SH (NA) 030061-E (1406) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
1. To prevent electric shock, note the following: WARNING Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Connect the servo amplifier and servo motor to ground.
. 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.
CAUTION Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
(4) Usage CAUTION Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.
(6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) General instruction To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards.
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.
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.
(2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. Control box Reinforced insulating type No-fuse breaker Magnetic contactor NFB MC 24VDC power supply Servo amplifier Servo motor M (3) Environment Operate the servo amplifier at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options. (Refer to section 13.1) (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 13.10. Use a type B (Note) breaker.
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 :MR-J3-10T to MR-J3-22KT MR-J3-10T1 to MR-J3-40T1 MR-J3-60T4 to MR-J3-22KT4 :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Servo motor Note. For the latest information of compliance, contact Mitsubishi. (2) Installation Install a cooling fan of 100CFM (2.8m3/min) air flow 4 in (10.
(5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. (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 (Vol.2). (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.
CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -38 1.1 Introduction ............................................................................................................................................... 1 - 1 1.1.1 Function block diagram ..................................................................................................................... 1 - 2 1.1.2 System configuration............................................................................................................
3.8 Interface ................................................................................................................................................... 3 -47 3.8.1 Internal connection diagram ............................................................................................................ 3 -47 3.8.2 Detailed description of interfaces..................................................................................................... 3 -48 3.8.3 Source I/O interfaces ...................
4.7.12 Dogless Z-phase reference home position return method ........................................................... 4 -55 4.7.13 Home position return automatic return function ............................................................................ 4 -57 4.7.14 Automatic positioning function to the home position..................................................................... 4 -58 4.8 Roll feed display function in roll feed mode..................................................................
6.7.3 Motor-less operation ........................................................................................................................ 6 -18 6.7.4 Output signal (DO) forced output ..................................................................................................... 6 -19 6.7.5 Single-step feed ............................................................................................................................... 6 -20 6.8 Alarm ............................................
9.6.4 Gain changing operation ................................................................................................................... 9-14 10. TROUBLESHOOTING 10- 1 to 10-14 10.1 Trouble at start-up ................................................................................................................................. 10- 1 10.2 When alarm or warning has occurred .................................................................................................. 10- 2 10.2.
13.14 Surge absorbers (recommended) ..................................................................................................... 13-73 13.15 Noise reduction techniques ............................................................................................................... 13-74 13.16 Leakage current breaker.................................................................................................................... 13-81 13.17 EMC filter (recommended) ..................................
1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction This servo has the function to perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting them in parameters. The servo amplifier is the most appropriate to configure a program-free, simple positioning system or to simplify a system, for example. There are 255 points of point tables.
1. FUNCTIONS AND CONFIGURATION 1.1.1 Function block diagram The function block diagram of this servo is shown below.
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1. FUNCTIONS AND CONFIGURATION 1.1.2 System configuration This section provides operations using this servo. The configuration can be freely arranged as any system from a single axis system to an up to 32-axis system. In addition, the optimum device to each system can be assigned to the connector pin of the I/F part. (Refer to section 3.4.) To change or assign devices, it is necessary to set parameter No. PD06 to 11 and Po02 to 09. Set the following values to the point table. Name Setting range Unit 0.
1. FUNCTIONS AND CONFIGURATION (2) Operation by external input signals and communication (a) Definition The data change and selection of point tables, change of parameters and confirmation of the monitor can be performed through communication. The forward rotation start (ST1) or reverse rotation direction (ST2) is input from the external I/O. This system is used when the position data and speed setting, the parameter change and others are performed on a host personal computer, etc.
1. FUNCTIONS AND CONFIGURATION 1.
1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J310T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Item Dog type Count type Data setting type Stopper type Home position ignorance (Servo-on position as home position) Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected.
1. FUNCTIONS AND CONFIGURATION (2) 400V class Servo amplifier MR-J3- 60T4 100T4 Protective functions Operation mode 350T4 Automatic operation mode Manual operation mode 700T4 11KT4 15KT4 22KT4 Within 5% 1-phase 380 to 480VAC, 50/60Hz 1-phase 323 to 528VAC Within 5% 30W 45W Refer to section 12.
1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item Dog type Count type Data setting type Stopper type Home position ignorance (Servo-on position as home position) Home position return is made starting with Z-phase pulse after passage of proximity dog. Home position address may be set. Home position shift distance may be set. Home position return direction may be selected.
1. FUNCTIONS AND CONFIGURATION 1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference Select the required ones from among 31 preset point tables and perform Positioning by automatic operation operation in accordance with the set values. Use the external input signal or communication function to choose the point Section 4.5 tables.
1. FUNCTIONS AND CONFIGURATION Function Regeneration converter Alarm history clear I/O signal selection (Device setting) Torque limit Output signal (DO) forced output Test operation mode Limit switch Software limit Description Used when the regenerative option cannot provide enough regenerative power. Can be used with the servo amplifier of 5kW or more. Alarm history is cleared. Reference Section 13.4 Parameter No.
1. FUNCTIONS AND CONFIGURATION 1.4 Model code definition 1.4.1 Servo amplifier (1) Rating plate MITSUBISHI MODELMR-J3-10T AC SERVO Model Capacity POWER : 100W INPUT : 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT : 170V 0-360Hz 1.
1. FUNCTIONS AND CONFIGURATION 1.4.
1. FUNCTIONS AND CONFIGURATION 1.5 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes.
1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T(4) or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 5 6 7 8 2 3 4 0 1 5 6 4 Main circuit power supply connector (CNP1) Used to connect the input power supply. 5 6 2 3 Section 4.3 Chapter 10 When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure. 7 8 9 0 1 7 8 2 3 9 4 Detailed Explanation Section 3.
1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200T(4) Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 7 8 0 1 Main circuit power supply connector (CNP1) Used to connect the input power supply. 5 6 7 8 2 3 4 9 0 1 7 8 2 3 5 6 9 4 Section 4.3 Chapter 10 When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure. 5 6 2 3 4 Detailed Explanation Section 3.1 Section 3.3 Section 11.
1. FUNCTIONS AND CONFIGURATION (3) MR-J3-350T Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 5 6 7 8 2 3 4 0 1 5 6 7 8 2 3 4 Section 4.3 Chapter 10 When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure. Main circuit power supply connector (CNP1) Used to connect the input power supply. 9 0 1 7 8 2 3 5 6 9 4 Detailed Explanation Section 3.1 Section 3.3 Section 11.
1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T4 MR-J3-500T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 5 6 7 8 2 3 4 0 1 5 6 7 8 2 3 4 9 0 1 7 8 2 3 5 6 9 4 Detailed Explanation Section 4.3 Chapter 10 When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
1. FUNCTIONS AND CONFIGURATION (5) MR-J3-700T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 7 8 0 1 5 6 7 8 2 3 4 9 0 1 7 8 2 3 5 6 Communication alarm display section When using in combination with MR-J3-D01, the LED display does not have any meaning. 9 4 Section 4.
1. FUNCTIONS AND CONFIGURATION (6) MR-J3-11KT(4) to MR-J3-22KT(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed Explanation Section 4.3 Chapter 10 When using in combination with MR-J3-D01, do not change the setting (default) shown in the figure.
1. FUNCTIONS AND CONFIGURATION 1.6.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab a) a) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Setting tab Push the setting tabs until they click. 1 - 23 Pull up the cover, supporting at point a).
1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KT(4) to MR-J3-22KT(4) Removal of the front cover c) b) a) 1) Press the removing knob on the lower side of the front cover ( a) and b) ) and release the installation hook. 2) Press the removing knob of c) and release the external hook. 3) Pull it to remove the front cover.
1. FUNCTIONS AND CONFIGURATION 1.6.3 Installation and removal of MR-J3-D01 WARNING Before installing or removing the MR-J3-D01, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not. Avoid installing and removing the MR-J3-D01 repeatedly.
1. FUNCTIONS AND CONFIGURATION (1) For MR-J3-350T or less MR-J3-200T4 or less (a) Installation of the MR-J3-D01 1) Remove the cover of connector for connecting an option. Make sure to storage the removed cover. 2) Insert the guide pins through the each guide hole on the side of servo amplifier. Guide hole 1) 2) 2) Guide pins 3) Push the MR-J3-D01 until the knobs click. 4) Tighten the MR-J3-D01 with the enclosed installing screw(M4).
1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) (a) Removal of the side cover Keep pushing the knobs( a) , b) ) and pull out the side cover to the arrow direction. 1) a) b) (b) Installation of MR-J3-D01 1) Insert the guide pins through the each guide hole on the side of servo amplifier. Guide hole 1) 1) Guide pins 2) Push the MR-J3-D01 until the knobs click. 3) Tighten the MR-J3-D01 with the enclosed installing screw(M4).
1. FUNCTIONS AND CONFIGURATION (c) Removal of MR-J3-D01 1) Loosen the installing screw. 2) Keep pushing the knobs( a) , b) ) and pull out the MR-J3-D01 to the arrow direction. Avoid pulling out the MR-J3-D01 under it is tightened. a) 2) 1) b) (d) Installation of the side cover 1) Insert the hook of the side cover through the each guide hole a) on the side of servo amplifier. a) 1) 2) Hook of the side cover 2) Push the side cover at the supporting point a) until the knobs click.
1. FUNCTIONS AND CONFIGURATION (3) For MR-J3-11KT(4) to MR-J3-22KT(4) CAUTION Avoid touching any remained burr after cutting off the part a) of the case. Any injuries may be caused. The installing screws for the MR-J3-11KT(4) or more are covered at shipping. When installing the MR-J3-D01 for the first time, cut off the part a) of the case after removing the side cover. When cutting off the part a) , avoid damaging the case of the servo amplifier.
1. FUNCTIONS AND CONFIGURATION 1.7 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products.
1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC R S (Note 3) Power supply Personal computer CN3 No-fuse breaker (NFB) or fuse MR Configurator CN5 Servo amplifier Magnetic contactor (MC) CN20 Analog output signal External digital display Power factor improving reactor (FR-BAL) (Note 2) CN30 Line noise filter (FR-BSF01) CN10 I/O signal U V L1 CN6 W L2 I/O signal CN2 CN4 P C Servo motor Regenerative option (Note 1) Battery MR-J3BAT Note 1.
1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60T4 MR-J3-100T4 RST (Note 3) Power supply No-fuse breaker (NFB) or fuse MR Configurator Personal computer CN3 CN5 Magnetic contactor (MC) Servo amplifier CN20 (Note 2) Analog output signal External digital display Line noise filter (FR-BSF01) CN30 CN10 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) L1 L2 L3 CN6 I/O signal I/O signal CN2 CN4 P1 P2 (Note 1) Battery MR-J3BAT Servo motor P L11 C U VW Regenerative option L21 Note 1.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T RST (Note 3) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Personal computer CN3 (Note 2) Line noise filter (FR-BLF) MR Configurator CN5 Servo amplifier MR-J3-D01 L1 L2 L3 CN20 P1 Analog output signal External digital display CN30 P2 (Note 2) Power factor improving DC reactor (FR-BEL) CN10 Regenerative P C option CN6 L11 L21 I/O signal I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U VW Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700T(4) RST (Note 3) Power supply CN3 MR Configurator Personal computer CN5 No-fuse breaker (NFB) or fuse Servo amplifier CN20 Analog output signal External digital display Magnetic contactor (MC) (Note 2) CN30 Line noise filter (FR-BLF) L11 L21 (Note 1) Battery MR-J3BAT I/O signal CN10 I/O signal CN6 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) CN2 CN4 P2 P1 L3 L2 L1 P C UVW Regenerative option Servo motor Note 1.
1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KT(4) to MR-J3-22KT(4) RST (Note 3) Power supply CN3 No-fuse breaker (NFB) or fuse MR Configurator Personal computer CN5 L21 Servo amplifier L11 Magnetic contactor (MC) CN20 Analog output signal (Note 2) External digital display Line noise filter (FR-BLF) CN30 (Note 1) Battery MR-J3BAT I/O signal CN10 CN6 I/O signal CN2 CN4 L3 L2 L1 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) WV U P1 P P C Regenerative option Servo motor Note 1.
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2. INSTALLATION 2. INSTALLATION 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. (For the environmental conditions, refer to section 1.2.
2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is available for the servo amplifier of under 3.5kW for 200V class and 400W for 100V class. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
2. INSTALLATION 2.4 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Any person who is involved in inspection should be fully competent to do the work.
3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. WARNING Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
3. SIGNALS AND WIRING 3.1 Input power supply circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. CAUTION Use the trouble (ALM) to switch power off.
3. SIGNALS AND WIRING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T RA Forced stop ON OFF MC MC SK Servo motor Servo amplifier NFB 1-phase 200 to 230VAC MC CNP1 L1 L2 (Note 1) CNP3 U (Note 5) U 2 L3 V V 3 N W W 4 Motor M 1 P1 P2 PE CNP2 P (Note 2) C D CN2 (Note 3) Encoder cable CN6 CN6 24VDC EMG DOCOM DOCOM DICOM L11 Encoder L21 (Note 4) Forced stop ALM 24VDC RA Trouble (Note 4) MR-J3-D01 CN10 DICOMD DOCOMD Servo-on SON Note 1.
3. SIGNALS AND WIRING (3) MR-J3-10T1 to MR-J3-40T1 RA Forced stop ON OFF MC MC SK NFB 1-phase 100 to 120VAC MC Blank (Note 1) Servo motor Servo amplifier CNP1 L1 CNP3 U (Note 5) U 2 3 4 L2 V V N W W Motor M 1 P1 P2 PE CNP2 P (Note 2) C D L11 CN2 (Note 3) Encoder cable 24VDC Encoder L21 (Note 4) Forced stop CN6 CN6 EMG DOCOM DOCOM DICOM ALM 24VDC RA Trouble MR-J3-D01 CN10 DICOMD DOCOMD Servo-on SON Note 1. Always connect P1 and P2. (Factory-wired.
3. SIGNALS AND WIRING (4) MR-J3-60T4 to MR-J3-200T4 RA Forced stop ON OFF MC MC (Note 6) Stepdown transformer NFB SK MC 3-phase 380 to 480VAC (Note 1) Servo amplifier CNP1 L1 CNP3 L2 U Servo motor (Note 5) U 2 L3 V V 3 N W W 4 Motor M 1 P1 P2 PE CNP2 P (Note 2) C D L11 CN2 (Note 3) Encoder cable CN6 24VDC Encoder L21 (Note 4) Forced stop CN6 EMG DOCOM DOCOM DICOM ALM 24VDC RA Trouble (Note 4) MR-J3-D01 CN10 DICOMD DOCOMD Servo-on SON Note 1.
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3. SIGNALS AND WIRING 3.2 I/O signal connection diagram 3.2.
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 or the MR-J3-D01 will be faulty and will not output signals, disabling the forced stop (EMG) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4.
3. SIGNALS AND WIRING 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 or the MR-J3-D01 will be faulty and will not output signals, disabling the forced stop (EMG) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4.
3. SIGNALS AND WIRING 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 or the MR-J3-D01 will be faulty and will not output signals, disabling the forced stop (EMG) and other protective circuits. 3. The forced stop switch (normally closed contact) must be installed. 4.
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 11. Abbreviation Connection Target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open.
3. SIGNALS AND WIRING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply.
3. SIGNALS AND WIRING (3) Forced stop CAUTION Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off at a forced stop. When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo forced stop warning (AE6).
3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 13.1 in section 13.9 for the wire sizes used for wiring. MR-J3-500T or more and MR-J3-350T4 or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3.
3. SIGNALS AND WIRING (2) MR-J3-200T MR-J3-60T4 to MR-J3-200T4 (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 721-207/026-000(Plug) (WAGO) Cable finish OD: 4.1mm or less Connector for CNP2 721-205/026-000(Plug) (WAGO) (Note) Servo amplifier CNP1 CNP2 CNP3 Connector for CNP3 721-203/026-000(Plug) (WAGO) Note.
3. SIGNALS AND WIRING (3) MR-J3-350T (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 Cable finish OD: to 3.
3. SIGNALS AND WIRING (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000, 721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows. The following explains for Molex, however use the same procedures for inserting WAGO connectors as well. POINT It may be difficult for a cable to be inserted to the connector depending on wire size or bar terminal configuration.
3. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow. 4) Release the cable connection lever.
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] Approx.22 3 0.6 Approx.R0.3 3 to 3.5 Approx.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. 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. 4) Releasing the screwdriver connects the cable. 3 - 27 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.
3. SIGNALS AND WIRING (5) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver because the cable cannot be tightened with enough torque. Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is shown as follows. Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver.
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 (3) in this section for CN10 signal assignment. Refer to section 3.5 for details of each signal (device). (1) Signal arrangement The servo amplifier front view shown is that of the MR-J3-10T and the MR-J3-D01. Refer to chapter 11 Outline Drawings for the appearances and connector layouts of the other servo amplifiers.
3. SIGNALS AND WIRING (2) Signal arrangement of CN6 connector The symbols in the Device change column in the table represent the followings. : The device can be changed by the parameters in parentheses. : The device cannot be changed. : For manufacturer setting. Do not connect anything to it. Pin No.
3. SIGNALS AND WIRING (3) Signal arrangement of CN10 connector The symbols in the Device change column in the table represent the followings. : The device can be changed by the parameters in parentheses. : The device cannot be changed. Pin No. Device assigned in the initial status (Symbol) When using the point table When using the BCD input I/O division 1 Point table No.1 (DI0) Position data input 1 (POS00) (Note 3) DI-1 2 Point table No.
3. SIGNALS AND WIRING Pin No. Device assigned in the initial status (Symbol) When using the point table When using the BCD input I/O division 49 In position (INP) DO-1 50 Shield (SD) Plate Shield (SD) Device change (Po09) 3.5 Signal (device) explanation 3.5.1 Devices (1) Input device The Connector pin No. column indicates the connector pin Nos. assigned at default. The device with can change the connector pin Nos. assigned by changing the parameter No. PD06 to PD08 and Po02 to Po07.
3. SIGNALS AND WIRING Device Servo-on Symbol SON Connector pin No. PT Functions/Applications BCD CN10-21 Turn SON on to power on the base circuit and make the servo amplifier ready to operate (servo-on). Turn it off to shut off the base circuit and coast the servo motor. 4 " in parameter No. PD01 to switch this signal on (keep terminals Set " connected) automatically in the servo amplifier. Reset RES CN10-26 Keeping RES ON for 50ms or longer allows an alarm to be deactivated.
3. SIGNALS AND WIRING Device Forward rotation start Symbol ST1 Connector pin No. PT Functions/Applications BCD CN10-35 1. In absolute value command system Turning ST1 ON for automatic operation executes positioning once on the basis of the position data set to the point table. Turning ST1 ON for a home position return immediately starts a home position return. Keeping ST1 ON for JOG operation performs rotation in the forward rotation direction.
3. SIGNALS AND WIRING POS00 Connector pin No. PT CN10-1 The 6-digit (BCD 3 digits Position data input 4 bit0 POS00 bit1 POS01 CN10-5 bit2 POS02 POS10 bit3 POS03 CN10-4 bit0 POS10 POS03 bit1 POS11 CN10-3 bit2 POS12 POS02 (1/4digit bit2) bit3 POS13 CN10-2 bit0 POS20 POS01 (1/4digit bit1) Position data input 3 2) position data is input by POS00 to POS03, POS10 to POS13 and POS20 to POS23.
3. SIGNALS AND WIRING (2) Output device The Connector pin No. column indicates the connector pin Nos. assigned at default. The device with can change the connector pin Nos. assigned by changing the parameter No. PD09 to PD11, Po08 and Po09. The devices indicated with cannot be used. PT in the table indicates when using a point table, and BCD indicates when using a 6-digit BCD input with symbol. Device Symbol Connector pin No.
3. SIGNALS AND WIRING Device Zero speed Symbol ZSP Connector pin No. PT Functions/Applications BCD ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. PC17. Example Zero speed is 50r/min Forward rotation direction OFF level 70r/min ON level 50r/min Servo motor speed 0r/min 1) 2) 20r/min (Hysteresis width) 3) ON level 50r/min OFF level 70r/min zero speed ON (ZSP) OFF Reverse rotation direction Parameter No. PC17 Parameter No.
3. SIGNALS AND WIRING Device Symbol Point table No. output 1 PT0 Connector pin No. PT Functions/Applications BCD As soon as Movement finish (MEND) turns ON, the point table No. is output in 8bit code. Point table No. output 2 PT1 (Note) Device PT7 PT6 Point table No. output 3 Point table No. output 4 PT2 PT3 Point table No. output 5 PT4 Point table No. output 6 PT5 Point table No. output 7 PT6 Point table No. output 8 PT7 Point table PT5 PT4 PT3 PT2 PT1 PT0 No.
3. SIGNALS AND WIRING Connector pin No. Functions/Applications BCD MCD03 CN10-41 M code 5 (bit4) MCD10 CN10-42 M code 6 (bit5) MCD11 CN10-43 M code 7 (bit6) MCD12 CN10-44 M code 8 (bit7) MCD13 CN10-45 2nd digit bit0 MCD00 MCD02 CN10-40 M code 4 (bit3) bit1 MCD01 M code 3 (bit2) As soon as Rough match (CPO) turns ON, the M code is output.
3. SIGNALS AND WIRING 3.5.3 Output signals Refer to section 3.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Signal Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver) Encoder Z-phase pulse (differential line driver) Analog monitor 1 Analog monitor 2 Symbol Connector Functions/Applications pin No.
3. SIGNALS AND WIRING 3.6 Detailed description of signals (devices) 3.6.1 Forward rotation start Reverse rotation start Temporary stop/Restart (1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready signal (RD).
3. SIGNALS AND WIRING 3.6.2 Movement finish Rough match In position POINT If servo-on occurs after a stop made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement finish (MEND), Rough match (CPO) and In position (INP) turn on. To make a start again, confirm the point table No. being specified, and turn on Forward rotation start (ST1).
3. SIGNALS AND WIRING (3) In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No. PA10 (in-position range). INP turns ON in the servo-on status.
3. SIGNALS AND WIRING 3.6.3 Torque limit If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position. CAUTION (1) Torque limit and torque 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. A relationship between the limit value and servo motor torque is shown below. Max.
3. SIGNALS AND WIRING (2) Torque limit value selection and internal torque limit selection (TL1) As shown below, the forward torque limit (parameter No. PA11), or reverse torque limit (parameter No. PA12), the analog torque limit (TLA) and internal torque limit 2 (Parameter No. PC35) can be chosen using the internal torque limit selection (TL1). However, if the parameter No. PA11 and parameter No. PA12 value is less than the limit value selected by TL/TL1, the parameter No. PA11 and parameter No.
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. CAUTION As soon as an alarm occurs, turn off Servo-on (SON) and power off. 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.
3. SIGNALS AND WIRING 3.8 Interface 3.8.1 Internal connection diagram Servo amplifier + MR-J3-D01 24VDC DICOM DOCOM (Note 2) EMG DOG LSP LSN OPC PP (Note 1) Dedicated to MR-HP01 NP 24VDC (Note 2) (Note 1) CN6 5 17 1 2 3 4 18 6 19 CN6 Approx.5.6k Approx.5.6k Approx.100k Approx.1.2k Approx.100k Approx.1.
3. SIGNALS AND WIRING 3.8.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Refer to section 3.8.3 for the source input. Servo amplifier For transistor Approx. 5mA SON, etc. 5.6k Approx. 5mA Switch Switch TR TR DICOM VCES 1.
3. SIGNALS AND WIRING (b) Output pulse Servo motor CCW rotation LA LAR Time cycle (T) is determined by the settings of parameter No.PA15 and PC19. T LB LBR /2 LZ LZR 400 s or more OP (4) Analog input Input impedance 10 to 12k Servo amplifier MR-J3-D01 15VDC P15R P15R 2k Upper limit setting 2k Upper limit setting 2k VC, etc LG SD Approx. 10k 2k (5) Analog output MR-J3-D01 MO1 (MO2) LG Output voltage 10V Max. 1mA Max. Output current Resolution: 12 bit 3 - 49 VC Approx.
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 MR-J3-D01 Servo amplifier EMG, etc. Approx. 5.6k SON, etc. Approx. 5.6k Switch Switch DICOMD DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 150mA Approx. 5mA VCES 1.
3. SIGNALS AND WIRING 3.9 Treatment of cable shield external conductor In the case of the CN2, CN6, CN10 and CN20 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath.
3. SIGNALS AND WIRING 3.10 Connection of servo amplifier and servo motor WARNING During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 3.10.1 Connection instructions WARNING CAUTION Insulate the connections of the power supply terminals to prevent an electric shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor. Not doing so may cause unexpected operation.
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.
3. SIGNALS AND WIRING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT B Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off. Soldered part or crimping part facing up Pin No.1 Soldered part or crimping part facing down For CM10-SP10S- Pin No.1 For CM10-SP2S- (a) Wiring diagrams Refer to section 13.9 for the cables used for wiring.
3. SIGNALS AND WIRING 2) When the power supply connector and the electromagnetic brake connector are shared 50m or less Servo amplifier Servo motor U V W U V W CN6 M 24VDC DOCOM DICOM ALM RA1 (Note 2) MBR RA2 24VDC power supply for electromagnetic brake Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EMG) RA2 RA1 B1 B2 (Note 1) Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2.
3. SIGNALS AND WIRING Power supply connector signal allotment Encoder connector signal allotment MS3102A18-10P Power supply connector signal allotment CM10-R10P MS3102A22-22P CE05-2A22-23PD-B CE05-2A32-17PD-B Terminal 7 10 6 9 5 8 4 Terminal Signal 3 No. 2 1 MR 1 2 MRR C D B A No. 3 View a 4 BAT 5 LG View b A U B V C W D Terminal Signal G F No.
3. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 13.9 for the cables used for wiring.
3. SIGNALS AND WIRING 2) 400V class (Note4) Power supply of cooling fan 50m or less Servo amplifier MC L1 L2 L3 Servo motor TE U V W CN6 U V W NFB M BU BV BW 24VDC Cooling fan (Note 2) DOCOM DICOM ALM RA1 (Note 5) MBR RA2 24VDC power supply for electromagnetic brake Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EMG) RA2 RA1 B1 B2 OHS1 24VDC (Note 3) power supply (Note 1) OHS2 Servo motor thermal relay RA3 Note 1.
3. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Terminal box Encoder connector signal Terminal allotment No. CM10-R10P 1 MR 2 MRR 10 9 8 7 6 5 4 Signal 3 3 2 4 BAT 5 LG 1 Brake connector signal Terminal allotment No. MS3102A10SL-4P 2 Terminal box inside (HA-LP601(4) B2 (Note) Note. For the motor with electromagnetic brake, supply electromagnetic brake power (24VDC). P5 There is no polarity.
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3. SIGNALS AND WIRING Signal Name Power supply Abbreviation U V W Description Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications. Servo motor Voltage Voltage/ division frequency HA-LP601, 701M, 200V 11K2 class Power Rated consumption current [W] 1-phase 200 to 220VAC [A] 42(50Hz) 0.
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 forced stop signal. Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR). Servo motor Circuit must be opened during forced stop (EMG).
3. SIGNALS AND WIRING 3.11.2 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.
3. SIGNALS AND WIRING (3) Alarm occurrence Dynamic brake Servo motor speed Forward rotation 0r/min Dynamic brake Electromagnetic brake Electromagnetic brake (10ms) ON Base circuit OFF Electromagnetic brake interlock (MBR) (Note) ON Electromagnetic brake operation delay time OFF No (ON) Trouble (ALM) Yes (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
3. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) Forward rotation (Note 1) 0r/min Servo motor speed Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake (10ms) ON Base circuit OFF Electromagnetic brake interlock (MBR) (Note 3) ON OFF Electromagnetic brake operation delay time (Note 2) No (ON) Trouble (ALM) Yes (OFF) ON Main circuit power supply OFF Note 1. Changes with the operating status. 2.
3. SIGNALS AND WIRING (2) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In this case, the motor brake cable should be within 2m long. Refer to section 13.9 for the wire used for the extension cable.
3. SIGNALS AND WIRING 3.12 Grounding Ground the servo amplifier and servo motor securely. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box. WARNING The servo amplifier switches the power transistor on-off to supply power to the servo motor.
4. OPERATION 4. OPERATION WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off.
4. OPERATION 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 1.2.
4. OPERATION 2) When regenerative option is used with over 5kW of 200V class and 3.5kW of 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative 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 13.2.
4. OPERATION 4.2 Startup 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 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.
4. OPERATION 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.
4. OPERATION 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 (A16) will occur at power-on. Encoder Cable MR-EKCBL20M-L/H Parameter No.
4. OPERATION 4.2.5 Point table setting Set necessary items to the point table before starting operation. The following table indicates the items that must be set. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant. Deceleration time constant Set the deceleration time constant.
4. OPERATION 4.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 1) When alarm warning No. is displayed Not ready At occurrence of overload Flicker display At occurrence of overload warning (Note 2) Flicker display Servo ON Ready When alarm occurs, alarm code appears. 2s later During forced stop Flicker display Point table No.
4. OPERATION (2) Indication list Indication (Note 1) Description d # # Ready The servo was switched on after completion of initialization and the servo amplifier is ready C # # Not ready The servo amplifier is being initialized or an alarm has occurred. $ $ $ Ready for operation Two seconds have passed after the servo amplifier is ready to operate by turning ON the (Note 2) A (Note 3) Status Alarm to operate. (This is indicated for 2 seconds.) Warning servo-on (SON). The alarm No.
4. OPERATION 4.4 Operation mode and selection method This servo has the operation modes indicated in the following table. Select an operation mode to be used with a parameter and input devices. Parameters and input devices filled with a diagonal line are not required to set. Selection item of operation mode Parameter No. Po10 Operation mode setting 1 One-time positioning Input device setting (Note) MD0 ON D10 to SP0 to D17 SP3 Option Refer to Section 4.5.
4. OPERATION 4.5 Automatic operation mode 4.5.1 What is the automatic operation mode? (1) Concept of Automatic operation Automatic operation is a positioning function to automatically start and stop at a target position with onetime start signal. The data required for positioning is set with the point table. The position data can be set with the digital switch or from the program controller. (Refer to section 4.5.3. and 4.5.4.) Servo motor speed Forward rotation 0r/min Positioning Start (Note) Note.
4. OPERATION (3) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (ST1) or reverse rotation start (ST2). Automatic operation has the absolute value command system, incremental value command system. (a) Absolute value command system As position data, set the target address to be reached. Setting range: 999999 to 999999 [ 10STM m] (STM feed length multiplication parameter No.
4. OPERATION 4.5.2 Automatic operation using point table (1) One-time positioning operation (a) Absolute value command system 1) Point table Set the point table values using the MR Configurator or the MR-PRU03 parameter unit. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code to the point table. The following table gives a setting example.
4. OPERATION Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on with parameter No.PA14 (Rotation direction selection). Parameter No. PA14 setting 0 Servo motor rotation direction when forward rotation start (ST1) is switched on CCW rotation with position data CW rotation with position data CW rotation with 1 position data position data CCW rotation with CCW CW Set the unit multiplication factor (STM) of position data with parameter No.
4. OPERATION (b) Incremental value command system 1) Point table Set the point table values using the MR Configurator or the MR-PRU03 parameter unit. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code to the point table. The following table gives a setting example. Name Setting range Unit Description Set the moving distance.
4. OPERATION Choose the servo motor rotation direction at the time when the forward rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on with parameter No.PA14 (Rotation direction selection). Parameter No.
4. OPERATION (c) Automatic operation timing chart The timing chart is shown below. Automatic/manual selection (MD0) ON OFF Servo-on (SON) ON OFF 1 Point table No. Forward rotation start (ST1) ON OFF ON OFF Reverse rotation start (ST2) (Note 1) Servo motor speed 3ms or more (Note 2) 5ms or more 3ms or less Forward rotation 0r/min Reverse rotation In position (INP) Rough match (CPO) Movement finish (MEND) Trouble (ALM) 3ms or more (Note 2) 5ms or more Point table No. 1 Point table No.
4. OPERATION (2) Automatic continuous operation (a) What is automatic continuous operation? By merely choosing one point table and making a start (ST1 or ST2), operation can be performed in accordance with the point tables having consecutive numbers. Automatic operation is available in two types. varied speed operation and automatic continuous positioning operation. Either type may be selected as follows.
4. OPERATION 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incremental value command. Positioning in single direction The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2 the incremental value command system, the point table No.
4. OPERATION Positioning that reverses the direction midway The operation example given below assumes that the set values are as indicated in the following table. Here, the point table No. 1 uses the absolute value command system, the point table No. 2 the incremental value command system, and the point table No. 3 the absolute value system. Point table Position data No.
4. OPERATION 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given below assumes that the set values are as indicated in the following table. Point table Position data No. 1 [ 10 STM m] Servo motor Acceleration time constant speed [r/min] [ms] [ms] (Note 1) function 3000 100 150 0 1 05 5.00 Deceleration time constant Dwell [ms] Auxiliary M code 2 6.
4. OPERATION (c) Automatic continuous positioning operation By setting "1" or "3" to the auxiliary function of the point table, the continuous positioning to the next point table No. can be executed. By setting "1" or "3" to the auxiliary function up to the point table No. 254, a continuous automatic positioning is available at a maximum of 255 speeds. Set "0" to the auxiliary function of the last point table.
4. OPERATION (3) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When TSTP is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (ST1 or ST2) is ignored if it is switched on during a temporary stop.
4. OPERATION 2) During dwell Point table No. n Point table No. n Dwell = ta Servo motor speed Forward rotation 0r/min ta Point table Forward rotation start (ST1) or reverse rotation start (ST2) Temporary stop/Restart (TSTP) Temporary stop (PUS) Rough match (CPO) In position (INP) Movement finish (MEND) 1 tb tb No. n ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Point table No. out put (PT0 to PT7) No.
4. OPERATION 4.5.3 Automatic operation by BCD (3 digits 2) input with the MR-DS60 digital switch The positioning is executed based on the positioning data set with the MS-DS60 digital switch and the selected speed command. For the connection example of the MR-DS60 digital switch to the servo amplifier, refer to section 3.2.2. (1) Parameter setting Set the parameter No. Po10 to ensure that the BCD (3 digits referring to the following table as required. No.
4.
4. OPERATION (4) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When TSTP is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (ST1 or ST2) is ignored if it is switched on during a temporary stop.
4. OPERATION 4.5.4 Automatic operation by BCD (3 digits 2) input with the programmable controller The positioning is executed the positioning based on the positioning data set with the programmable controller and the selected speed command. For the connection example of the programmable controller to the servo amplifier, refer to section 3.2.3. (1) Parameter setting Set the parameter No.Po10 to enable to use the BCD (3 digits parameters referring to the following table as required. No.
4.
4. OPERATION (4) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When TSTP is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (ST1 or ST2) is ignored if it is switched on during a temporary stop.
4. OPERATION 4.6 Manual operation mode For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be used to make a motion to any position. 4.6.1 JOG operation (1) Setting Set the input device and parameters as follows according to the purpose of use. In this case, the point table No. selection 1 to 8 (DI0 to DI7) are invalid. Item Device/Parameter used Description Manual operation mode selection Automatic/manual selection (MD0) Turn MD0 OFF.
4. OPERATION (4) Timing chart Automatic/manual selection (MD0) Servo-on (SON) ON OFF ON OFF 100m ON OFF ON Reverse rotation start (ST2) OFF Forward rotation start (ST1) Forward rotation jog Reverse rotation jog Forward rotation 0r/min Reverse rotation Servo motor speed Rough match (CPO) Movement finish (MEND) Ready (RD) Trouble (ALM) ON OFF ON OFF ON OFF ON OFF 4.6.2 Manual pulse generator (1) Setting Set the input device and parameters as follows according to the purpose of use.
4. OPERATION (3) Manual pulse generator multiplication (a) Using the parameter for setting Use parameter No. PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation. Parameter No.
4. OPERATION 4.7 Manual home position return mode 4.7.1 Outline of home position return Home position return is performed to match the command coordinates with the machine coordinates. In the incremental system, home position return is required every time input power is switched on. In the absolute position detection system, once home position return is done at the time of installation, the current position is retained if power is switched off.
4. OPERATION (1) Home position return types Choose the optimum home position return according to the machine type, etc. Type Home position return method Features General home position return method using a proximity dog. Repeatability of home position return is excellent. The machine is less burdened. Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor. Home position return method using a proximity dog.
4. OPERATION (2) Home position return parameter When performing home position return, set each parameter as follows. (a) Choose the home position return method with parameter No. PC02 (Home position return type). Parameter No.
4. OPERATION 4.7.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position. (1) Devices, parameters Set the input devices and parameters as follows.
4. OPERATION (3) Timing chart Automatic/manual selection ON (MD0) OFF 0 Selected point table No. (Note) ON 3ms or more Forward rotation start (ST1) OFF ON Reverse rotation start (ST2) Servo motor speed 5ms or more OFF Forward rotation 0r/min Point table No. 1 Point table No. 1 Home position return Deceleration time constant Acceleration time speed Parameter No. PC04 Home position shift Creep speed distance Parameter No. PC06 constant Parameter No.
4. OPERATION 4.7.3 Count type home position return In count type home position return, a motion is made over the distance set in parameter No.PC08 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length.
4. OPERATION (2) Timing chart ON Automatic/manual selection OFF (MD0) Selected point table No. 0 Forward rotation start (ST1) Reverse rotation start (ST2) (Note) ON 3ms or more 5ms or more OFF ON OFF Point table No. 1 Home position return Acceleration speed Parameter No. PC04 time constant Servo motor speed Forward rotation 0r/min Z-phase Proximity dog (DOG) Rough match (CPO) Movement finish (MEND) Home position return completion (ZP) Creep speed Parameter No.
4. OPERATION 4.7.4 Data setting type home position return Data setting type home position return is used when it is desired to determine any position as a home position. JOG operation can be used for movement. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Automatic/manual selection (MD0) (Note) Manual home position return mode selection Point table No.
4. OPERATION 4.7.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that position is defined as a home position. (1) Devices, parameters Set the input devices and parameters as follows. Item Device/Parameter used Automatic/manual selection (MD0) Manual home position return (Note) mode selection Point table No.
4. OPERATION (2) Timing chart Automatic/manual selection ON (MD0) OFF Selected point table No. 0 Forward rotation start (ST1) (Note 1) 3ms or more ON 5ms or more OFF Reverse rotation start (ST2) ON OFF Torque limit value Servo motor speed Parameter No. PC35 Forward rotation 0r/min Point table No.1 Acceleration time constant (Note 3)Parameter No. PC10 Parameter No. PC35 Home position address Parameter No. PC07 Home position return speed Parameter No.PC04 3ms or less Stopper time Parameter No.
4. OPERATION 4.7.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. (1) Devices, parameter Set the input devices and parameter as follows. Item Device/Parameter used Automatic/manual selection (MD0) Description Turn MD0 ON. Manual home position return (Note) mode selection Point table No. selection 1 to 8 (DI0 to DI7) DI0 to DI7 are turned off. Home position ignorance Parameter No.
4. OPERATION 4.7.7 Dog type rear end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 400 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.
4. OPERATION (2) Timing chart Automatic/manual selection ON (MD0) OFF Selected point table No. Forward rotation start (ST1) 0 ON 3ms or more (Note) OFF 5ms or more Reverse rotation start (ST2) ON OFF Moving distance after proximity dog Home position return speed Servo motor speed Forward rotation 0r/min Home position shift distance Creep speed 3ms or less Home position address Parameter No.
4. OPERATION 4.7.8 Count type front end reference home position return POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the home position return speed of 100r/min, an error of 400 pulses will occur in the home position. The error of the home position is larger as the home position return speed is higher.
4. OPERATION (2) Timing chart Automatic/manual selection (MD0) ON OFF Selected point table No. 0 ON Forward rotation start (ST1) 3ms or more (Note) OFF 5ms or more ON Reverse rotation start (ST2) OFF Moving distance after proximity dog Home position return speed Home position shift distance Creep speed Servo motor speed Forward rotation 0r/min 3ms or less Home position address Parameter No.
4. OPERATION 4.7.9 Dog cradle type home position return The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Automatic/manual selection (MD0) Manual home position return mode selection Description Turn MD0 ON. (Note) Point table No. selection 1 to 8 DI0 to DI7 are turned off.
4. OPERATION (2) Timing chart ON Automatic/manual selection (MD0) OFF Selected point table No. 0 3ms or more (Note) Forward rotation start (ST1) ON Forward rotation start (ST2) ON OFF 5ms or more OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance Creep speed 3ms or less Home position address Parameter No.
4. OPERATION 4.7.10 Dog type first Z-phase reference home position return After the proximity dog front end is detected, the current position moves in the reverse direction at creep speed. After this moving away from the proximity dog, the home position is determined to be where the first Zphase pulse is issued. (1) Devices, parameters Set the input devices and parameters as indicated below.
4. OPERATION (2) Timing chart ON Automatic/manual selection (MD0) OFF Selected point table No. 0 Forward rotation start (ST1) ON Forward rotation start (ST2) ON 3ms or more (Note) OFF 5ms or more OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance Home position address Parameter No.
4. OPERATION 4.7.11 Dog type front end reference home position return method POINT This home position return method depends on the timing of reading Proximity dog (DOG) that has detected the front end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of 400 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.
4. OPERATION (2) Timing chart Automatic/manual selection ON (MD0) OFF Selected point table No.
4. OPERATION 4.7.12 Dogless Z-phase reference home position return method The home position is determined to be where the first Z-phase pulse is issued after the home position return is started. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Device/Parameter used Automatic/manual selection (MD0) Manual home position return mode selection Description Turn MD0 ON. (Note) Point table No. selection 1 to 8 DI0 to DI7 are turned off.
4. OPERATION (2) Timing chart Automatic/manual selection ON (MD0) OFF Selected point table No. 0 Forward rotation start (ST1) ON Forward rotation start (ST2) ON 3ms or more (Note) OFF 5ms or more OFF Home position return speed Servo motor speed Z-phase Forward rotation 0r/min Reverse rotation ON OFF Rough match (CPO) Movement finish (MEND) Home position return completion (ZP) Home position shift distance 3ms or less Creep speed ON OFF ON OFF ON OFF Note.
4. OPERATION 4.7.13 Home position return automatic return function If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made. (1) When the current position is at the proximity dog When the current position is at the proximity dog, an automatic return is made before home position return.
4. OPERATION 4.7.14 Automatic positioning function to the home position POINT You cannot perform automatic positioning from outside the position data setting range to the home position. In this case, make a home position return again using a manual home position return. If this function is used when returning to the home position again after performing a manual home position return after a power-on and deciding the home position, automatic positioning can be carried out to the home position at high speed.
4. OPERATION 4.8 Roll feed display function in roll feed mode With the roll feed display function, the servo amplifier can operate in the roll feed mode. The roll feed mode uses the incremental system. (1) Parameter settings No. Digit to Name PA03 Setting Setting item be set 0 Absolute position Operation system detection system Description value Make sure to set the incremental (initial system. The absolute position value) detection system cannot be used.
4. OPERATION 4.9 Absolute position detection system If an absolute position erase alarm (A25) or an absolute position counter warning (AE3) has occurred, always perform home position setting again. Not doing so can cause runaway. CAUTION POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series: HF-MP, HF-KP, HC-SP, HC-RP, HC-UP, HCLP, and HA-LP.
4. OPERATION (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions. The absolute position detection system always detects the absolute position of the machine and keeps it battery-backed, independently of whether the general-purpose programmable controller power is on or off.
4. OPERATION (5) Battery installation procedure WARNING Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
4. OPERATION (b) For MR-J3-500T or more and MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute position detection system valid. Parameter No.
4.
5. PARAMETERS 5. PARAMETERS CAUTION When using the MR-J3- T servo amplifier with the MR-J3-D01 extension I/O unit, always refer to the parameters indicated in this chapter. Some parameters have different functions when they are used with the MR-J3- T servo amplifier alone. Never adjust or change the parameter values extremely as it will make operation instable.
5. PARAMETERS 5.1 Basic setting parameters (No.PA ) 5.1.1 Parameter list No.
5. PARAMETERS 5.1.2 Parameter write inhibit Parameter No. Symbol PA19 *BLK Initial value Name Parameter write inhibit Unit 000Ch Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.
5. PARAMETERS 5.1.4 Selection of regenerative option Parameter No. Symbol PA02 *REG Initial value Name Regenerative option Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Wrong setting may cause the regenerative option to burn. If the regenerative option selected is not for use with the servo amplifier, parameter error (A37) occurs.
5. PARAMETERS 5.1.5 Using absolute position detection system Parameter No. Symbol PA03 *ABS Initial value Name Absolute position detection system Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Set this parameter when using the absolute position detection system. Parameter No. PA03 0 0 0 Selection of absolute position detection system (refer to Section 4.
5. PARAMETERS 5.1.7 Feeding function selection Parameter No. Symbol PA05 *FTY Initial value Name Feeding function selection Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select the feed length multiplication and the manual pulse generator input multiplication. Parameter No.
5. PARAMETERS (1) Concept of electronic gear Use the electronic gear (parameters No.PA06, PA07) to make adjustment so that the servo amplifier setting matches the moving distance of the machine. Also, by changing the electronic gear value, the machine can be moved at any multiplication ratio to the moving distance on the servo amplifier. Motor Parameters No. PA06 Parameters No. PA07 Moving distance CMX CDV Deviation counter + - CMX CDV Encoder feedback pulses Electronic gear Parameters No.
5. PARAMETERS 5.1.9 Auto tuning Parameter No. Symbol Initial Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Unit value Setting range 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 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.
5. PARAMETERS 5.1.10 In-position range Parameter No. Symbol PA10 INP Initial value Name In-position range Unit Setting range m 0 to 10000 100 Set the range, where In position (INP) and Movement finish (MEND) are output, in the command pulse unit before calculation of the electronic gear. With the setting of parameter No. PC24, the range can be changed to the encoder output pulse unit.
5. PARAMETERS 5.1.12 Selection of servo motor rotation direction Parameter No. Symbol PA14 *POL Initial Unit value Name Rotation direction selection 0 Setting range 0 1 POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select the servo motor rotation direction when the forward rotation start (ST1) or reverse rotation direction (ST2) is turned ON. Servo motor rotation direction Parameter No.
5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No. PC19. 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.
5. PARAMETERS 5.2 Gain/filter parameters (No.PB ) 5.2.1 Parameter list No.
5. PARAMETERS 5.2.2 Detail list PB01 FILT Name and function Initial value 0000h Adaptive tuning mode (adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No. PB13) and notch shape selection (parameter No. PB14). Response of mechanical system Symbol Machine resonance point Frequency Notch depth No.
5. PARAMETERS No. Symbol PB02 VRFT Name and function Initial value Vibration suppression control tuning mode (advanced vibration suppression Unit Setting range 0000h control) The vibration suppression is valid when the parameter No. PA08 (auto tuning) 2" or " setting is " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning.
5. PARAMETERS No. Symbol PB05 Initial Name and function value For manufacturer setting Unit Setting range 500 Do not change this value by any means. PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 times Used to set the ratio of the load inertia moment to the servo motor shaft inertia 0 to moment. When auto tuning mode 1 and interpolation mode is selected, the 300.0 result of auto tuning is automatically used. (Refer to section 8.1.
5. PARAMETERS No. Symbol PB14 NHQ1 Name and function Initial value Unit 0000h Notch shape selection 1 range Refer to name and Used to selection the machine resonance suppression filter 1. 0 Setting function 0 column. Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting parameter No. PB01 (filter tuning mode 1) to " 1" automatically changes this parameter.
5. PARAMETERS No. Symbol PB18 LPF Name and function Low-pass filter setting Initial value Unit 3141 rad/s Set the low-pass filter. Setting range 100 to Setting parameter No. PB23 (low-pass filter selection) to " 0 " 18000 automatically changes this parameter. When parameter No. PB23 is set to " 1 ", this parameter can be set manually. PB19 VRF1 100.0 Vibration suppression control - vibration frequency setting Hz 0.
5. PARAMETERS No. Symbol PB25 Name and function For manufacturer setting Initial value Unit Setting range 0000h Do not change this value by any means. PB26 *CDP 0000h Gain changing selection Refer to name and function Select the gain changing condition. (Refer to section 9.6.) 0 0 column. Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No. PB29 to PB32 settings.
5. PARAMETERS No. Symbol Name and function PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Initial value Unit 100.0 Hz 0.1 100.0 changing is valid. This parameter is made valid when the parameter No. PB02 2" and the parameter No. PB26 setting is " range to Set the vibration frequency for vibration suppression control when the gain setting is " Setting 1".
5. PARAMETERS 5.3 Extension setting parameters (No.PC ) 5.3.1 Parameter list No.
5. PARAMETERS No. Symbol PC49 Name and function Initial value For manufacturer setting Unit 0000h PC50 0000h 5.3.2 Detail list No. Symbol PC01 Name and function For manufacturer setting Initial value Unit Setting range 0000h Do not change this value by any means. PC02 *ZTY Home position return type 0000h Refer to Used to set the home position return system. (Refer to section 4.7.) name and function 0 0 0 column.
5. PARAMETERS No. Symbol PC10 ZTT Name and function Stopper type home position return torque limit Initial value 15.0 Unit % Used to set the torque limit value relative to the max. torque in [%] in stopper CRP Rough match output range 10 STM m 0 to 65535 (CPO) is output. JOG 1 100.0 0 Used to set the command remaining distance range where the rough match PC12 range to type home position return. (Refer to section 5.6.5.
5. PARAMETERS No. Symbol PC19 *ENRS Initial Name and function value Encoder output pulse selection Unit 0000h Setting range Refer to Use to select the, encoder output pulse direction and encoder output pulse name and setting. function column. 0 0 Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output .
5. PARAMETERS No. Symbol PC24 *COP3 Initial Name and function value Function selection C-3 0000h Select the unit of the in-position range. Unit Setting range Refer to name and function 0 0 0 column. In-position range unit selection 0: Command input unit 1: Servo motor encoder unit PC25 For manufacturer setting 0000h Do not change this value by any means. PC26 *COP5 0000h Function selection C-5 Select the stroke limit warning (A99). 0 0 0 Refer to name and function column.
5. PARAMETERS No. Symbol Initial Name and function value PC29 For manufacturer setting 0000h PC30 Do not change this value by any means. 0000h Unit 999999 to 999999 10 m STM 999999 to 999999 % 0 to 100.0 10 m 0 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%]. When 0 is set, torque is not produced. 100.0 Status display selection Select the status display to be provided at power-on.
5. PARAMETERS No. Symbol Name and function PC37 *LPPL PC38 *LPPH Position range output address Used to set the address increment side position range output address. Set the same sign to parameters No. PC37 and PC38. Setting of different signs will result in a parameter error. In parameters No. PC37 to PC40, set the range where position range (POT) turns on. Initial value 0 Unit STM 10 m Setting range 999999 to 999999 Set address: Upper 3 Lower 3 digits digits Parameter No. PC37 Parameter No.
5. PARAMETERS 5.3.3 S-pattern acceleration/deceleration In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/ deceleration time constant (parameter No. PC13), a smooth start/stop can be made. When the S-pattern time constant is set, smooth positioning is executed as shown below. Note that the time equivalent to the S-pattern time constant setting increases until positioning (MEND) complete.
5. PARAMETERS 5.3.6 Software limit A limit stop using a software limit (parameter No. PC31 to PC34) is made as in stroke end operation. When a motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at power-on but made invalid during home position return. This function is made invalid when the software limit setting is the same as the software limit setting.
5. PARAMETERS 5.4.2 Detail list No. Symbol PD01 *DIA1 Initial Name and function value 0000h Input signal automatic ON selection 1 Unit Setting range Refer to name and Select the input devices to be automatically turned ON. function part is for manufacturer setting. Do not set the value by any means. column.
5. PARAMETERS No. Symbol PD03 *DIA3 Initial Name and function value 0000h Input signal automatic ON selection 3 Unit Setting range Refer to name and Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. function column.
5. PARAMETERS No. Symbol PD04 *DIA4 Initial Name and function value 0000h Input signal automatic ON selection 4 Setting range Refer to name and Select the input devices to be automatically turned ON. function 0 0 column. Signal name Initial value BIN HEX Point table No. selection 1 (DI0) 0 Point table No. selection 2 (DI1) 0 Point table No. selection 3 (DI2) 0 Point table No. selection 4 (DI3) 0 Signal name 0 Initial value BIN HEX Point table No.
5. PARAMETERS No. Symbol PD06 *DI2 Initial Name and function value Input signal device selection 2 (CN6-2) 002Bh Any input device can be assigned to the CN6-2 pin. Unit Setting range Refer to name and function 0 0 column. Select the input device of the CN6-2 pin The devices that can be assigned are indicated in the following table.
5. PARAMETERS No. Symbol PD09 *DO1 Initial Name and function value Output signal device selection 1 (CN6-14) 0002h Any output signal can be assigned to the CN6-14 pin. Unit Setting range Refer to name and function 0 0 column. Select the output device of the CN6-14 pin The devices that can be assigned are indicated in the following table.
5. PARAMETERS No. Symbol PD11 *DO3 Name and function Output signal device selection 3 (CN6-16) Initial value 0024h Any output signal can be assigned to the CN6-16 pin. Unit Setting range Refer to name and The devices that can be assigned and the setting method are the same as in function parameter No. PD09. column. 0 0 Select the output device of the CN6-16 pin PD12 For manufacturer setting 0C00h PD13 Do not change this value by any means.
5. PARAMETERS No. Symbol PD20 *DOP1 Name and function Initial value 0010h Function selection D-1 Unit Setting range Refer to name and Select the stop processing at forward rotation stroke end (LSN)/reverse function rotation stroke end (LSN) OFF and the base circuit status at reset (RES) ON. column.
5. PARAMETERS No. Symbol PD24 *DOP5 Initial Name and function value 0000h Function selection D-5 Select the output status of the warning (WNG). 0 0 0 Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence. (Note) Device status Setting 0 WNG ON OFF ALM ON OFF Warning occurred. ON OFF ON ALM OFF WNG 1 Warning occurred. Note.
5. PARAMETERS 5.5 Option unit parameters (No.Po ) 5.5.1 Parameter list No.
5. PARAMETERS 5.5.2 Detail list No. Symbol Po01 Initial Name and function value For manufacturer setting Unit Setting range 1234h Do not change this value by any means. Po02 *ODI1 MR-J3-D01 input signal device selection 2 (CN10-21, 26) 0302h Any input signal can be assigned to the CN10-21, 26 pin. Refer to name and function column. Select the input device of the CN10-21 pin Select the input device of the CN10-26 pin The devices that can be assigned are indicated in the following table.
5. PARAMETERS No. Symbol Po04 *ODI3 Name and function MR-J3-D01 input signal device selection 3 (CN10-29, 30) Initial value 2524h Any input signal can be assigned to the CN10-29, 30 pin. Unit Setting range Refer to name and The devices that can be assigned and the setting method are the same as in function parameter No. Po02. column.
5. PARAMETERS No. Symbol Po08 *ODO1 Initial Name and function value 2726h MR-J3-D01 output signal device selection 1 (CN10-46, 47) Unit Setting range Refer to name and Any output signal can be assigned to the CN10-46, 47 pin. function column. Select the output device of the CN10-46 Select the output device of the CN10-47 The devices that can be assigned are indicated in the following table.
5. PARAMETERS No. Symbol Po10 *OOP1 Initial Name and function value 2101h Function selection O-1 Select the positioning operation by point table selection and BCD input. Unit Setting range Refer to name and function 0 column. 0 Setting value 1 2 BCD input Devices not Point table used used assigned 1 2 3 4 5 6 7 8 CN10 9 Pin No.
5. PARAMETERS No. Symbol Po11 Name and function For manufacturer setting Initial value Unit Setting range 0000h Do not change this value by any means. Po12 *OOP3 Function selection O-3 0000h Set the output of the alarm code and M code. Refer to name and function 0 0 column. Alarm code output 0: Invalid Alarm code is not output. 1: Valid Alarm code is output at alarm occurrence. M code output 0: Invalid M code is not output. 1: Valid M code is output after execution of point table.
5. PARAMETERS No. Symbol Po15 MO1 Name and function MR-J3-D01 analog monitor 1 offset Initial value 0 Unit mV Used to set the offset voltage of the analog monitor (MO1). Setting range 9999 to 9999 Po16 MO2 MR-J3-D01 analog monitor 2 offset 0 mV Used to set the offset voltage of the analog monitor (MO2). 9999 to 9999 Po17 For manufacturer setting 0 Po18 Do not change this value by any means.
5. PARAMETERS 5.5.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using un ammeter. (1) Setting Change the following digits of parameter No. Po13, Po14. Parameter No. Po13 0 0 0 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No. Po14 0 0 0 Analog monitor (MO2) output selection (Signal output to across MO2-LG) Parameters No.
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6. MR Configurator 6. MR Configurator The MR Configurator uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 6.1 Specifications Item Description The following table shows MR Configurator software version for each servo amplifier.
6. MR Configurator 6.2 System configuration (a) Components To use this software, the following components are required in addition to the servo amplifier and servo motor.
6. MR Configurator (b) Connection with servo amplifier 1) For use of USB Personal computer MR-J3- T MR-J3-D01 CN5 USB cable MR-J3USBCBL3M (Option) To USB connector 2) For use of RS-422 MR-J3- Personal computer T MR-J3-D01 CN3 (Note) RS-422/232C conversion cable DSV-CABV (Diatrend) To RS-232C connector Note. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
6. MR Configurator 6.3 Station selection Click "Setup" on the menu bar and click "System settings" on the menu. When the above choices are made, the following window appears. a) (1) Station number selection Choose the station number in the combo box ( a) ). POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication. (2) Closing of the station selection window Click the "OK" button to close the window.
6. MR Configurator 6.4 Parameters Click "Parameters" on the menu bar and click "Parameter list" on the menu. When the above choices are made, the following window appears. g) c) h) a) j) i) d) b) k) l) e) f) (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the "Write" button to write the new parameter setting to the servo amplifier.
6. MR Configurator (4) Parameter value batch-write ( d) ) Click the "Write All" button to write all parameter values to the servo amplifier. (5) Parameter default value indication ( e) ) Click the "Set to default" button to show the initial value of each parameter. (6) Basic settings for parameters ( g) ) Used to make the basic settings such as control mode selection and absolute position system selection. (7) Basic setting parameters ( h) ) Used to make the basic settings for the servo amplifier.
6. MR Configurator 6.5 Point table POINT The value of the parameter No. PA05 set on the parameter setting screen is not engaged with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length multiplication) value to the same as set in the parameter No. PA05 on the point table list screen. Click "Point-data" on the menu bar and click "Point table" on the menu. When the above choices are made, the following window appears.
6. MR Configurator (5) Point table data insertion ( e) ) Click the "Insert" button to insert one block of data into the position before the point table No. chosen. The blocks after the chosen point table No. are shifted down one by one. (6) Point table data deletion ( f) ) Click the "Delete" button to delete all data in the point table No. chosen. The blocks after the chosen point table No. are shifted up one by one.
6. MR Configurator 6.6 Device assignment method (1) How to open the setting screen Click "Parameters" on the menu bar and click "Device setting" in the menu. Making selection displays the following window.
6. MR Configurator (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo amplifier displays the pin assignment status of the servo amplifier. a) b) d) c) 1) Read of function assignment ( a) ) Click the "Read" button reads and displays all functions assigned to the pins from the servo amplifier. 2) Write of function assignment ( b) ) Click the "Write" button writes all pins that are assigned the functions to the servo amplifier.
6. MR Configurator (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. a) b) Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO device setting window. 1) Assignment checking, automatic ON setting ( a) ) Press this button to display the screen that shows the assignment list and enables auto ON setting.
6. MR Configurator (c) Function device assignment checking auto ON setting display Click the "Assignment check / auto ON setting" button in the DIDO function display window displays the following window. a) b) c) d) e) The assigned functions are indicated by . The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.
6. MR Configurator 6.7 Test operation CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation using the forced stop (EMG). 6.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator.
6. MR Configurator a) c) d) b) e) g) h) f) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Servo motor start ( c), d) ) Hold down the "Forward" button to rotate the servo motor in the CCW rotation direction.
6. MR Configurator 6.7.2 Positioning operation POINT The servo motor will not operate if the forced stop (EMG), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and DOCOM. (Refer to section 7.6.) When an alarm occurs, the positioning operation is automatically canceled.
6. MR Configurator a) d) e) b) f) c) g) i) j) h) l) k) m) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed" input field and press the enter key. (2) Acceleration/deceleration time constant setting ( b) ) Enter a new value into the "Accel/decel time" input field and press the enter key. (3) Moving distance setting ( c) ) Enter a new value into the "Move distance" input field and press the enter key.
6. MR Configurator (10) Pulse move distance unit selection (k) Select with the option buttons whether the moving distance set is in the command input pulse unit or in the encoder pulse unit. (11) Servo motor software forced stop (1)) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used.
6. MR Configurator 6.7.3 Motor-less operation POINT When this operation is used in an absolute position detection system, the home position cannot be restored properly. Without a servo motor being connected, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response to the external I/O signals. The sequence of the host programmable controller can be checked without connection of a servo motor.
6. MR Configurator 6.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically canceled. Each servo amplifier output signal is forcibly switched on/off independently of the output condition of the output signal. Click "Test" on the menu bar and click "Forced output" on the menu. Clicking displays the confirmation window for switching to the test operation mode. Click the "OK" button to display the setting screen of the DO forced output.
6. MR Configurator (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal status to the servo amplifier. (2) DO forced output window closing ( c) ) Click the "Close" button to cancel the DO forced output mode and close the window. (3) Switching to usual operation mode To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier. 6.7.
6. MR Configurator Click the "OK" button to display the setting screen of the Single-step feed. During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed. After confirming that the operation is in the stop status, click the "OK" button. b) a) c) d) e) f) g) (1) Point table No. setting ( a) ) Enter the point table No. into the "Point table No." input field and press the enter key.
6. MR Configurator (7) Servo motor software forced stop ( f) ) Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button again to make the "Start" button enabled. (8) Single-step feed window closing ( g) ) Click the "Close" button to cancel the single-step feed mode and close the window.
6. MR Configurator 6.8 Alarm 6.8.1 Alarm display POINT If a menu is clicked or any other operation is performed during alarm occurrence, the following message window appears. The example given here is the window that indicates an occurrence of Encoder error 1 (16). The current alarm can be displayed. To display the current alarm, click "Alarm" on the menu bar and click "Display" on the menu. When the above choices are made, the following window appears.
6. MR Configurator (1) Current alarm display The window shows the alarm number, name, cause and occurrence time. The following example is the window that indicates an occurrence of Encoder error 1 (16). (2) Alarm reset ( a) ) Click the "Reset alarm" button to reset the current alarm and clear alarms on the window. The alarm at this time is stored as the latest alarm. (3) Closing the current alarm window ( b) ) Click the "Close" button to close the window. 6.8.
6. MR Configurator Click the "Read" button to read the monitor data at error occurrence from the servo amplifier. Read results are displayed as follows.
6. MR Configurator 6.8.3 Alarm history Click "Alarm" on the menu bar and click "History" on the menu. When the above choices are made, the following window appears. a) b) (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear ( a) ) Click the "Clear" button to clear the alarm history stored in the servo amplifier. (3) Closing of alarm history window ( b) ) Click the "Close" button to close the window.
7. PARAMETER UNIT (MR-PRU03) 7. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter unit and MR Configurator together. Perform simple data setting, test operation, parameter setting, etc. without MR Configurator by connecting the MR-PRU03 parameter unit to the servo amplifier.
7. PARAMETER UNIT (MR-PRU03) 7.1 External appearance and key explanations This section gives the external appearance and explanations of the keys. Key explanations Key MON ALM/ DGN Mode key Display LCD (16 characters x 4 lines) Used to display the following or others: Parameter setting Monitor DATA PARAM TEST PRU03 Fn Monitor mode key Used to display the monitor screen. Alarm/diagnosis mode Used to display the alarm/DO forced output/diagnosis selection screen.
7. PARAMETER UNIT (MR-PRU03) 7.2 Specifications Item Description Model MR-PRU03 Power supply Supplied from the servo amplifier Basic setting parameters, Gain/filter parameters, Extension setting Parameter mode parameters, I/O setting parameters Current position, Command position, Command remaining distance, Override, Point table No.
7. PARAMETER UNIT (MR-PRU03) 7.4 Connection with servo amplifier POINT A parameter unit cannot be connected to the CN30 connector of MR-J3-D01. 7.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable. MR-J3- Parameter unit (MR-PRU03) (Note) 10BASE-T cable, etc. (EIA568-compliant cable) Note. Do not connect to the CN30 connector of MR-J3-D01. It cannot be used if connected.
7. PARAMETER UNIT (MR-PRU03) 7.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. MR-J3- T MR-J3-D01 MR-J3- CN3 T MR-J3-D01 (Note 4) CN3 MR-J3- (Note 4) T MR-J3-D01 CN3 (Note 4) Parameter unit (MR-PRU03) (Note 1) (Note 2) (Note 2) (Note 1) (Note 1) (Note 2) (Note 3) Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector. 2.
7. PARAMETER UNIT (MR-PRU03) (2) Cable internal wiring diagram Wire the cables as shown below.
7. PARAMETER UNIT (MR-PRU03) 7.5 Display Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier. In this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation procedure in each mode. 7.5.1 Outline of screen transition Servo amplifier power ON MR-PRU03 parameter unit setting Initializing (Note) Normal transition (i.e.
7. PARAMETER UNIT (MR-PRU03) 7.5.2 MR-PRU03 parameter unit setting MR-PRU03 parameter unit setting Station number Set and enter the station number. (e.g. To enter 31st axis) 3 1 ESC Baud rate selection Press the " " keys to select, and press the " " key to set. Press the " " keys to select Contrast adjustment from 0 to 63, and press the " " key Buzzer Press the " 1 " key to select ON or the " 0 " key to select OFF, and press the " " key to set. Version info PRU03 software number is displayed.
7. PARAMETER UNIT (MR-PRU03) 7.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the display. Refer to (2) in this section for details. 11. Regenerative load ratio MON 1. Current position 12. Effective load ratio 2. Command position 13. Peak load ratio 3. Command remaining distance 14. Instantaneous torque 4. Point table No. 15. Within one-revolution position 5. Cumulative feedback pulses 16. ABS counter 6. Servo motor speed 17.
7. PARAMETER UNIT (MR-PRU03) (2) Monitor display list The following table lists the items and descriptions of monitor display. Display on parameter unit Unit Cur posit 10 mm Command position Cmd Posit 10 mm Command remaining distance Cmd remin 10 mm Status display STM Current position Description The current position from the machine home position of 0 is displayed. 9999999 to 9999999 The command position is displayed. 9999999 to 9999999 STM Point table No.
7. PARAMETER UNIT (MR-PRU03) 7.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings involving alarms, alarm history, external I/O signal (DIDO) display, device and diagnosis. ALM/ DGN Alarm Current alarm (When undervoltage (A10) occurred.) When parameter error (A37) occurred. The alarm number of the current alarm is displayed. This screen is displayed once an alarm occurred regardless of the display mode selected. The parameter No.
7. PARAMETER UNIT (MR-PRU03) (2) Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history before starting operation. ALM/ DGN Select "ALM Hist". STOP RESET For six alarms including the latest alarm and five other alarms in alarm history (0 to 5), their alarm numbers and energization time elapsed before the alarm occurrence are displayed.
7. PARAMETER UNIT (MR-PRU03) 7.5.5 Parameter mode The flowchart below shows the procedure for setting parameters. DATA PARAM Select a parameter group. e.g. To select the gain/filter parameter, press: e.g. To select parameter No. PB10, press: 1 0 e.g. To set setting value "1234", press: 1 2 3 The parameter number, abbreviation and setting value are displayed. Press the "Fn" key to display the range. First parameter number is displayed. 4 Write Write is completed.
7. PARAMETER UNIT (MR-PRU03) 7.5.6 Point table mode The flowchart below shows the procedure for setting point table data. SHIFT DATA PARAM e.g. To set point table No. "255" press: Table read screen 2 5 5 Select a point table No. e.g. To set setting value "4567.89", press: Select an item with " keys the " or numeric keys. Point table data is displayed.
7. PARAMETER UNIT (MR-PRU03) 7.5.7 Test operation mode CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation using the forced stop (EMG). POINT Test operation cannot be performed if the servo-on signal is not turned OFF.
7. PARAMETER UNIT (MR-PRU03) (1) Jog operation Jog operation can be performed when there is no command from the external command device. Connect EMG-DOCOM to start jog operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below. Initial setting Setting range Speed [r/min] Item 200 0 to instantaneous permissible speed (Note) Acceleration/deceleration time constant [ms] 1000 0 to 20000 Note.
7. PARAMETER UNIT (MR-PRU03) (2) Positioning operation Positioning operation can be performed once when there is no command from the external command device. Connect EMG-DOCOM to start positioning operation. (a) Operation/cancel You can change the operation conditions with the parameter unit. The initial conditions and setting ranges for operation are listed below.
7. PARAMETER UNIT (MR-PRU03) If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop. To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier. (b) Status display You can monitor the status display even during positioning operation. At this time, the "FWD", "REV" and "STOP" keys can be used.
7. PARAMETER UNIT (MR-PRU03) To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier. (5) Single-step feed Operation is performed in accordance with the preset point table No. Connect EMG-DOCOM to start single-step feed. The following shows the operation condition settings and the operation procedures. e.g. To select point table No. 255, press: Single-step feed 2 5 5 The point table No. setting screen is displayed.
7. PARAMETER UNIT (MR-PRU03) (2) Messages Message Description Valid parameters were written when power is off. The MR-PRU03 parameter unit was used to set a station number and perform transition during the test operation mode. Operation mode is the test operation mode. The test mode was changed due to external factor. Reading settings specified for the parameter write disable (parameter No. PA19) was attempted.
8 GENERAL GAIN ADJUSTMENT 8. GENERAL GAIN ADJUSTMENT 8.1 Different adjustment methods 8.1.1 Adjustment on a single servo amplifier The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order. (1) Gain adjustment mode explanation Gain adjustment mode Auto tuning mode 1 Parameter No.
8. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Yes Interpolation made for 2 or more axes? Used when you want to match the position gain (PG1) Interpolation mode No between 2 or more axes. Normally not used for other Operation Allows adjustment by merely Auto tuning mode 1 changing the response level setting. Operation Yes purposes. First use this mode to make No OK? No adjustment.
8. GENERAL GAIN ADJUSTMENT 8.2 Auto tuning 8.2.1 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.
8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Loop gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Encoder 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.
8. GENERAL GAIN ADJUSTMENT 8.2.3 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.
8. GENERAL GAIN ADJUSTMENT 8.2.4 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 track ability 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.
8. GENERAL GAIN ADJUSTMENT 8.3 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 9.1.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment. Parameter No.
8. 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. The actual response frequency of the speed loop is as indicated in the following expression.
8. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation PB06 GD2 Name Ratio of load inertia moment to servo motor inertia moment PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adjustment procedure Step Operation 1 2 Brief-adjust with auto tuning. Refer to section 8.2.3.
8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.
8. GENERAL GAIN ADJUSTMENT 8.4 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, manually set the model loop gain that determines command track ability. Other parameters for gain adjustment are set automatically. (1) Parameter (a) Automatically adjusted parameters The following parameters are automatically adjusted by auto tuning.
8. GENERAL GAIN ADJUSTMENT 8.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MR-J2-Super. The following table lists comparison of the response level setting. MELSERVO-J2-Super Parameter No. 3 Setting 1 2 MELSERVO-J3 Guideline for Machine Resonance Frequency [Hz] Parameter No. PA09 Setting 15 20 Guideline for Machine Resonance Frequency [Hz] 1 10.0 2 11.
9. SPECIAL ADJUSTMENT FUNCTIONS 9. 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 9. 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.
9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Parameter No.PB01 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode 2 Manual mode Parameter No. PB13 Parameter No. PB14 Note. Parameter No. PB19 and PB20 are fixed to the initial values.
9. 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".
9. 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.
9. 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.
9. SPECIAL ADJUSTMENT FUNCTIONS 9.4 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.
9. 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.
9. 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.
9. 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.
9. SPECIAL ADJUSTMENT FUNCTIONS 9.5 Low-pass filter (1) Function When a ball screw 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. Filter frequency(rad/s) When parameter No.
9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.2 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 Input device CDP Command pulse frequency Droop pulses Changing Model speed CDS Parameter No. PB27 Comparator GD2 Parameter No. PB06 GD2B Parameter No. PB29 PG2 Parameter No. PB08 PG2B Parameter No.
9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.3 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 No.
9. 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.
9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by input device (a) Setting Parameter No. Abbreviation PB07 PG1 Name Model loop gain Ratio of load inertia moment to servo motor Setting Unit 100 rad/s 4.0 times PB06 GD2 PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 3000 rad/s PB10 VIC Speed integral compensation 20 ms PB29 GD2B 10.
9. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Setting Unit 100 rad/s 4.0 times Position loop gain 120 rad/s VG2 Speed loop gain 3000 rad/s VIC Speed integral compensation 20 ms 10.
9.
10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 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 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. No. 1 Start-up sequence Power on Fault Investigation Possible cause LED is not lit. Not improved if connectors 1.
10. TROUBLESHOOTING No. 4 Start-up sequence Cyclic operation Fault Investigation Position shift occurs Possible cause Confirm the cumulative Pulse counting error, etc. command pulses, cumulative due to noise. Reference feedback pulses and actual servo motor position. 10.2 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (SON) at occurrence of an alarm. 10.2.
10.
10. TROUBLESHOOTING Display A10 Name Undervoltage Cause Definition Power supply 1. Power supply voltage is low. voltage dropped. 2. There was an instantaneous control MR-J3- T: 160VAC or less MR-J3- T1: 83VAC or less MR-J3- T4: 280VAC or less Action Check the power supply. power failure of 60ms or longer. 3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 4. The bus voltage dropped to the following value or less.
10. TROUBLESHOOTING Display A24 Name Cause Definition Main circuit Ground fault error occurred at the servo 1. Power input wires and servo motor Action Connect correctly. power wires are in contact. motor power (U,V 2. Sheathes of servo motor power and W phases) of cables deteriorated, resulting in the servo amplifier. ground fault. Change the cable. 3. Main circuit of servo amplifier failed. Change the servo amplifier.
10. TROUBLESHOOTING Display A31 Name Overspeed Cause Definition Speed has exceeded 1. Input command pulse frequency the instantaneous permissible speed. Action Set command pulses correctly. exceeded the permissible instantaneous speed frequency. 2. Small acceleration/deceleration time Increase acceleration/deceleration time constant caused overshoot to be constant. large. 3. Servo system is instable to cause overshoot. 1. Re-set servo gain to proper value. 2.
10. TROUBLESHOOTING Display A33 Name Overvoltage Definition Cause Action The following shows 1. Regenerative option is not used. Use the regenerative option. the input value of Set correctly. 2. Though the regenerative option is converter bus used, the parameter No.PA02 voltage. setting is " MR-J3- T(1): 00 (not used)". 3. Lead of built-in regenerative resistor 1. Change the lead. 400VDC or more or regenerative option is open or MR-J3- T4: disconnected. 800VDC or more 2.
10. TROUBLESHOOTING Display A45 Name Main circuit Definition Main circuit device device overheat overheat Cause Action 1. Servo amplifier faulty. Change the servo amplifier. 2. The power supply was turned on The drive method is reviewed. and off continuously by overloaded status. 3. Ambient temperature of servo motor Check environment so that ambient is over 55 (131 ). 4. Used beyond the specifications of temperature is 0 to 55 (32 to 131 ). Use within the range of specifications.
10. TROUBLESHOOTING Display A51 Name Overload 2 Cause Definition Machine collision or 1. Check operation pattern. 2. Wrong connection of servo motor. Connect correctly. the like caused max. For the time of the Action 1. Machine struck something. 2. Install limit switches. alarm occurrence, Servo amplifier's output terminals U, refer to the section V, W do not match servo motor's 12.1. input terminals U, V, W. 3. Servo system is instable and hunting. 1.
10. TROUBLESHOOTING Display Name (Note) Watchdog 888 Definition CPU, parts faulty Cause Fault of parts in servo amplifier Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Note. At power-on, "888" appears instantaneously, but it is not an error. 10 - 10 Action Change the servo amplifier.
10. TROUBLESHOOTING 10.2.3 Remedies for warnings CAUTION If an absolute position counter warning (AE3) occurred, always make home position setting again. Not doing so may cause unexpected operation. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty.
10. TROUBLESHOOTING Display A98 Name Definition Software limit Software limit set in warning parameter is reached. Cause 1. Software limit was set within actual operation range. 2. Point table of position data in excess of Action Set parameter No. PC31 to PC34 correctly. Set point table correctly. software limit was executed. 3. Software limit was reached during JOG operation or manual pulse generator Perform operation within software limit range. operation.
10. TROUBLESHOOTING Display AEC Name Definition Cause Action Overload warning Operation, in which a During a stop, the status in which a current 2 current exceeding the flew intensively in any of the U, V and W rating flew intensively in phases of the servo motor occurred any of the U, V and W repeatedly, exceeding the warning level. phases of the servo 1. Reduce the positioning frequency at the specific positioning address. 2. Reduce the load. 3.
10.
11. OUTLINE DRAWINGS 11. OUTLINE DRAWINGS 11.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] 60 Approx. 80 40 4 6 mounting hole Rating plate 135 6 41 (Note) CNP1 CNP2 CN1 CNP3 Approx. 68 6 Approx. 25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 0.8 [kg] (1.
11. OUTLINE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] 60 Approx. 80 40 5 Rating plate 170 6 6 mounting hole 76 (Note) CNP1 CNP2 CN1 CNP3 Approx. 68 6 Approx. 25.5 With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.
11. OUTLINE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] Approx. 80 80 6 Rating plate 6 mounting hole 185 12 91 CNP1 CNP2 CN1 CNP3 6 12 Approx. 68 Cooling fan wind direction Approx. 25.5 42 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) (Servo amplifier alone) Terminal signal layout L1 Approx. 60 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V 42 W Approx. 12 P C CNP2 0.3 Approx.
11. OUTLINE DRAWINGS (4) MR-J3-60T4 MR-J3-100T4 [Unit: mm] 80 6 6 mounting hole Rating plate Approx. 80 12 195 101 CNP1 CNP2 CN1 CNP3 Approx. 68 6 12 Approx. 25.5 42 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) (Servo amplifier alone) Terminal signal layout L1 Approx. 60 PE terminal L2 L3 CNP1 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw P 42 C CNP2 D Approx. 12 0.3 Approx.
11. OUTLINE DRAWINGS (5) MR-J3-200T(4) POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. For MR-J3-200TRT, refer to appendix 4. [Unit: mm] 105 6 mounting hole Approx. 80 85 6 Rating plate 195 45 101 CNP1 CN1 CNP2 CNP3 Approx. 68 6 6 78 Approx. 25.5 6 Cooling fan wind direction With MR-J3BAT Mass: 2.1 [kg] (4.
11. OUTLINE DRAWINGS (6) MR-J3-350T [Unit: mm] 105 6 6 mounting hole 85 Approx. 80 195 45 Rating plate 101 CNP1 CN1 CNP3 CNP2 6 6 Approx. 68 Approx. 25.5 Cooling fan wind direction 78 With MR-J3BAT Mass: 2.3 [kg] (5.07 [lb]) (Servo amplifier alone) Terminal signal layout Approx. 90 L1 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V W Approx. 6 P 0.3 Approx.
11. OUTLINE DRAWINGS (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] 140 130 6 Approx. 80 106 118 2- 200 Cooling fan wind direction 6 6 mounting hole CN1 Rating plate TE3 TE2 21.5 10 With MR-J3BAT 81.5 109.1 147.9 150.7 6 TE1 42 1111 67 1111 11 26.5 7 11 77 Built-in regenerative resistor lead terminal fixing screw Mass: 4.6 [kg] (10.1 [lb]) (Servo amplifier alone) Approx. 6 Terminal signal layout 118 TE1 L1 L2 L3 TE2 L11 Approx.
11. OUTLINE DRAWINGS (8) MR-J3-700T(4) [Unit: mm] 182 172 160 6 2- Approx. 80 200 106 6 Cooling fan wind direction 6 mounting hole CN1 Rating plate TE3 With MR-J3BAT 75 99.8 102.6 149.2 6 TE1 24.5 34 1313 31 13 13 13 7 13 TE2 14.5 91 10 Built-in regenerative resistor lead terminal fixing screw Mass: 6.2 [kg] (13.7[lb]) (Servo amplifier alone) Terminal signal layout Approx. 6 TE1 L1 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Approx.
11. OUTLINE DRAWINGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] 260 236 12 Approx. 80 12 260 Cooling fan wind direction 2-12 mounting hole CN1 With MR-J3BAT 123 13 Rating plate 12 183 227 26 52 Approx. 12 Servo amplifier Mass[kg]([Ib]) MR-J3-11KT(4) 18.0(40) MR-J3-15KT(4) 18.0(40) MR-J3-22KT(4) 19.0(42) TE 6 26 156 Approx. 260 236 0.5 4-M10 screw Approx.
11. OUTLINE DRAWINGS 11.2 MR-J3-D01 extension IO unit [Unit: mm] 103 98 94 20 Approx. 80 79.
11. OUTLINE DRAWINGS 11.3 Connector (1) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] D E A C 39.0 23.8 Logo etc, are indicated here. B 12.7 Each type of dimension Connector Shell kit 10150-3000PE 10350-52F0-008 A B C D E 41.1 52.4 18.0 14.0 17.0 (b) Jack screw M2.6 type This is not available as option. [Unit: mm] D E A C F 5.2 39.0 23.8 Logo etc, are indicated here. B 12.
11. OUTLINE DRAWINGS (2) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 39.5 22.4 11.0 34.
12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 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 (A50) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 12.1. Overload 2 alarm (A51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
12 CHARACTERISTICS 10000 Operation time [s] 1000 During operation 100 During servo lock 10 1 0 100 200 300 (Note) Load ratio [%] MR-J3-11KT(4) to MR-J3-22KT(4) Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated. Fig 12.
12 CHARACTERISTICS 12.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 12.1 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.
12 CHARACTERISTICS Servo amplifier MR-J3-700T (4) MR-J3-11KT (4) MR-J3-15KT (4) MR-J3-22KT (4) Servo motor (Note 1) (Note 2) Power supply Servo amplifier-generated heat[W] Area required for heat dissipation capacity[kVA] At rated torque With servo off [m2] HF-SP702 (4) 10.0 300 25 6.0 HA-LP702 10.6 300 25 6.0 HA-LP601 (4) 10.0 260 25 5.2 HA-LP701M (4) 11.0 300 25 6.0 11.0 HC-LP11K2 (4) 16.0 530 45 HC-LP801 (4) 12.0 390 45 7.8 HC-LP12K1 (4) 18.0 580 45 11.
12 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 ( 50 ) at the ambient temperature of 40 (104 ). (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 12.1. A P K T where, A P T K .....................
12 CHARACTERISTICS 12.3 Dynamic brake characteristics 12.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 12.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 12.2 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 (2)(a), (b) in this section.) ON OFF Forced stop(EMG) Time constant V0 Machine speed Time te Fig. 12.
12 CHARACTERISTICS 120 Time constant [ms] Time constant [ms] 60 50 40 51 81 30 20 421 10 121 0 0 500 301 201 1000 1500 Speed [r/min] 100 52 80 60 102 40 20 HF-SP1000r/min series HF-SP2000r/min series [ms] 100 90 80 70 60 50 40 30 20 10 0 103 503 Time constant Time constant [ms] 18 16 14 12 10 8 6 153 4 2 0 0 353 203 500 202 502 152 500 1000 1500 2000 2500 3000 Speed [r/min] 0 0 2000 352 702 1000 1500 2000 2500 3000 Speed [r/min] HC-RP series 72 502 352 202 152 0
12 CHARACTERISTICS 80 Time constant 80 60 40 22K1M [ms] 100 11K1M Time constant [ms] 120 15K1M 701M 20 0 0 500 1000 1500 15K2 60 11K2 40 22K2 702 20 0 0 2000 500 Speed[r/min] 1000 1500 502 2000 Speed[r/min] HA-LP1500r/min series HA-LP2000r/min series Time constant [ms] 200 160 52 202 120 80 102 302 40 152 0 0 500 1000 1500 Speed[r/min] 2000 HC-LP series (b) 400V class servo motor 35 75 [ms] 2024 524 1024 45 3524 30 5024 15 0 0 1000 30 1524 7024 2000 300
12 CHARACTERISTICS 12.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio 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. The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor.
12 CHARACTERISTICS 12.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AUXILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.
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13. OPTIONS AND AUXILIARY EQUIPMENT No. 1) Product Model Description Application Servo Supplied with amplifier servo power supply amplifiers of connector 1kW or less in 100V class CNP1 CNP2 connector: 54928-0670 connector: 54928-0520 connector: 54928-0370 (Molex) (Molex) CNP3 (Molex) and 200V class 2 Wire size: 0.14mm (AWG26) to 2.5mm 2 (AWG14) Cable finish OD: to REC. Lever: 3.
13. OPTIONS AND AUXILIARY EQUIPMENT No. Product 5) Motor power MR-PWS1CBL Model supply cable A2-L Description M- Power supply connector Cable length: 2 6) 7) Motor power supply cable Motor power supply cable 5 HF-MP series HF-KP series 10m MR-PWS1CBL A2-H Cable length: 2 5 10m Application IP65 Opposite-toload side lead Long flex life M- Refer to section 13.1.3 for details. MR-PWS2CBL03M-A1-L Cable length: 0.
13. OPTIONS AND AUXILIARY EQUIPMENT No. Product 17) Encoder cable Model MR-J3ENCBL 19) Encoder cable 5 Application 10m MR-J3ENCBL Cable length: 2 5 10m IP65 Opposite-toload side lead Encoder connector Cable length: 2 18) Encoder cable Description M-A2-L HF-MP series HF-KP series M-A2-H IP65 Opposite-toload side lead Long flex life Refer to section 13.1.2 (1) for details. MR-J3JCBL03M-A1-L Cable length: 0.
13. OPTIONS AND AUXILIARY EQUIPMENT No. Product 29) Power Model MR-PWCNS5 Description Application IP67 Plug: CE05-6A22-22SD-D-BSS supply Cable clamp: CE3057-12A-1-D connector (DDK) set Example of applicable cable For HF-SP121 to 301 2 Applicable wire size: 5.5mm (AWG10) to 8mm 2 For HF-SP202 to 502 (AWG8) Cable finish D: 12.
13. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 39) Digital switch MR-DSCBL Description Application M-G For digital cable switch Refer to section 3.2.2 and section 13.19 for details. 40) Digital switch MR-DSCBL cable For digital switch junction Refer to section 3.2.2 and section 13.19 for details. 41) Junction PS7DW-20V14B-F (YOSHIDA) terminal block (Recommended) MR-J2HBUS M The junction terminal block PS7DW-20V14B-F is not an option from us.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.2 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.
13. 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 3 6 5 4 2 9 P5 1 LG 2 MR 3 MRR 4 BAT 9 Plate SD (2) MR-EKCBL 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.
13. 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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13. 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 13.9 for the specifications of the used cable.
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13. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP Series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.
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13. 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 Cable Model Application Length MR-J3BTCBL03M 0.3m 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.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 3.10 when wiring. Cable Model 0.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 3.11 when wiring. Cable Model 0.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.2 Regenerative options The specified combinations of regenerative 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. Regenerative power[W] Servo amplifier Built-in regenerative MR-RB032 MR-RB12 MR-RB30 MR-RB31 MR-RB32 [40 ] [40 ] [13 ] [6.
13. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. Unbalance torque Servo motor speed (a) Regenerative energy calculation Use the following table to calculate the regenerative energy.
13. 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.
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Parameter setting Set parameter No. PA02 according to the option to be used. Parameter No. PA02 0 0 Selection of regenerative option 00: Regenerative option is not used For MR-J3-10T, regenerative resistor is not used. For MR-J3-20T 40T 60T(4) to 700T(4) built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the MR-J3-11KT(4) to 22KT(4) servo amplifier.
13. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling 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 13.9. The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc.
13. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4 install the cooling fan as shown. [Unit : mm] Cooling fan installation screw hole dimensions 2-M3 screw hole Top (for cooling fan installation) Depth 10 or less (Screw hole already machined) Terminal block 82.5 Cooling fan 133 Thermal relay Bottom Vertical installation 82.
13. OPTIONS AND AUXILIARY EQUIPMENT When using the regenerative resistor option, remove the servo amplifier's built-in regenerative resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method Accessory screw The drawing below shows the MR-J3-350T4 and MR-J3-500T(4). Refer to section 11.1 (6) Outline drawings for the position of the fixing screw for MR-J3-700T(4).
13. OPTIONS AND AUXILIARY EQUIPMENT For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4 install the cooling fan as shown. [Unit : mm] Cooling fan installation screw hole dimensions 2-M3 screw hole Top (for cooling fan installation) Depth 10 or less (Screw hole already machined) Terminal block 82.5 Cooling fan 133 Thermal relay Bottom Vertical installation 82.
13. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-J3-11KT(4) to MR-J3-22KT(4) (when using the supplied regenerative resistor) The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protect cover. Touching the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even if the power was shut-off, be careful until the bus voltage discharged and the temperature decreased because of the following reasons.
13. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX (when using the regenerative option) The MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option. The MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 are regenerative options that have encased the GRZG4001.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.
13. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm (in)] TE1 Terminal block Approx. 12 LB G3 G4 P C 6 mounting hole Approx. 6 LA MR-RB Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N (4 to 5 [lb m] in]) Mounting screw 144 168 156 Screw size: M5 Tightening torque: 3.24 [N 5 (28.7 [lb m] in]) 6 12 G3 G4 P C TE1 1.6 6 Approx.
13. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm (in)] Cooling fan mounting screw (2-M4 screw) TE1 Terminal block P C G3 G4 Terminal screw: M4 7 10 101.5 90 100 82.5 318 B Wind blows in the arrow direction A Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N Regenerative option m] (47.79 [lb in]) Variable dimensions A B 17 335 Mass [kg] (Ib) MR-RB30 MR-RB31 MR-RB32 2.9 (6.
13. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 Terminal block [Unit: mm (in)] 2- 10 mounting hole P 30 10 G4 G3 C Terminal screw: M5 Tightening torque: 2.0 [N m] (17.70 [lb in]) Mounting screw 480 500 427 Screw size: M8 Tightening torque: 13.2 [N m] (116.83 [lb in]) TE1 230 260 230 2.3 43 10 215 Cooling fan mounting screw 4-M3 screw 82.5 15 10 G4 G3 C P Mass Regenerative option [kg] [Ib] MR-RB5E 10 22.0 MR-RB9P 11 24.
13. OPTIONS AND AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N 40 36 15 m] (4.43 to 5.31 [lb in]) G3 G4 P 6 mounting hole C Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.32 [lb in]) TE1 6 2 6 Approx. 24 149 173 13 - 32 Regenerative option Mass [kg] ([lb]) MR-RB1H-4 1.1 (2.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.3 FR-BU2-(H) brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier, and a 400V class brake unit and a resistor unit with a 400V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Brake unit 200V Resistor unit FR-BU2-15K Number of Permissible Total connected continuous resistance units power [kW] [ ] 1 0.99 8 FR-BR-15K Applicable servo amplifier MR-J3-500T class (Note) 2(parallel) 1.98 4 MR-J3-500T MR-J3-700T MR-J3-11KT MR-J3-15KT FR-BU2-30K FR-BR-30K 1 1.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.3.3 Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
13. OPTIONS AND AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect the servo amplifier and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section.
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13. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit (Note 8) Servo motor thermal relay RA2 ALM RA1 EMG OFF ON MC RA3 MC SK (Note 4) MC NFB (Note 1) Power supply Servo amplifier CN6 1 EMG L1 17 DOCOM L2 5 DICOM L3 15 ALM L11 L21 24VDC RA1 MT-BR5-(H) (Note 5) TH1 P TH2 PR SK RA3 FR-BU2-(H) C (Note 9) P1 (Note 2) P (Note 7) N PR P/ (Note 3) N/ (Note 8) BUE SD MSG SD A B C (Note 6) Note 1. For power supply specifications, refer to section 1.2. 2.
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction.
13. OPTIONS AND AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A B C Sheath MSG MSG SD SD PC BUE SD RES SD Core Jumper 6mm Terminal block Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Wire size: M3 Tightening torque: 0.5N m to 0.6N m Wire size: 0.3mm2 to 0.
13. OPTIONS AND AUXILIARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. Number of Servo amplifier Brake unit connected (Note 1) Crimping terminal (Manufacturer) Applicable units 200V MR-J3-500T FR-BU2-15K class tool 1 FVD5.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-15K 5 hole (Screw size: M4) Rating plate 4 5 6 56 68 18.5 6 52 132.5 62 FR-BU2-30K FR-BU2-H30K 2- 5 hole (Screw size: M4) Rating plate 6 5 96 108 5 6 18.5 52 129.5 59 FR-BU2-55K FR-BU2-H55K, H75K 2- 5 hole (Screw size: M4) Rating plate 5 5 6 158 170 13 - 42 6 18.5 52 72 142.
13. OPTIONS AND AUXILIARY EQUIPMENT (2) FR-BR- (H) resistor unit [Unit: mm] 2 C (Note) Control circuit terminal (Note) Main circuit terminal C C Approx. 35 W1 Approx. 35 1 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below). Hanging bolt W 204 5 Note. Ventilation ports are provided on both sides and the top. The bottom is open.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02.
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13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan D K F EE AA C A Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D E EE K F Approx. Mass [kg(Ib)] FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19 (41.888) 340 270 600 582 195 10 10 8 3.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV-(H) Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H).
13. OPTIONS AND AUXILIARY EQUIPMENT The following table lists the restrictions. FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 Total of connectable servo motor rated currents [A] 33 46 15 18.5 27.5 61 90 115 145 Maximum servo amplifier capacity [kW] 3.
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13. OPTIONS AND AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air (a) Wire sizes 1) Across P( )-P, N-N( ) The following table indicates the connection wire sizes of the DC power supply (P, N terminals) between the FR-CV and servo amplifier.
13. OPTIONS AND AUXILIARY EQUIPMENT (b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities. 1) 200V class Wire as short as possible.
13. OPTIONS AND AUXILIARY EQUIPMENT (5) Other precautions (a) Always use the FR-CVL-(H) as the power factor improving reactor. Do not use the FR-BAL or FR-BEL. (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them.
13. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure. For the braking time taken when the dynamic brake is operated, refer to section 12.3. The brake unit is rated for a short duration. Do not use it for high duty. When the dynamic brake is used, the power supply voltage is restricted as indicated below.
13. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier ALM RA1 Operation-ready ON EMG OFF MC NFB (Note 5) Servo motor U U MC V V SK W W MC CN10 L1 (Note 6) Power supply L2 (Note 3) DB L3 14 DICOMD L11 17 DOCOMD 21 SON Plate SD L21 P (Note 2) M P1 RA2 24VDC (Note 4) CN6 15 ALM 5 DICOM 17 DOCOM 1 EMG Plate SD RA1 24VDC (Note 4) (Note 1) 14 13 U V W (Note 7) a RA2 b External dynamic brake Note 1.
13. OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Trouble (ALM) Coasting Coasting Forward rotation Dynamic brake Dynamic brake Present Absent ON Base OFF ON RA1 OFF Dynamic brake Invalid Valid Forced stop (EMG) Short Open a. Timing chart at alarm occurrence Servo motor speed b.
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DB-11K DBU-15K DBU-22K [Unit: mm] D E 5 A B E 5 100 G D C Terminal block E a (GND) F U b 13 14 A B C V W Screw : M4 Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in]) Dynamic brake 2.3 Tightening torque: 1.2 [N m](10.6 [lb in]) D E F G Mass Connection wire [kg]([Ib]) [mm ] (Note) 2 DBU-11K 200 190 140 20 5 170 163.5 2 (4.41) 5.5 DBU-15K, 22K 250 238 150 25 6 235 228 6 (13.23) 5.
13. OPTIONS AND AUXILIARY EQUIPMENT (b) DBU-11K-4 DBU-22K-4 [Unit: mm] 228 280 25 7 150 2.3 10 51 73.75 26 43 260 26 10 2- 7mounting hole 25 195 200 15 15 210 15 179.5 178.5 170 Mass: 6.7[kg] (14.8 [lb]) Terminal block TE1 a TE2 b 13 14 U Screw: M3.5 Tightening torque: 0.8[N m](7[lb in]) V W Screw: M4 Tightening torque: 1.2 [N m](10.6[lb in]) 2 Dynamic brake Wire [mm ] (Note) a b U V DBU-11K 2 5.5 DBU-15K, 22K 2 5.5 W Note.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.7 Battery 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.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.8 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed.
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Punched hole Fit using the assembling screws. Servo amplifier Servo amplifier Control box Attachment a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] 20 Panel Servo amplifier 236 280 Attachment Mounting hole Approx. 260 13 - 62 Servo amplifier 3.2 155 105 Approx. 260 Panel Approx. 11.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.9 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 5. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more for wiring.
13. OPTIONS AND AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 13.1 Wire size selection example 1 (IV wire) 2 Wires [mm ] (Note 1, 4) Servo amplifier 1) L1 L2 2) L11 L3 L21 3) U V 4) P W C 5) B1 B2 7) 6) BU BV BW OHS1 OHS2 MR-J3-10T(1) MR-J3-20T(1) MR-J3-40T(1) MR-J3-60T 1.25(AWG16) 2(AWG14) MR-J3-70T 1.
13. OPTIONS AND AUXILIARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. For the wire ( 8)) for power regeneration converter (FR-RC-(H)), use the IV wire indicated in (1) (a) in this section. Table 13.
13. OPTIONS AND AUXILIARY EQUIPMENT (c) Selection example of crimping terminals Selection example of crimping terminals for the servo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below. Servo amplifier side crimping terminals Symbol (Note 2) Applicable tool Crimping Body terminal a FVD5.5-4 (Note 1)b 8-4NS c FVD14-6 d FVD22-6 (Note 1)e 38-6 (Note 1)f R60-8 g FVD2-4 h FVD2-M3 j FVD5.5-6 k FVD5.
13. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 13.3 Wires for option cables Characteristics of one core Type Length [m(ft)] Model Core size Number Conductor Structure [ [mm2] of Cores resistance Wires/mm] MR-J3ENCBL M-A2-L MR-J3ENCBL M-A1-H MR-J3ENCBL 6 (3 pairs) 7/0.26 53 or less 1.2 7.1 0.3 (Note 3) VSVP 7/0.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.10 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.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.11 Power factor improving DC reactor POINT For the 100V power supply type (MR-J3- T1), 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%.
13. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier MR-J3-10T 20T MR-J3-40T MR-J3-60T 70T Power factor improving DC reactor B C D E F L G H Mounting screw size Mass [kg(lb)] FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.5(1.10) 120 53 102 1.6 105 6 12 M4 25 M5 0.7(1.54) FR-BEL-1.5K Wire [mm2] (Note) 130 65 110 1.6 115 6 12 M4 30 M5 1.1(2.43) 130 65 110 1.6 115 6 12 M4 30 M5 1.2(2.65) FR-BEL-3.7K 150 75 102 2.0 135 6 12 M4 40 M5 1.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.12 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.
13. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier Model Dimensions [mm] W W1 H D D1 C Mounting Terminal screw size screw size Mass [kg (lb)] FR-BAL-0.4K 135 120 115 59 45 0 -2.5 7.5 M4 M3.5 2.0 (4.41) FR-BAL-0.75K 135 120 115 69 57 0 -2.5 7.5 M4 M3.5 2.8 (6.17) FR-BAL-1.5K 160 145 140 71 55 0 -2.5 7.5 M4 M3.5 3.7 (8.16) MR-J3-100T FR-BAL-2.2K 160 145 140 91 75 0 -2.5 7.5 M4 M3.5 5.6 (12.35) MR-J3-200T FR-BAL-3.7K 220 200 192 90 70 0 -2.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.14 Surge absorbers (recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. When using the surge absorber, perform insulation beforehand to prevent short-circuit. Maximum rating Static Permissible circuit Surge Energy Rated voltage immunity immunity power [A] [J] [W] DC [V] 8 500/time 5 0.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.15 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required. Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies.
13. 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.
13. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 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.
13. 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 Surge suppressor Relay 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] Rated voltage C [ F] R[ ] Test voltage AC[V] 0.
13. OPTIONS AND AUXILIARY EQUIPMENT (c) Cable clamp fitting AERSBAN- SET Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp.
13. 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] Use the line noise filters for wires of the main power supply (L1 L2 L3) and of the motor power supply (U V 2 FR-BSF01 (for wire size 3.
13. OPTIONS AND AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input power supply of the equipment. For varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMICON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.16 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.
13. OPTIONS AND AUXILIARY EQUIPMENT Table 13.4 Servo motor’s leakage current example (Igm) Servo motor output [kW] Table 13.5 Servo amplifier's leakage current example (Iga) Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 0.1 to 0.6 0.1 2 0.2 0.75 to 3.5 (Note) 0.15 3.5 0.3 5 7 2 5 0.5 11 15 5.5 7 0.7 11 1.0 15 1.3 22 2.3 22 7 Note. For the 3.5kW of 400V class, leakage current is 2mA, which is the same as for 5kW and 7kW. Table 13.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.17 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 (Soshin Electric) Servo amplifier Model MR-J3-10T to MR-J3-100T Leakage current [mA] (Note) HF3010A-UN MR-J3-10T1 to MR-J3-40T1 Mass [kg]([lb]) 3 (6.
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] 4-5.5 7 3-M4 M4 2 4 85 110 32 2 3-M4 IN Approx.41 258 4 273 2 288 4 300 5 65 4 HF3030A-UN HF-3040A-UN 6-K 3-L G F E D 1 2 1 2 3-L C 1 M J 2 C 1 H 2 B 2 A 5 Model Dimensions [mm] A B C D E F G H J K L M HF3030A-UN 260 210 85 155 140 125 44 140 70 R3.
13. OPTIONS AND AUXILIARY EQUIPMENT HF3100A-UN 2-6.5 2- 6.5 8 M8 145 1 165 3 M8 M6 160 3 380 1 400 5 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 6-R3.25 length8 M4 M4 3 M4 M4 155 2 140 1 16 16 125 2 Approx.12.2 3-M4 IN Approx.67.5 3 100 1 100 1 290 2 150 2 Approx.
13. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] 8-M M4 M4 3-M6 M6 F 1 E 2 G 2 22 22 Approx.17 3-M6 IN D 1 D 1 D 1 L C 2 K 2 B 5 J H 5 A 5 Model Dimensions [mm] A B C D E F G H J K L M R3.25 TF3040C-TX 438 412 390 100 175 160 TF3060C-TX 145 200 Approx.190 180 Approx.91.
13. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector 1) 2) 3) Black Black Black 11 1 0.2 [Unit: mm] UL-1015AWG16 2 3 28 1.0 1 4.5 0.5 200 30 0 28.5 1.0 4.2 5.5 1 RAV-781BYZ-2 41 1.0 [Unit: mm] 11 1 1) UL-1015AWG16 1 2 3 4.5 0.5 200 30 0 28.5 1.0 0.2 28 1.0 4.2 5.5 1 RAV-781BXZ-4 41 1.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to rotate the servo motor. The travel of the servo motor to the pulse signal generated by MR-HDP01 with an external input signal can be changed with the manual pulse generator multiplication 1 (TP0) and 2 (TP1). (1) Specifications Item Voltage Power supply Current consumption Specifications 4.5 to 13.2VDC 60mA or less interface Output current max.
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Terminal layout Signal 5 to 12V 0V A B Description 5 to 12V Power input 0V Common for power and signal A A-phase pulse output B B-phase pulse output (4) Installation Panel cut 62 0 2 3- 4.8 Equally spaced 72 0.2 (5) Outline drawing [Unit: mm] 3.6 Packing t2.0 3-M4 stud L10 80 60 MANUAL TYPE 50 70 SERIALNO. P.C.D72 equally spaced 5V to 12V 0V A B M3 6 may only be installed 16 20 27.0 8.89 13 - 89 7.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.19 MR-DS60 6-digit digital switch Using the MR-DS60 6-digit digital switch can send the position data in the BCD signal. For the connection of MR-DS60 and MR-J3-D01, refer to section 3.2.2. (1) Parameter setting When using MR-DS60, set the parameter as shown below. Parameter No. Po10 2 0 2 Positioning operation by BCD input.
13. OPTIONS AND AUXILIARY EQUIPMENT (4) Terminal layout TB CON1,CON2 10B 10A DO04 1B Signal Pin No.
13.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.20 External digital display (MR-DP60) (1) Specifications Item Specifications Display Power supply Communication Red seven-segment LED, signed, six digits Permissible voltage fluctuation Single-phase, 85 to 253VAC, 50/60Hz Current consumption Within 200mA Interface Conforms to RS-422A.
13. OPTIONS AND AUXILIARY EQUIPMENT (4) Mounting [Unit: mm] 53 Square hole 2- 5 2- 5 Square hole 141 95 150 150 20 Inside mounting Front mounting (5) Outline dimension drawing 29 [Unit: mm] 29 58 TB2 TB1 MITSUBISHI 7.5 MR-DP60 150 7.5 165 2- 4.5 mounting hole 13 - 94 48 43 38 4 2- 6.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.21 Junction terminal block PS7DW-20V14B-F (recommended) (1) How to use the junction terminal block Always use the junction terminal block (PS7DW-20V14B-F(YOSHIDA)) with the option cable (MR-J2HBUS M) as a set. A connection example is shown below. MR-J3-D01 Junction terminal block PS7DW-20V14B-F Cable clamp (AERSBAN-ESET) CN20 MR-J2HBUS M Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-ESET).
13. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings of junction terminal block [Unit: mm] 63 54 44.11 7.62 27 4.5 9.3 50 60 TB.E( 6) 4 5 4.5 M3 5L 1.42 M3 6L 18.8 27.8 36.5 6.
13. OPTIONS AND AUXILIARY EQUIPMENT 13.22 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-J2M-CN1TBL M) as a set. A connection example is shown below. MR-J3-D01 Junction terminal block MR-TB50 Cable clamp CN10 MR-J2M-CN1TBL M Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting (AERSBAN-ESET).
13.
14. COMMUNICATION FUNCTION 14. COMMUNICATION FUNCTION Using the serial communication function of RS-422, this servo amplifier enables servo operation, parameter change, monitor function, etc. 14.1 Configuration POINT A personal computer cannot be connected to the CN30 connector of MR-J3D01. (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable.
14. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below.
14. COMMUNICATION FUNCTION 14.2 Communication specifications 14.2.1 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.
14. COMMUNICATION FUNCTION 14.2.2 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 baud rate Choose the communication speed. Match this value to the communication speed of the sending end (master station). Parameter No.
14. COMMUNICATION FUNCTION 14.3 Protocol 14.3.1 Transmission data configuration Since up to 32 axes may be connected to the bus, add a station number or group 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 and set the group to each station using the communication command. Transmission data is valid for the servo amplifier of the specified station number or group.
14. COMMUNICATION FUNCTION 14.3.2 Character codes (1) Control codes Hexadecimal Code name Personal computer terminal key operation Description (ASCII code) (General) SOH 01H start of head ctrl STX 02H start of text ctrl A B ETX 03H end of text ctrl C EOT 04H end of transmission ctrl D (2) Codes for data ASCII codes are used.
14. COMMUNICATION FUNCTION 14.3.3 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.
14. COMMUNICATION FUNCTION 14.3.5 Time-out operation The master station transmits EOT when the slave station does not start reply operation (STX is not received) 300ms after the master station has ended communication operation. 100ms 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.
14. COMMUNICATION FUNCTION 14.3.7 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. 14.3.
14. COMMUNICATION FUNCTION 14.4 Command and data No. list POINT If the command and data No. are the same, the description may be different depending on models of servo amplifiers. 14.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. [0][1] 00 Description Status display name and unit 01 Display Item Current position Frame Length 16 Command position 02 Command remaining distance 03 Point table No.
14. 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 4 Parameter group read ) 0000: Basic setting parameter (No.PA 0001: Gain filter parameter (No.PB ) 0002: Extension setting parameter (No.PC [0] [5] Frame Length 0003: I/O setting parameter (No.PD ) 0009: Option unit parameter (No.
14. COMMUNICATION FUNCTION (3) External I/O signals (Command [1][2]) Command [1] [2] Data No. [0] [0] [0] [1] Description Frame Length 8 Input device status [0] [2] [4] [0] [4] [1] External input pin status [6] [0] [6] [1] Status of input device turned ON by communication [6] [2] [8] [0] [8] [1] Output device status [8] [2] [C] [0] [C] [1] External output pin status (4) Alarm history (Command [3][3]) Command Data No.
14. COMMUNICATION FUNCTION (5) Current alarm (Command [0][2] [3][5]) Command Data No. Description [0] [2] [0] [0] [3] [5] [0][0] Status display name and unit at [0][1] alarm occurrence Current alarm number 4 Current position 16 Command position [0][2] Command remaining distance [0][3] Point table No.
14. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [5][4]) Command [5][4] Data No. Description [0][1] to [F][F] Acceleration time constant read Frame length 8 The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. (9) Point table/deceleration time constant (Command [5][8]) Command [5][8] Data No. Description [0][1] to [F][F] Deceleration time constant read Frame length 8 The decimal equivalent of the data No.
14. COMMUNICATION FUNCTION 14.4.2 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. [8] [4] [0] [1] to [F] [F] Description Setting Range Write of parameters Depending on the Writes the values of the parameters in the parameter parameter Frame length 8 group specified with the command [8][5] + data No. [0][0].
14. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [C][7]) Command [C][7] Data No. Description [0][1] to [F][F] Acceleration time constant write Setting range 0 to 20000 Frame length 8 The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. (9) Point table/deceleration time constant (Command [C][8]) Command [C][8] Data No.
14. COMMUNICATION FUNCTION (14) Operation mode selection (Command [8][B]) Command Data No. [8] [B] [0] [0] Description Operation mode switching Setting Range 0000 to 0005 Frame Length 4 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output 0005: Single-step feed (15) Test operation mode data (Command [9][2] [A][0]) Command [9] [2] Data No.
14. COMMUNICATION FUNCTION 14.5 Detailed explanations of commands 14.5.1 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.
14. 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.
14. COMMUNICATION FUNCTION 14.5.2 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 14.4.1.) (b) Reply The slave station sends back the status display name and unit requested.
14. COMMUNICATION FUNCTION 14.5.3 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. [8] [5] [0] [0] Transmission Data Parameter Group 0000 Basic setting parameter (No.PA 0001 Gain filter parameter (No.PB ) ) 0002 Extension setting parameter (No.
14. COMMUNICATION FUNCTION (4) 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][1] to [F][F]. (Refer to section 14.4.1.) The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. (b) Reply The slave station sends back the data and processing information of the parameter No.
14. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000. Write the parameter setting into EEP-ROM of the servo amplifier.
14. COMMUNICATION FUNCTION 14.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and the data No. corresponding to the input device. Command Data No. [1][2] [0][0] [0][1] [0][2] (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.
14. COMMUNICATION FUNCTION (2) External input pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and the data No. corresponding to the pin. Command Data No. [1][2] [4][0] [4][1] (b) Reply The ON/OFF statuses of the input pins are sent back. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Data No. [4][0] Data No.
14. 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 the data No. corresponding to the input device. Command Data No. [1][2] [6][0] [6][1] [6][2] (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.
14. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external output pins. (a) Transmission Transmit command [1][2] and the data No. corresponding to the pin. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins. b31 b1 b0 1:ON 0:OFF Command of each bit is transmitted to the master station as hexadecimal data. bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Data No. [C][0] Data No.
14. 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 the data No. corresponding to the output device. Command [1][2] Data No. [8][0] [8][1] [8][2] (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. bit Data No. [8][0] Device name 0 Ready Data No.
14. COMMUNICATION FUNCTION 14.5.5 Device ON/OFF POINT The ON/OFF states of all devices in the servo amplifier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device ON every time. Each input device can be switched on/off. However, when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9][2], data No. corresponding to the input device and data. Command [9][2] Data No.
14. COMMUNICATION FUNCTION 14.5.6 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. Signal Status Input devices (DI) OFF (1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs with the exception of EMG, LSP and LSN. Transmit the following communication commands.
14. COMMUNICATION FUNCTION 14.5.7 Input devices ON/OFF (test operation) Each input devices can be turned on/off for test operation. when the device to be switched off exists in the external input signal, also switch off that input signal. Send command [9] [2], data No. corresponding to the input device and data. Command Data No. [9][2] [0][0] Set data See below [0][1] [0][2] b31 b1 b0 1: ON 0: OFF Command of each bit is transmitted to the slave station as hexadecimal data.
14. COMMUNICATION FUNCTION 14.5.8 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.
14. 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.
14. 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.
14. 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.
14. COMMUNICATION FUNCTION (4) Single-step feed Set necessary items to the point table before starting the single-step feed. Send the command, data No. and data as indicated below to execute single-step feed. Start Command : [8][B] Data No. : [0][0] Data : 0005 (Single-step feed) Select the single-step feed in the test operation mode. Point table No. setting Command : [9][2] Data No. : [0][1] Data : Write the point table No. in hexadecimal.
14. COMMUNICATION FUNCTION (5) Output signal pin ON/OFF output signal (DO) forced output In the test operation mode, the output signal pins can be turned on/off independently of the servo status. Using command [9][0], disable the output signals in advance. (a) Choosing DO forced output in test operation mode Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.
14. COMMUNICATION FUNCTION (6) Motorless operation (a) Performing motorless operation Transmit command [8][B] + data No. [0][0] + data "0003" to perform motorless operation. 0 0 0 3 Selection of test operation mode 3: Motorless operation To perform operation after performing the motorless operation, issue a command from the host controller. (b) End of motorless operation The motorless operation cannot be canceled in the same way as the test operation mode (transmit command [8][B] + data No.
14. COMMUNICATION FUNCTION 14.5.9 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 14.4.1. (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in decimal. For example, "0032" means A32 and "00FF" means A_ _ (no alarm).
14. COMMUNICATION FUNCTION 14.5.10 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 A32 and "00FF" means A_ _ (no alarm). (2) Read of the status display at alarm occurrence Read the status display data at alarm occurrence. When the data No.
14. COMMUNICATION FUNCTION 14.5.11 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the position data of the requested point table.
14. COMMUNICATION FUNCTION (c) Acceleration time constant Read the acceleration time constant of the point table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table.
14. COMMUNICATION FUNCTION (e) Dwell Read the dwell of the point table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the dwell of the requested point table.
14. COMMUNICATION FUNCTION (g) M code Read the M code of the point table. 1) Transmission Transmit command [4][5] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the M code of the requested point table.
14. COMMUNICATION FUNCTION (2) Data write POINT If setting values need to be changed with a high frequency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that the number of write times to the EEP-ROM is limited to approximately 100, 000. (a) Position data Write the position data of the point table.
14. COMMUNICATION FUNCTION (c) Acceleration time constant Write the acceleration time constant of the point table. Transmit command [C][7], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 14.4.2. Command Data No. Data [C][7] [0][1] to [F][F] See below.
14. COMMUNICATION FUNCTION (f) Auxiliary function Write the auxiliary function of the point table. Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written to, and the data. Refer to section 14.4.2. Command Data No. Data [C][B] [0][1] to [F][F] See below.
14. COMMUNICATION FUNCTION 14.5.12 Servo amplifier group designation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No. [0][0] and data. Command Data No. Data [9][F] [0][0] See below.
14. COMMUNICATION FUNCTION 14.5.13 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.
14.
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. No.
APPENDIX No.
APPENDIX No.
APPENDIX App.
APPENDIX App. 3 Change of connector sets to the RoHS compatible products Connector sets (options) in the following table are changed to the RoHS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability.
APPENDIX App. 4 MR-J3-200T-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200T servo amplifier have been changed from June 2014 production. Model name of the existing servo amplifier is changed to MR-J3-200T-RT. The difference between new MR-J3-200T servo amplifier and existing MR-J3-200T-RT servo amplifier is described in this appendix. Sections within parentheses in the following sections indicate corresponding sections of the instruction manual. App. 4.
APPENDIX App. 4.2 Configuration including auxiliary equipment (1.
APPENDIX App. 4.3 CNP1, CNP2, CNP3 wiring method (3.3.3 CNP1, CNP2, CNP3 wiring method) (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 Cable finish OD: to 3.
APPENDIX App. 4.4 OUTLINE DRAWINGS (Chapter 11 OUTLINE DRAWINGS) [Unit: mm] 90 6 mounting hole 85 45 Rating plate 6 Approx. 80 195 21.4 CNP1 CN1 CNP3 CNP2 6 6 Approx. 68 Approx. 25.5 78 Cooling fan wind direction 6 With MR-J3BAT Mass: 2.3 [kg] (5.07 [lb]) Terminal signal layout L1 Approx. 90 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V W Approx. 6 P 0.3 Approx.
APPENDIX App. 5 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30m or less Depending on the cable selected, there may be cases that the cable does not fit into the Mitsubishi optional or recommended cable clamp. Select a cable clamp according to the cable diameter. Selection example when using the 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U, V, and W) is indicated below.
REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Jun. 2006 SH(NA)030061-A First edition Revision Oct. 2007 SH(NA)030061-B Servo amplifiers MR-J3-60T4 to 22KT4 are added Servo motors HF-SP524/1024/1524/2024/3524/5024/7024 are added Servo motor HA-LP6014/701M4 are added Compliance with MR-J3-60T4 to MR-J3-22KT4 are added EC directives in EU Compliance with MR-J3-60T4 to MR-J3-22KT4 are added UL/C-UL standard Section 1.1.
Print Data *Manual Number Oct. 2007 SH(NA)030061-B Revision Section 13.3 Section 13.4 (2) Section 13.4 (3) Section 13.4 (4) Section 13.5 (3)(b) Section 13.5 (4)(b) 2) Section 13.5 (6) Section 13.6 (2) Section 13.7 (3) Section 13.16 (2) Section 13.19 (1) App. 6 Feb.
Print Data *Manual Number Feb. 2008 SH(NA)030061-C Revision Section 13.1.3 (2) Section 13.1.4 (2) Section 13.5 (4) Section 13.5 (4)(b) 1) Section 13.6 (3) Section 13.9 Note added Note added POINT addition Wire size changed App. 4 App. 5 Note in table added 600V grade heat-resistance PVC insulated wire (HIV cable) added Fuse class (K5 class) in table changed Note in table added RS-422/232C converter FA-T-RS40VS (Mitsubishi Electric Engineering) deleted Addition Addition Change of diagram Section 13.
Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel : +1-847-478-2100 Fax : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, México Tel : +52-55-9171-7600 Fax : +52-55-9171-7649 Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries.
SH(NA)030061-E
SH (NA) 030061-E (1406) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications are subject to change without notice.
