PB27 Comparator GD2 Parameter No. PB06 GD2B Parameter No. PB29 Valid GD2 value PG2 Parameter No.
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8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.3 Parameters When using the gain changing function, always set " 3" in parameter No. PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter Abbrevi No.
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8. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed. (2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No. PB29) Set the ratio of load inertia moment to servo motor inertia moment after changing.
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8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation PB07 Name Setting Unit PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.
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8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Setting Unit PB07 PG1 Model loop gain Name 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.0 times PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 2 3000 rad/s PB10 VIC Speed integral compensation 20 ms 10.
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8.
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9. TROUBLESHOOTING 9. TROUBLESHOOTING POINT As soon as an alarm occurs, turn off Servo-on (SON) and power off. If an alarm/warning has occurred, refer to this chapter and remove its cause. 9.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to Section 9.2 or 9.3 and take the appropriate action. When an alarm occurs, ALM turns off. Set " 1" in parameter No.
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9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. If an absolute position erase (AL.25) occurred, always make home position setting again. Otherwise, misoperation may occur. As soon as an alarm occurs, turn off Servo-on (SON) and power off. POINT When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly.
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9. TROUBLESHOOTING Display AL.15 Name Memory error 2 (EEP-ROM) Definition EEP-ROM fault Cause 1. Faulty parts in the servo amplifier Action Change the servo amplifier. Checking method Alarm (AL.15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. AL.16 Encoder error 1 Communication error 1. Encoder connector (CN2) (At power on) occurred between disconnected. encoder and servo 2.
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9. TROUBLESHOOTING Display Name AL.30 Regenerative alarm Definition Permissible regenerative power of the built-in regenerative brake resistor or regenerative brake option is exceeded. Cause 1. Wrong setting of parameter No. PA02 2. Built-in regenerative brake resistor or regenerative brake option is not connected. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded.
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9. TROUBLESHOOTING Display AL.33 Name Overvoltage Definition Converter bus voltage exceeded 400VDC. Cause Action 1. Regenerative brake option is not used. Use the regenerative brake option. 2. Though the regenerative brake option is used, the parameter No.PA02 setting is " 00 (not used)". Setcorrectly. 3. Lead of built-in regenerative brake 1. Change lead. resistor or regenerative brake option 2. Connect correctly. is open or disconnected. 4. Regenerative transistor faulty.
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9. TROUBLESHOOTING Display AL.50 Name Overload 1 Definition Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Servo amplifier is used in excess of its continuous output current. 1. Reduce load. 2. Review operation pattern. 3. Use servo motor that provides larger output. 2. Servo system is instable and hunting. 1. Repeat acceleration/ deceleration to execute auto tuning. 2. Change auto tuning response setting. 3.
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9. TROUBLESHOOTING Display AL.52 Name Definition Error excessive The difference between the model position and the actual servomotor position exceeds three rotations. (Refer to the function block diagram in Section 1.2.) Cause 1. Acceleration/deceleration time constant is too small. 2. Foward torque limit (parameter No.PA11) or reverse torque limit (parameter No.PA12) are too small. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. 4. Model loop gain 1 (parameter No.
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9. TROUBLESHOOTING Display Name AL.96 Home position setting warning AL.99 Stroke limit warning AL.9F Battery warning AL.E0 Excessive regenerative warning Definition Home position setting could not be made. The sutroke end (LSP or LSN) of the direction which gave instructions was turned off. Voltage of battery for absolute position detection system reduced.
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10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 Servo Amplifier (1) MR-J3-10A MR-J3-20A MR-J3-10A1 MR-J3-20A1 [Unit: mm] ([Unit: in]) 6 (0.236) mounting hole 40 (1.575) 6(0.236) 161 (6.339) CN6 CN5 U V W 6 (0.236) (25.5) With MR-J3BAT (1.004) (14(0.551)) 6(0.236) CHARGE (68(2.677)) 135 (5.315) 168 (6.614) CNP3 P C D L11 L21 CN3 P1 CNP2 P2 (80 (3.15)) CN1 L1 CNP1 L2 (Note) L3N 156 (6.142) L1 L2 L3 N P1 P2 PCDL11L21 U V W (Note) 6(0.236) CN4 CN2LCN2 4 (0.157) Note.
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10. OUTLINE DRAWINGS (2) MR-J3-40A MR-J3-60A MR-J3-40A1 [Unit: mm] ([Unit: in]) 6 (0.236) mounting hole 40 (1.575) 6(0.236) 6(0.236) CN6 CN5 CN3 P1 P2 P C D L11 L21 CN1 CNP3 U V W CHARGE With MR-J3BAT (1.004) (14(0.551)) 6 (0.236) (25.5) (68(2.677)) 170(6.693) 161 (6.339) 168 (6.614) 156 (6.142) N 6(0.236) L1 L2 L3 N P1 P2 PCDL11L21 U V W (Note) CNP1 L1L2 (Note) L3 CNP2 (80 (3.15)) CN4CN2LCN2 5(0.197) Note.
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10. OUTLINE DRAWINGS (3) MR-J3-70A MR-J3-100A [Unit: mm] ([Unit: in]) 6 (0.236) mounting hole 6(0.236) 12 (0.472) CN6 CN5 L2 CN3 CNP2 P2P C D L11 L21 CN1 156 (6.142) N P1 CNP3 U V W CHARGE (0.236) (0.472) 12 42 (1.654) (25.5) With MR-J3BAT (1.004) (14(0.551)) FAN WIND DIRECTION 6 (68(2.677)) 185(7.283) 161 (6.339) 168 (6.614) L1 L3 6(0.236) L1 L2 L3 N P1 P2 PCDL11L21 U V W CNP1 (80(3.15)) CN4CN2LCN2 6(0.236) 60 (2.362) Mass: 1.4 [kg] (3.
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10. OUTLINE DRAWINGS (4) MR-J3-200A MR-J3-350A 6(0.236) [Unit: mm] ([Unit: in]) 6 (0.236) mounting hole 90(3.543) 85(3.346) 6(0.236) 45 (1.772) (80 (3.15)) 195(7.677) 21.4 (0.84) 168 (6.614) L2 L3 P2 P3 U V W CHARGE P C D L11 L21 6(0.236) (25.5(1.004)) (68(2.677)) (14(0.551)) 6(0.236) 156 (6.142) L1 P1 FAN WIND DIRECTION (0.236) 6 78(3.071) 6(0.236) With MR-J3BAT Mass: 1.4 [kg] (3.086 [lb]) Terminal signal layout L1 Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.
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10. OUTLINE DRAWINGS (5) MR-J3-500A 6(0.236) (7.5 (0.295)) [Unit: mm] ([Unit: in]) 2- 6 (0.236) mounting hole (80 (3.15)) 200 (7.874) 131.5 (5.177) 130 (5.118) 68.5 (2.697) Fan air orientation 118 (4.648) 6 (0.236) Terminal layout (Terminal cover open) CN5 CN6 CN3 CN2 CN2L CN4 CN4 CN2L CN2 CN1 CAUTION WARNING CN1 235 (9.253) CAUTION WARNING TE2 TE3 With MR-J3BAT CHARGE TE1 20.5 (0.807) 6 (0.236) (7.5 (0.295)) 250 (9.843) CN3 CN6 CN5 FAN 3 places for ground (M4) Mass: 4.
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10. OUTLINE DRAWINGS (6) MR-J3-700A [Unit: mm] ([Unit: in]) (7.5 (0.295)) 6 (0.236) 2- 6 (0.236) mounting hole (80 (3.15)) 172 (6.772) 160 (6.299) 200 (7.874) 138 (5.433) 62 (2.441) Fan air orientation 6 (0.236) Terminal layout (Terminal cover open) CN5 CN6 CN3 CN3 CN6 CN5 FAN CN2 CN2L CN4 CN4 CN2L CN2 285 (11.22) With MR-J3BAT TE2 CHARGE 20.5 (0.807) 6 (0.236) (7.5 (0.295)) 300 (11.811) CN1 CAUTION WARNING CN1 CAUTION WARNING TE3 3 places for ground (M4) TE1 Mass: 6.
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10. OUTLINE DRAWINGS 10.2 Connector (for CN1) (1) Soldered type (3M) Model Connector : 10150-3000VE Shell kit : 10350-52F0-008 [Unit: mm] ([Unit: in]) 14.0 (0.55) 17.0 (0.67) 39.0 (1.54) 18.0 (0.71) 46.5 (1.83) Logo, etc. are indicated here. 23.8 (0.94) 41.1 (1.62) 52.4 (2.06) 12.7 (0.50) (2) Threaded type (3M) Model Connector : 10150-3000VE Shell kit : 10350-52A0-008 Note. This is not available as option and should be user-prepared. [Unit: mm] ([Unit: in]) 14.0 (0.55) 17.0 (0.67) 39.0 (1.
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10. OUTLINE DRAWINGS (3) For CN2 connector (3M) Receptacle: 36210-0100JL Shell kit : 36310-3200-008 39.5 (1.56) 22.4 (0.88) 11.0 (0.43) 34.8 (1.
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11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (AL.50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 11.1. Overload 2 alarm (AL.51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
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11. CHARACTERISTICS 11.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 11.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
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11. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 11.1: P ..........................................................
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11. CHARACTERISTICS 11.3 Dynamic brake characteristics Fig. 11.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 11.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to Fig. 11.4) Emergency stop(EMG) ON OFF Time constant V0 Machine speed Time te Fig. 11.
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11. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. Servo amplifier Load inertia moment ratio [times] MR-J3-10A (1) MR-J3-20A (1) MR-J3-40A (1) MR-J3-60A 30 MR-J3-70A MR-J3-100A MR-J3-200A MR-J3-350A 16 MR-J3-500A 15 MR-J3-700A (Note) 15 Note.
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11. CHARACTERISTICS 11.4 Encoder cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or auxiliary equipment, make sure that the charge lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 12.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.
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12. OPTIONS AND AUXILIARY EQUIPMENT No. Product 1) Servo amplifier power supply connector Model Description CNP2 CNP1 connector: 54928-0610 connector: 54927-0510 (Molex) (Molex) Wire size: 0.14mm2(AWG26) to 2.5mm2 (AWG14) Cable finish OD: to 3.8mm 2) Application Supplied with servo amplifiers of 1kW or less CNP3 connector: 54928-0310 (Molex) REC. Lever: 54932-0000 (Molex) Supplied with servo amplifiers of 2kW and 3.
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12. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description 8) Motor power supply cable MR-PWS1CBL Cable length: 2 M-A1-L 5 10m 9) Motor power supply cable MR-PWS1CBL Cable length: 2 M-A1-H 5 10m 10) Motor power supply cable MR-PWS1CBL Cable length: 2 M-A2-L 5 10m 11) Motor power supply cable MR-PWS1CBL Cable length: 2 M-A2-H 5 10m Application Power supply connector HF-MP series HF-KP series IP65 Load side lead IP65 Load side lead Long flex life Refer to Section 12.1.
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12. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model Description Application 20) Encoder cable MR-J3ENCBL M-A1-L Cable length: 2 5 10m Encoder connector 21) Encoder cable MR-J3ENCBL M-A1-H Cable length: 2 5 10m HF-MP series HF-KP series 22) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m 23) Encoder cable MR-J3ENCBL M-A2-H Cable length: 2 5 10m Refer to Section 12.1.2 (1) for details. Encoder connector HF-MP series HF-KP series Refer to Section 12.1.2 (1) for details.
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12. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 33) Power supply connector set MR-PWCNS4 34) Power supply connector set MR-PWCNS5 35) Power supply connector set MR-PWCNS3 36) Cable for connecting battery MR-J3BTCBL03M Description Plug: CE05-6A18-10SD-B-BSS Cable clamp: CE3057-10A-1 (D265) (DDK) Example of applicable cable Wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12) Cable finish D: 10.5 to 14.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Cable Length Cable Model 0.3m 2m 5m 10m 20m 30m 40m 50m (0.984ft) (6.56ft) (16.4ft) (32.8ft) (65.6ft) (98.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector P5 1 LG 2 MR 3 MRR 4 9 BAT Plate SD (2) MR-EKCBL 3 6 5 4 2 9 P5 LG MR MRR BAT SHD M-L/H POINT The following encoder cables are of four-wire type. When using any of these encoder cables, set parameter No. PC22 to "1 " to select the four-wire type.
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12. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-EKCBL M-H MR-J3JCBL03M-L Cable length: 0.
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12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to Section 12.8 for the specifications of the used cable.
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12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP Series servomotors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared. Cable Model MR-J3ENSCBL M-L MR- J3ENSCBL M-H Cable Length 2m 5m 10m 20m 30m 40m (6.56ft) (16.4ft) (32.8ft) (65.6ft) (98.
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12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable Length Cable Model MR-J3BTCBL03M 0.3m Application For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier 1) MR-J3BTCBL03M (Note) Encoder cable Servo motor CN2 2) Battery 3) Note.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to Section 3.10 when wiring. Cable Length Cable Model Protective 0.3m 2m 5m 10m 20m 30m 40m 50m Structure (0.984ft) (6.56ft) (16.4ft) (32.8ft) (65.6ft) (98.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to Section 3.11 when wiring. Cable Length Cable Model Protective Flex Life 0.3m 2m 5m 10m 20m 30m 40m 50m Structure (0.984ft) (6.56ft) (16.4ft) (32.8ft) (65.6ft) (98.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.2 Regenerative brake options The specified combinations of regenerative brake options and servo amplifiers may only be used. Otherwise, a fire may occur. CAUTION (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option POINT When the MR-RB50 MR-RB51 is used, a fan is required to cool it. The cooling fan should be prepared by the customer. For the sizes of wires used for wiring, refer to Section 12.8. The regenerative brake option will generate heat of about 100 . Fully examine heat dissipation, installation position, used cables, etc. before installing the option.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-500A MR-J3-700A Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal protector. G3-G4 are opened when the regenerative brake option overheats abnormally. Servo amplifier P C Always remove wiring (across P-C) of servo amplifier built-in regenerative brake resistor. Regenerative brake option P C (Note 2) G3 G4 5m(16.
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12. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-500A. For built-in regenerative brake resistor lead terminal fixing screw, refer to Chapter 10. Built-in regenerative brake resistor lead terminal fixing screw For the MR-RB51 install the cooling fan as shown. [Unit : mm(in)] Fan installation screw hole dimensions 2-M3 screw hole Top Bottom 82.5 82.5 (3.25) Thermal relay 133 (for fan installation) Depth 10 or less (Screw hole already machined) Terminal block (5.
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12. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm] TE1 terminal block G3 6 mounting hole G4 12 (0.47) 6 (0.23) LA LB P C Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) 144 (5.67) Mounting screw Screw: M5 Tightening torque: 3.2 [N m] (28.3 [lb in]) 5 (0.20) 6 (0.23) Regenerative brake option 6 (0.23) 12 (0.79) G3 G4 P C TE1 156 (6.14) 168 (6.61) MR-RB 20 (0.79) LD 1.6 (0.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm] 82.5 (3.25) 133 (5.24) 12.5 (0.49) G4 G3 C P 162.5 (6.39) 14 slot 350 (13.78) 7 Terminal block Wind blows in the arrow direction. 162.5(6.39) 82.5 49 (1.93) (3.25) Fan mounting screw (2-M3 screw) On opposite side P C Terminal screw: M4 G3 Tightening torque: 1.2 [N m](10 [lb in]) G4 Mounting screw Screw : M6 Tightening torque: 5.4 [N m](47.79 [lb in]) Regenerative brake option MR-RB50 200 (7.87) 223 (8.78) 17 (0.67) 12.5 (0.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.3 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage. The brake unit and resistor unit must be installed on a vertical surface in the vertical direction. If they are installed in the horizontal direction or on a horizontal surface, a heat dissipation effect reduces.
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12. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m(16.404ft) should be twisted. If twisted, the cables must not be longer than 10m(32.808ft). The cable size should be equal to or larger than the recommended size. See the brake unit instruction manual. You cannot connect one set of brake unit to two servo amplifiers or two sets of brake units to one servo amplifier.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) FR-BR-55K Two eye bolts are provided (as shown below). 204 Eye bolt (8.031) 33 (1.299) 40 (1.575) EE (E) AA 5 (0.197) C 5 (0.197) EE (E) (Note) (F) Control circuit terminals Main circuit terminals BB 3 (0.118) B 5 (0.197) BA 1 (0.039) K 2- D (F) [Unit : mm(in)] A 5 (0.197) Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Unit Model A AA FR-BR15K 170 (6.693) 100 (3.
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12. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 L21 NFB Power factor improving reactor MC FR-BAL L1 Power supply 3-phase 200V or 230VAC L2 Emergency stop (Note 3) L3 CN1 EMG DOCOM SON DICOM DOCOM ALM Servo-on CN1 24VDC (Note 3) RA Trouble (Note 2) P1 P2 N (Note 4) N/ C P P/ 5m(16.
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12. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm(in)] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan K F EE D AA C A Heat generation area outside mounting dimension Power regeneration converter A AA FR-RC-15K 270 (10.630) 200 (7.874) FR-RC-30K C D E EE K F Approx. Mass [kg(Ib)] 450 432 (17.717) (17.008) 195 (7.677) 10 (0.394) 10 (0.394) 8 (0.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.5 Junction terminal block MR-TB50 (1) How to use the junction terminal block Always use the junction terminal block (MR-TB50) with the junction terminal block cable (MR-J2MCN1TBL M) as a set.
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12. OPTIONS AND AUXILIARY EQUIPMENT (4) Junction terminal block cable MR-J2M-CN1TBL M (a) Model explanation Model: MR-J2M-CN1TBL M Symbol Cable length[m(ft)] 05 0.5 (1.64) 1 1 (3.28) (b) Connection diagram PCR-S50FS(Servo amplifier side) Signal Symbols Pin No.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.6 MR Configurator The MR configurator (MRZJW3-SETUP211E) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. (1) Specifications Item Baudrate [bps] Monitor Alarm Description 115200, 57600, 38400, 19200, 9600 Display, high speed monitor, trend graph Minimum resolution changes with the processing speed of the personal computer.
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12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) To diagnose the trouble using diagnosis cable (MR-J3ACHECK) POINT The amplifier diagnosis function can be used with the following software versions of the servo amplifier. Servo amplifier: A1 or later Do not turn the power on with all connectors connected. Do not connect or disconnect connectors after the power is turned on. Otherwise failure will be caused. This cable is a diagnosis cable of the servo amplifier.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.7 Battery Unit MR-J3BAT POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.8 Recommended wires (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
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12. OPTIONS AND AUXILIARY EQUIPMENT Use wires 6) of the following sizes with the brake unit (FR-BU) and power regeneration converter (FR-RC). 2 Model FR-BU-15K FR-BU-30K FR-BU-55K FR-RC-15K Wires[mm ] 3.5(AWG12) 5.5(AWG10) 14(AWG6) 14(AWG6) Table 12.
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12. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 12.3 Wires for option cables Characteristics of one core Type Length [m(ft)] Model MR-J3ENCBL Core size Number [mm2] of Cores M-A2-L MR-J3ENCBL M-A1-H MR-J3ENCBL 53 or less 1.2 7.1 0.3 (Note 4) VSVP 7/0.26 (AWG#22 or equivalent)-3P Specification-16823 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.3 (Note 4) ETEF SVP 70/0.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.9 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.10 Power Factor Improving DC Reactor POINT For the 100VAC power supply type (MR-J3- A1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor. It can decrease the power supply capacity. As compared to the power factor improving AC reactor (FR-BAL), it can decrease the loss. The input power factor is improved to about 95%.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.11 Power factor improving reactors The power factor improving reactors improve the phase factor by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. For use with a 1-phase power supply, it may be slightly lower than 90%. In addition, it reduces the higher harmonic of input side.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.13 Surge absorbers (Recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. Insulate the wiring as shown in the diagram. Maximum rating Static Maximum capacity Varistor voltage limit voltage (reference rating (range) V1mA Permissible circuit Surge Energy Rated voltage immunity immunity power [A] [J] [W] [A] [V] [pF] 5 0.4 25 360 300 AC[Vma] DC[V] 140 180 Note.
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12. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
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12. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1.
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12. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. MC Relay Surge suppressor Surge suppressor Surge suppressor This distance should be short (within 20cm(0.79 in.)). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Outline drawing [Unit: mm] ([Unit: in.
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12. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] ([Unit: in.]) Earth plate Clamp section diagram 2- 5(0.20) hole installation hole A B C AERSBAN-DSET 100 (3.94) 86 (3.39) 30 (1.18) AERSBAN-ESET 70 (2.76) 56 (2.20) Accessory fittings Clamp fitting L clamp A: 2pcs. A 70 (2.76) clamp B: 1pc. B 45 (1.77) 12 - 46 (0.940) 0.3 0 24 Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type 10(0.39) A 35(1.38) 11(0.43) (0.24) C 22(0.
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12. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outline drawing [Unit: mm] ([Unit: in.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.15 Leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply. Select a leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.
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12. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: 2mm2 5m 2mm2 5m NV Servo amplifier MR-J3-40A Ig1 Iga Servo motor M HF-KP43 Ig2 Igm Use a leakage current breaker generally available. Find the terms of Equation (12.2) from the diagram: Ig1 20 5 1000 0.1 [mA] Ig2 20 5 1000 0.1 [mA] Ign 0 (not used) Iga 0.1 [mA] Igm 0.1 [mA] Insert these values in Equation (12.2): Ig 10 {0.
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12. OPTIONS AND AUXILIARY EQUIPMENT 12.16 EMC filter (Recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Mass [kg]([lb]) Model Leakage current [mA] MR-J3-10A to MR-J3-100A MR-J3-10A1 to MR-J3-40A1 (Note) HF3010A-UN 5 3 (6.61) MR-J3-250A (Note) HF3030A-UN 5 5.5 (12.
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12. OPTIONS AND AUXILIARY EQUIPMENT HF3030A-UN HF-3040A-UN 6-K 3-L G F E D 1 2 1 2 3-L C 1 M J 2 C 1 H 2 B 2 A 5 Model Dimensions [mm(in)] A B C D E F G H J HF3030A-UN 260 (10.24) 210 (8.27) 85 (8.35) 155 (6.10) 140 (5.51) 125 (4.92) 44 (1.73) 140 (5.51) 70 (2.76) HF3040A-UN 260 (10.24) 210 (8.27) 85 (8.35) 155 (6.10) 140 (5.51) 125 (4.92) 44 (1.73) 140 (5.51) 70 (2.76) 12 - 51 K L M R3.25, length 8 (0.
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12.
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13. COMMUNICATION FUNCTION 13. COMMUNICATION FUNCTION Using the serial communication function of RS-422, this servo amplifier enables servo operation, parameter change, monitor function, etc. 13.1 Configuration (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable or RS-422/232C communication converter.
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13. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below.
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13. COMMUNICATION FUNCTION 13.2 Communication specifications 13.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.
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13. COMMUNICATION FUNCTION 13.2.2 Parameter setting When the USB/RS-422 communication function is used to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these parameters, they are made valid by switching power off once, then on again. (1) Serial communication baudrate Choose the communication speed. Match this value to the communication speed of the sending end (master station). Parameter No.
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13. COMMUNICATION FUNCTION 13.3 Protocol 13.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter. Transmission data is valid for the servo amplifier of the specified station number or group.
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13. COMMUNICATION FUNCTION 13.3.2 Character codes (1) Control codes Code name Hexadecimal Personal computer terminal key operation Description (ASCII code) (General) SOH 01H start of head ctrl A STX 02H start of text ctrl B ETX 03H end of text ctrl C EOT 04H end of transmission ctrl D (2) Codes for data ASCII unit codes are used.
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13. COMMUNICATION FUNCTION 13.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred.
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13. COMMUNICATION FUNCTION 13.3.5 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the master station retransmits the message. Time-out occurs if the slave station does not answer after the master station has performed the above operation three times.
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13. COMMUNICATION FUNCTION 13.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initialization processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed after the slave station is switched on; and (2) Making sure that normal communication can be made by reading the parameter or other data which does not pose any safety problems. 13.3.
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13. COMMUNICATION FUNCTION 13.4 Command and Data No. List POINT If the command and data No. are the same, the description may be different from that of the other servo amplifier. 13.4.1 Read commands (1) Status display (Command [0][1]) Command Data No.
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13. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) Command Data No. [0] [4] [0] [1] Description Parameter group read 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.PB ) 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD ) Frame Length 4 ) [0] [5] [0] [0] to [F] [F] Current values of parameters Reads the current values of the parameters in the parameter group specified with the command [8][5] + data No.
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13. COMMUNICATION FUNCTION (4) Alarm history (Command [3][3]) Command Data No.
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13. COMMUNICATION FUNCTION Command Data No.
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13. COMMUNICATION FUNCTION (6) Test operation mode (Command [0][0]) Command Data No. [0] [0] [1] [2] Description Test operation mode read Frame Length 4 0000: Normal mode (not test operation mode) 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output [0] [0] [2] [1] Reads the status during test operation mode (positioning operation).
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13. COMMUNICATION FUNCTION 13.4.2 Write commands (1) Status display (Command [8][1]) Command Data No. [8] [1] [0] [0] Description Setting Range Status display data erasure 1EA5 Frame Length 4 (2) Parameters (Command [8][4] [8][5]) Command Data No. Description Setting Range Frame Length [8] [4] [0] [0] to [F] [F] Write of parameters Writes the values of the parameters in the parameter group specified with the command [8][5] + data No. [0][0].
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13. COMMUNICATION FUNCTION (7) Operation mode selection (Command [8][B]) Command Data No. [8] [B] [0] [0] Description Operation mode switching 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output Setting Range 0000 to 0004 Frame Length 4 (8) Test operation mode data (Command [9][2] [A][0]) Command [9] [2] [A] [0] Data No.
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13. COMMUNICATION FUNCTION 13.5 Detailed explanations of commands 13.5.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed according to the application.
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13. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position. The data to be sent is the following value. 0 Data is transferred in hexadecimal.
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13. COMMUNICATION FUNCTION 13.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to [0][E]. (Refer to Section 13.4.1.) (b) Reply The slave station sends back the status display name and unit requested.
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13. COMMUNICATION FUNCTION 13.5.3 Parameters (1) Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated. Command Data No. Transmission Data Parameter Group [8] [5] [0] [0] 0000 Basic setting parameter (No.PA 0001 Gain filter parameter (No.PB 0002 Extension setting parameter (No.
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13. COMMUNICATION FUNCTION (3) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to Section 13.4.1.) The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. (b) Reply The slave station sends back the data and processing information of the parameter No.
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13. COMMUNICATION FUNCTION (5) Parameter write POINT The number of parameter write times is restricted to 100,000 times. Write the parameter setting into EEP-ROM of the servo amplifier. Specify the parameter group in advance (refer to (1) in this section). Write the value within the setting enabled range. For the setting enabled range, refer to Chapter 5 or read the setting range by performing operation in (3) of this section. Transmit command [8][4], the data No. , and the set data. The data No.
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13. COMMUNICATION FUNCTION 13.5.4 External I/O signal statuses (DI0 diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No. [0][0]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
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13. COMMUNICATION FUNCTION (3) Read of the statuses of input devices switched on through communication Read the ON/OFF statuses of the input devices switched on through communication. (a) Transmission Transmit command [1][2] and data No. [6][0]. Command Data No. [1][2] [6][0] (b) Reply The slave station sends back the statuses of the input pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
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13. COMMUNICATION FUNCTION (5) Read of the statuses of output devices Read the ON/OFF statuses of the output devices. (a) Transmission Transmit command [1][2] and data No. [8][0]. Command [1][2] Data No. [8][0] (b) Reply The slave station sends back the statuses of the output devices. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data.
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13. COMMUNICATION FUNCTION 13.5.6 Disable/enable of I/O devices (DIO) Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals (devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.
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13. COMMUNICATION FUNCTION 13.5.8 Test operation mode POINT The test operation mode is used to confirm operation. Do not use it for actual operation. If communication stops for longer than 0.5s during test operation, the servo amplifier decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g. monitor the status display. Even during operation, the servo amplifier can be put in the test operation mode.
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13. COMMUNICATION FUNCTION (2) JOG operation Send the command, data No. and data as indicated below to execute JOG operation. Start Select the JOG operation in the test operation mode. Command : [8][B] Data No. : [0][0] Data : 0001(JOG operation) Servo motor speed setting Command : [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal. Set the operation pattern. Acceleration/deceleration time constant setting Command : [A][0] Data No.
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13. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indicated below to execute positioning operation. Start Command : [8][B] Data No. : [0][0] Data : 0002 (positioning operation) Select the positioning operation in the test operation mode. Servo motor speed setting Command : [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal. Acceleration/deceleration time constant setting Command : [A][0] Data No.
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13. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following command, data No. and data during a temporary stop to make a restart. Command Data No. [A][0] [4][1] Note. (Note) Data GO indicates a blank. Send the following command, data No.
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13. COMMUNICATION FUNCTION 13.5.10 Alarm history (1) Alarm No. read Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the past) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to Section 13.4.1. (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in decimal. For example, "0032" means AL.32 and "00FF" means AL._ (no alarm).
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13. COMMUNICATION FUNCTION 13.5.11 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. 0 0 Alarm No. is transferred in decimal. For example, "0032" means AL.32 and "00FF" means AL._ (no alarm). (2) Read of the status display at alarm occurrence Read the status display data at alarm occurrence. When the data No.
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13. COMMUNICATION FUNCTION 13.5.12 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the position of 8192 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [9][0] (b) Reply The slave station sends back the requested servo motor end pulses. Absolute value is sent back in hexadecimal in the servo motor end pulse unit.
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13.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase alarm (AL.25) or absoluto position counter warning (AL.E3) has occurred, always perform home position setting again. Not doing so can cause runaway. POINT When configuring an absolute position detection system using the QD75P/D PLC, refer to the Type QD75P/QD75D Positioning Module User's Manual QD75P1/QD75P2/QD75P4, QD75D1/QD75D2/QD75D4 (SH (NA) 080058). 14.1 Outline 14.1.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.2 Specifications POINT Replace the battery with only the control circuit power ON. Removal of the battery with the control circuit power OFF will erase the absolute position data. (1) Specification list Item Description System Electronic battery backup system Battery 1 piece of lithium battery ( primary battery, nominal Type: MR-J3BAT Maximum revolution range Home position (Note 1) Maximum speed at power failure 3000r/min 3.6V) 32767 rev.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.3 Battery installation procedure WARNING Before starting battery installation procedure, 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. POINT The internal circuits of the servo amplifier may be damaged by static electricity. Always take the following precautions: Ground human body and work bench.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.5 Signal explanation When the absolute position data is transferred, the signals of connector CN1 change as described in this section. They return to the previous status on completion of data transfer. The other signals are as described in Section 3.5. For the I/O interfaces (symbols in the I/O Category column in the table), refer to Section 3.8.2. Signal name Code CN1 Pin No.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.6 Startup procedure (1) Battery installation. Refer to Section 14.3 installation of absolute position backup battery. (2) Parameter setting Set " 1"in parameter No.PA03 of the servo amplifier and switch power off, then on. (3) Resetting of absolute position erase (AL.25) After connecting the encoder cable, the absolute position erase (AL.25) occurs at first power-on. Leave the alarm as it is for a few minutes, then switch power off, then on to reset the alarm.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.7 Absolute position data transfer protocol POINT After switching on the ABS transfer mode (ABSM), turn on the servo-on signal (SON). When the ABS transfer mode is off, turning on the servo-on signal (SON) does not switch on the base circuit. 14.7.1 Data transfer procedure Each time the servo-on (SON) is turned ON (when the power is switched ON for example), the programmable controller reads the position data (present position) of the servo amplifier.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.7.2 Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop (EMG), or alarm (ALM), is explained below. In the absolute position detection system, every time the servo-on (SON) is turned on, the ABS transfer mode (ABSM) should always be turned on to read the current position in the servo amplifier to the controller.
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14. ABSOLUTE POSITION DETECTION SYSTEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after transmission of the ABS data. While the ready (RD) is ON, the ABS transfer mode (ABSM) input is not accepted. 2) Even if the servo-on (SON) is turned ON before the ABS transfer mode (ABSM) is turned ON, the base circuit is not turned ON until the ABS transfer mode (ABSM) is turned ON. If a servo alarm has occurred, the ABS transfer mode (ABSM) is not received.
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14. ABSOLUTE POSITION DETECTION SYSTEM (b) Detailed description of absolute position data transfer Servo-on (programmable controller) Servo-on (SON) ON OFF ON OFF (Note) ABS transfer mode (ABSM) ABS request (ABSR) ABS transmission data ready (ABST) ON 7) 1) During transfer of ABS OFF 3) ON 5) OFF ON 2) 4) 6) OFF Transmission (ABS) data Lower 2 bits Check sum Upper 2 bits Note.
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14. ABSOLUTE POSITION DETECTION SYSTEM (c) Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data. The 6-bit check sum is transmitted following the 32-bit ABS data. At the programmable controller, calculate the sum of the received ABS data using the ladder program and compare it with the check sum code sent from the servo. The method of calculating the check sum is shown.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) Transmission error (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing shown below is executed at the servo. If a time-out error occurs, an ABS time-out warning (AL.E5) is output. The ABS time-out warning (AL.E5) is cleared when the ABS transfer mode (ABSM) changes from OFF to ON.
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14. ABSOLUTE POSITION DETECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the ABS transfer mode (ABSR) is not turned OFF within 5s after the last ready to send signal (19th signal for ABS data transmission) is turned ON, it is regarded as the transmission error and the ABS time-out warning (AL.E5) is output. 5s ON ABS transfer mode OFF Signal is not turned OFF 1 ON 2 3 4 18 19 ABS request OFF ABS transmission data ready ON 1 OFF 2 3 4 18 19 Yes AL.
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14. ABSOLUTE POSITION DETECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-on (SON) by detecting the alarm output (ALM). If an alarm has occurred, the ABS transfer mode (ABSM) cannot be accepted. In the reset state, the ABS transfer mode (ABSM) can be input.
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14. ABSOLUTE POSITION DETECTION SYSTEM (4) At the time of emergency stop reset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred. If the emergency stop state is reset while the ABS data is transmitted, the base circuit is turned ON 95[ms] after resetting. If the ABS transfer mode (ABSM) is OFF when the base circuit is turned ON, the ready (RD) is turned ON 5[ms] after the turning ON of the base circuit.
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14. ABSOLUTE POSITION DETECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In this case, the base circuit and the ready (RD) are turned ON after the emergency stop state is reset.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.7.3 Home position setting (1) Dog type home position return Preset a home position return creep speed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR) is turned from off to on. At the same time, the servo amplifier clears the droop pulses, comes to a sudden stop, and stores the stop position into the non-volatile memory as the home position ABS data.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) Data set type home position return POINT Never make home position setting during command operation or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return when the servo off. Move the machine to the position where the home position is to be set by performing manual operation such as jog operation.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.7.4 Use of servo motor with electromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Preset parameter No. PA04/PD13 to PD16/PD18 of the servo amplifier to make the electromagnetic brake interlock (MBR) valid. When the ABS transfer mode is ON, the electromagnetic brake interlock (MBR) set in parameter No. PA04 is used as the ABS data bit 1.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.7.5 How to process the absolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly. At this time, the programmable controller keeps outputting the command pulse.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.8 Examples of use 14.8.1 MELSEC FX(2N)-32MT (FX(2N)-1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) Servo amplifier FX-32MT L 24V COM RUN 3.
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14. ABSOLUTE POSITION DETECTION SYSTEM (b) FX2N-32MT (FX2N-1PG) Servo amplifier FX2N-32MT L 24V Power supply N COM 3.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) Operation pattern ABS data transfer is made as soon as the servo-on pushbutton is turned on. After that, positioning operation is performed as shown below: Home position 3) 300000 1) 300000 0 address 2) After the completion of ABS data transmission, JOG operation is possible using the JOG or JOG pushbutton switch.
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14.
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14. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X-axis M8002 DMOV K0 D24 Setting home position address to 0 K1 Setting 1PG pulse command unit Initial pulse 1 TO K0 K3 K0 DTO K0 K4 K100000 K1 1PG max.
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14. ABSOLUTE POSITION DETECTION SYSTEM 6 (Continued from preceding page) 6 M8000 K0 K25 K4M100 K1 FX2 1PG Transmission of control signals FROM K0 K28 K3M200 K1 1PG FX2 Transmission of status DFROMK0 K26 D106 K1 RST M108 1PG FX2 Transmission of present position D106, D107 1PG Resetting start command TO Normally ON M200 END (d) Data set type home position return After jogging the machine to the position where the home position (e.g.
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14. ABSOLUTE POSITION DETECTION SYSTEM (e) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set " 1" in parameter No. PA04 of the servo amplifier to make the electromagnetic brake interlock (MBR) valid. Y1 X1 Y4 Electromagnetic brake output ABS transfer Brake (MBR) mode (f) Positioning completion To create the status information for servo positioning completion.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.8.
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14. ABSOLUTE POSITION DETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. If the servo motor provided with the zero point signal is started, the A1SD75 will output the deviation counter clear (CR). Therefore, do not connect the clear (CR) of the MR-J3-A to the A1SD75 but connect it to the output module of the programmable controller. 3. This circuit is provided for your reference. 4.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at poweron of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation (PCRESET). The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset. 2) If a checksum mismatch is detected in the transmitted data, data transmission is retried up to three times.
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14. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis This sequence program example assumes the following conditions: Parameters of the A1SD75-P1 positioning module 1) Unit setting :3 pulse (PLS) 2) Travel per pulse :1 1 pulse To select the unit other than the pulse, conversion into the unit of the feed value per pulse is required.
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14. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M10) is off. Positioning X-axis start mode command (Note) M10 X-axis start program Ready to send ABS data When "M10" (ready to send ABS data) switches on, the X-axis start program is executed by the X-axis start command. (e) Dog type home position return Refer to the home position return program in the A1SD75 User's Manual.
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14. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start (PBON). After switching power on, rotate the servo motor more than 1 revolution before starting home position return. Do not turn ON the clear (CR) (Y35) for an operation other than home position return.
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14. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set " 1" in parameter No. PA04 of the servo amplifier to make the electromagnetic brake interlock (MBR) valid. Y31 X21 Y34 Electromagnetic brake output ABS transfer Brake (MBR) mode (h) Positioning completion To create the status information for servo positioning completion.
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14. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.8.
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14. ABSOLUTE POSITION DETECTION SYSTEM Note 1. For the dog type home position return. Need not be connected for the data set type home position return. 2. For the dog type home position return, connect a QD75 deviation counter clearing signal cable. For the data set type home position return, connect a cable to the output module of the programmable logic controller. 3. This circuit is provided for your reference. 4.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) Sequence program example (a) Conditions 1) When the servo-on signal and power supply GND are shorted, the ABS data is transmitted at poweron of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation (PCRESET). The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset. 2) An ABS checksum error is caused (Y3AON) if checksum inconsistency is found in transferred data.
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14. ABSOLUTE POSITION DETECTION SYSTEM (c) ABS data transfer program for X axis Programmable controller ready QD75 error reset Initial setting Retry frequency set (Set 3 times.
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14. ABSOLUTE POSITION DETECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M10) is off. Positioning X-axis start mode command (Note) M10 X-axis start program Ready to send ABS data When "M10" (ready to send ABS data) switches on, the X-axis start program is executed by the X-axis start command. (e) Dog type home position return Refer to the home position return program in the QD75 User's Manual.
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14. ABSOLUTE POSITION DETECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e.g. 500) is to be set, choose the home position return mode and set the home position with the home position return start (PBON). After switching power on, rotate the servo motor more than 1 revolution before starting home position return. Do not turn ON the clear (CR) (Y35) for an operation other than home position return.
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14. ABSOLUTE POSITION DETECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned on), the servo motor must be at a stop. Set " 1" in parameter No. PA04 of the servo amplifier to make the electromagnetic brake interlock (MBR) valid. Y31 X21 Y34 Electromagnetic brake output ABS transfer Electromagnetic brake interlock (MBR) mode (h) Positioning completion To create the status information for servo positioning completion.
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14. ABSOLUTE POSITION DETECTION SYSTEM (3) Sequence program - 2-axis control The following program is a reference example for creation of an ABS sequence program for the second axis (Y axis) using a single QD75 module. Create a program for the third axis in a similar manner. (a) Y-axis program Refer to the X-axis ABS sequence program and create the Y-axis program. Assign the X inputs, Y outputs, D registers, M contacts, T timers and C counters of the Y axis so that they do not overlap those of the X axis.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.9 Absolute position data transfer errors 14.9.1 Corrective actions (1) Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD75. Name (Note) ABS communication error ABS data check sum error Servo alarm Output coil AD75 1PG Y39 Y3A Y38 Description Cause Y11 1. The ABS data transfer mode signal (Y41) is not completed within 5s. 2.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) ABS communication error (a) The OFF period of the ABS transmission data ready signal output from the servo amplifier is checked. If the OFF period is 1s or longer, this is regarded as a transfer fault and the ABS communication error is generated. The ABS communication error occurs if the ABS time-out warning (AL.E5) is generated at the servo amplifier due to an ABS request ON time time-out.
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14. ABSOLUTE POSITION DETECTION SYSTEM (c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS request signal to go OFF after it has been turned ON (ABS request time) is checked. If the ABS request remains ON for longer than 1s, it is regarded that an fault relating to the ABS request signal or the ABS transmission data ready (ABST) has occurred, and the ABS communication error is generated. The ABS communication error occurs if the ABS time-out warning (AL.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.10 Communication-based ABS transfer system 14.10.1 Serial communication command The following commands are available for reading absolute position data using the serial communication function. When reading data, take care to specify the correct station number of the drive unit from where the data will be read. When the master station sends the data No. to the slave station (servo amplifier), the slave station returns the data value to the master station.
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14. ABSOLUTE POSITION DETECTION SYSTEM (2) Transfer method The sequence in which the base circuit is turned ON (servo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop, or alarm, is explained below. In the absolute position detection system, always give the serial communication command to read the current position in the servo amplifier to the controller every time the ready (RD) turns on.
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14. ABSOLUTE POSITION DETECTION SYSTEM (c) At the time of alarm reset If an alarm has occurred, detect the trouble (ALM) and turn off the servo-on (SON). After removing the alarm occurrence factor and deactivating the alarm, get the absolute position data again from the servo amplifier in accordance with the procedure in (a) of this section.
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14. ABSOLUTE POSITION DETECTION SYSTEM (d) At the time of forced stop reset 210ms after the forced stop is deactivated, the base circuit turns on, and further 5ms after that, the ready (RD) turns on. Always get the current position data from when the ready (RD) is triggered until before the position command is issued.
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14. ABSOLUTE POSITION DETECTION SYSTEM 14.11 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below: (2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.
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Appendix App 1. Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. Basic setting parameters (PA No.
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Appendix Extension setting parameters (PC No.
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App - 3 24 22 DICOM 20 18 16 4 LA 6 LB 8 LZ 10 PP 12 OPC 14 25 23 DICOM 21 19 17 15 49 DOCOM 47 45 43 41 1 P15R 27 TLA 3 29 LG 5 LAR 31 7 LBR 33 OP 9 LZR 35 NP 11 37 PG 13 39 48 ALM 50 DOCOM 46 42 EMG 44 40 34 LG 36 NG 38 28 LG 30 LG 32 26 24 22 DICOM 20 18 16 14 25 23 DICOM 21 19 17 15 13 49 DOCOM 47 45 43 41 39 1 2 P15R 27 VC TLA 3 4 29 LG LA 5 6 LAR 31 LB 7 8 LBR 33 LZ OP 9 10 LZR 35 11 12 37 48 ALM 50 DOCOM 46 42 EMG 44 40 38 34 LG 36 28 LG 30 L
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Command pulse PP, NP Command pulse frequency App - 4 Cumulative feedback pulse CMX CDV Electronic gear Cumulative command pulses Position control Load inertia moment ratio Auto tuning section Droop pulse Differential M Within one-revolution ABS counter ABS counter PWM Peak hold Effective value calculation Absolute position detection encoder Servo motor Bus voltage Peak load ratio Effective load ratio Current control low Within onerevolution position high Speed control Present posit
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Appendix App 4. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions.
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Appendix MEMO App - 6
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Oct., 2003 SH(NA)030038-A First edition May, 2003 SH(NA)030038-B Safety Instructions: 4. (1) HF-SP Series servomotor is added to the environment conditions. Compliance with EC directives in EU: 2.(1) Servo amplifiers MR-J360A/100A/200A/350A are added. HF-SP Series servomotor is added. Compliance with UL/C-UL standard: (1) Servo amplifiers MR-J360A/100A/200A/350A are added.
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Print Data *Manual Number May, 2003 SH(NA)030038-B Revision Section 5.4.2: List of details is added. PD24 AL. 47 is added. Section 6.4: Amplifier diagnosis is added. Section 6.7 (3) (a) (b): SP2 (CN1-16) is added. Section 8.2 (3): Paragraph is added. Part of the paragraph in "POINT" is examined. Section 9.1: AL. 47 is added. AL. E8 is added. Section 9.2: Description of AL. 52 is changed. Section 9.3: Paragraph is added. AL. E8 is added. Section 10: Outline drawing is examined. Section 10.1 (4): Added.
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Print Data *Manual Number Apr., 2005 SH(NA)030038-C Revision Section 3.1 (1) (2) (3) Titles are examined. Note 4. is added. Section 3.1 (4): Added. Section 3.2.1: Note 12. is added. Section 3.2.2: Note 12. is added. Section 3.2.3: Note 10. is added. Section 3.3.1: "POINT" is added. Servo amplifier conceptual diagram is deleted. Regenerative brake option is separated into each case. Section 3.3.2 (3): Note is added into the drawing. Section 3.3.3: Sentence is added into "POINT". Section 3.
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Print Data *Manual Number Apr., 2005 SH(NA)030038-C Revision Section 5.3.3 (2): Note 2. is added. Setting A Horizontal axis is changed to 1Mpulse. Setting B Horizontal axis is changed to 10Mpulse. Setting C Horizontal axis is changed to 100Mpulse. Section 6.6.2 (1) (2): Error in Parameter screen is corrected. Section 8.1: Setting of machine resonance suppression filter 2 is modified to 1. Section 8.6.3 (4): Expression for setting parameter is examined. Chapter 9: Sentence in "POINT" is changed.
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MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030038-C (0504) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.