Instruction manual

ManualsBrandsMitsubishi ManualsAmplifierMR-J3-T

SH (NA) 030058-E (0806) MEE Printed in Japan Specifications subject to change without notice.

This Instruction Manual uses recycled paper.

MODEL

CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

J3 Series MR-J3- T Servo Amplifier Instruction Manual (CC-Link)

General-Purpose AC Servo

MODEL

MR-J3- T

SERVO AMPLIFIER

INSTRUCTION MANUAL

(CC-Link)

Built-in Positioning Function

J3 Series

Summary of content (668 pages)

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General-Purpose AC Servo J3 Series Built-in Positioning Function MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030058-E (0806) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.
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Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.
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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.
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. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
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(2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the servo motor and servo amplifier. 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. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly.
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(4) Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc.
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(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. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.
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COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products.
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(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).
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(6) Wiring (a) The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals. Crimping terminal Insulating tube Cable (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 14.
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CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :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 3 Install a fan of 100CFM (2.8m /min) air flow 4[in] (10.
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(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.
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MEMO A - 12
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CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -36 1.1 Introduction............................................................................................................................................... 1 - 1 1.1.1 Features of CC-Link communication functions ................................................................................ 1 - 1 1.1.2 Function block diagram.....................................................................................................................
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3.6.3 Remote register-based position/speed setting................................................................................ 3 -38 3.7 Function-by-function programming examples........................................................................................ 3 -41 3.7.1 System configuration example......................................................................................................... 3 -41 3.7.2 Reading the servo amplifier status ................................................
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5. OPERATION 5 - 1 to 5 -60 5.1 Switching power on for the first time ....................................................................................................... 5 - 1 5.1.1 Startup procedure.............................................................................................................................. 5 - 1 5.1.2 Wiring check ...................................................................................................................................... 5 - 2 5.1.
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6.1.8 Electronic gear................................................................................................................................... 6 - 6 6.1.9 Auto tuning ........................................................................................................................................ 6 - 7 6.1.10 In-position range.............................................................................................................................. 6 - 8 6.1.11 Torque limit................
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8.5 Display...................................................................................................................................................... 8 - 7 8.5.1 Outline of screen transition ............................................................................................................... 8 - 7 8.5.2 MR-PRU03 parameter unit setting ................................................................................................... 8 - 8 8.5.3 Monitor mode (status display)............
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12. OUTLINE DRAWINGS 12- 1 to 12-12 12.1 Servo amplifier ...................................................................................................................................... 12- 1 12.2 Connector ............................................................................................................................................. 12-10 13. CHARACTERISTICS 13- 1 to 13-10 13.1 Overload protection characteristics .......................................................................
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15.3 Protocol ................................................................................................................................................. 15- 5 15.3.1 Transmission data configuration.................................................................................................... 15- 5 15.3.2 Character codes ............................................................................................................................. 15- 6 15.3.3 Error codes ...........................
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16.5.3 Test operation ............................................................................................................................... 16-33 16.5.4 Parameter setting.......................................................................................................................... 16-34 16.5.5 Point table setting.......................................................................................................................... 16-35 16.5.6 Actual operation ........................
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1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction The MR-J3- T CC-Link compatible servo amplifier can support the CC-Link communication functions. Up to 42 axes of servo amplifiers can be controlled/monitored from the programmable controller side. As the servo, it has the function to perform positioning operation by merely setting the position data (target positions), servo motor speeds, acceleration and deceleration time constants, etc.
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1. FUNCTIONS AND CONFIGURATION 1.1.2 Function block diagram The function block diagram of this servo is shown below.
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1.
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1.
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1. FUNCTIONS AND CONFIGURATION 1.1.3 System configuration This section provides operations using this servo. Use of CC-Link enables you to freely configure any system from a single-axis system to an up to 42-axis system. Set the following values to the point table. Name Setting range Unit 0.001[mm] Position data 0.01[mm] 999999 to 999999 0.1[mm] 1[mm] Servo motor speed 0 to max.
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1. FUNCTIONS AND CONFIGURATION (2) Operation using CC-Link communication functions and external input signals (a) Operation Using parameter No.PD06 to PD08 and parameter No.PD12, PD14, input devices can be assigned to the external input devices of CN1A and CN1B. The signals assigned to the external input signals cannot be used with the CC-Link communication functions. Output devices can be used with the CN6 connectors and CC-Link communication functions simultaneously.
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1. FUNCTIONS AND CONFIGURATION 1.
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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 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. Automatic at-dog home position return return/automatic stroke return function.
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1.
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1.
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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.
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1. FUNCTIONS AND CONFIGURATION Servo amplifier MR-J3- 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Item Environment Ambient temperature Ambient humidity In operation In storage In operation In storage [ [ [ [ ] ] ] ] 0 to 55 (non-freezing) 32 to 131 (non-freezing) 20 to 65 (non-freezing) 4 to 149 (non-freezing) 90%RH or less (non-condensing) Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.
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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.
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1. FUNCTIONS AND CONFIGURATION Function I/O signal selection (Device setting) Torque limit Output signal (DO) forced output Test operation mode Limit switch Software limit Description Reference Any input device such as servo-on (SON) can be assigned to any pin of CN6 Parameter No. connector. PD06 to PD08 PD12 PD14 Servo motor-torque is limited. Section 4.6.3 Section 6.1.11 Output signal can be forced on/off independently of the servo status. Section 7.7.
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1. FUNCTIONS AND CONFIGURATION 1.4 Model code definition (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.
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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 servo motors with an electromagnetic brakes and the servo motors with a reduction gear.
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1. FUNCTIONS AND CONFIGURATION 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 2 3 0 1 2 3 5 6 2 3 9 5 6 7 8 9 0 1 7 8 2 3 4 0 1 4 MODE Select the CC-Link communication baud rate. 7 8 5 6 Baud rate switch (MODE) 5 6 7 8 4 Section 5.3 Chapter 11 Section 3.2.4 9 4 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier.
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1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200T(4) or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 4 Select the CC-Link communication baud rate. 2 3 7 8 0 1 7 8 2 3 5 6 Section 3.2.4 9 2 3 7 8 MODE 5 0 7 8 2 3 Section 5.3 Chapter 11 Baud rate switch (MODE) 5 5 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier. 0 X10 STATION NO. X1 5 6 Section 3.2.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J3-350T Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 7 8 MODE 9 4 5 6 0 1 2 3 0 1 2 3 7 8 9 0 1 7 8 2 3 Section 3.2.4 9 5 6 4 Select the CC-Link communication baud rate. 7 8 5 6 4 Section 5.3 Chapter 11 Baud rate switch (MODE) 5 6 2 3 4 Detailed explanation Station number switches (STATION NO.) Set the station number of the servo amplifier. 9 0 1 X10 STATION NO. X1 5 6 4 Section 3.2.
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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. Detailed explanation Section 5.3 Chapter 11 Baud rate switch (MODE) 2 3 X10 STATION NO. X1 9 0 1 9 0 1 4 5 6 4 Section 3.2.3 7 8 7 8 2 3 5 6 2 3 2 3 2 3 7 8 7 8 2 3 Section 3.2.
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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. Detailed explanation Section 5.3 Chapter 11 Baud rate switch (MODE) 2 3 9 X10 STATION NO. X1 0 1 9 0 1 4 5 6 4 Section 3.2.3 7 8 7 8 2 3 5 6 2 3 2 3 Section 3.2.4 Station number switches (STATION NO.
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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 5.3 Chapter 11 Baud rate switch (MODE) MODE 4 5 6 2 3 7 8 0 1 Station number switches (STATION NO.) Set the station number of the servo amplifier. 5 6 X10 STATION NO.
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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.
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1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab a) a) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Pull up the cover, supporting at point a). Setting tab Push the setting tabs until they click.
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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.
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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.
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1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC (Note 3) Power supply R S MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) Power factor improving DC reactor (FR-BEL) CN5 (Note 2) Line noise filter (FR-BSF01) CC-Link CN3 CN1 CN6 U V W L1 L2 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT P C Servo motor Regenerative option Note 1.
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1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60T4 MR-J3-100T4 RST (Note 3) Power supply MR Configurator No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Personal computer Servo amplifier (Note 2) CN5 CN3 Line noise filter (FR-BSF01) CC-Link CN1 (Note 2) Power factor improving DC reactor (FR-BEL-H) L1 L2 L3 CN6 I/O signal CN2 CN4 P1 P2 (Note 1) Battery MR-J3BAT Servo motor P C U V W Regenerative option L11 L21 Note 1.
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1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200T(4) RST (Note 3) Power supply No-fuse breaker (NFB) or fuse MR Configurator Magnetic contactor (MC) Personal computer (Note 2) Line noise filter (FR-BSF01) Servo amplifier (Note 2) Power factor improving DC reactor (FR-BEL/ FR-BEL-H) L1 L2 L3 CN5 CN3 P1 CC-Link (Note 4) P2 Regenerative P option C L11 CN1 L22 CN6 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U V W Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350T (Note 3) Power supply RST No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator Personal computer (Note 2) Servo amplifier Line noise filter (FR-BLF) (Note 2) Power factor improving DC reactor(FR-BEL) L1 L2 L3 P1 CN5 CN3 P2 CC-Link CN1 Regenerative option P C L11 CN6 L21 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U V W U Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350T4 MR-J3-500T(4) (Note 3) Power supply RST MR Configurator Personal computer No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) CN5 CC-Link CN3 Line noise filter (FR-BLF) (Note 2) (Note 1) Battery MR-J3BAT CN1 CN6 I/O signal CN2 CN4 L11 L21 P1 P2 L3 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) L2 L1 P C Regenerative option U V W Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700T(4) (Note 3) Power supply RST MR Configurator No-fuse breaker (NFB) or fuse Personal computer Servo amplifier Magnetic contactor (MC) CN5 (Note 2) Line noise filter (FR-BLF) (Note 1) Battery MR-J3BAT L11 L21 CC-Link CN3 CN6 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) I/O signal CN2 CN4 P2 P1 L3 L2 L1 P C U V W Regenerative option Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KT(4) to MR-J3-22KT(4) RST (Note 3) Power supply MR Configurator Personal computer No-fuse breaker (NFB) or fuse L21 Servo amplifier L11 Magnetic contactor (MC) (Note 2) Line noise filter (FR-BLF) (Note 1) Battery MR-J3BAT CN5 CN3 CN6 CC-Link I/O signal CN2 CN4 L3 L2 L1 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) P1 P W V U P C Regenerative option Servo motor Note 1.
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1. FUNCTIONS AND CONFIGURATION 1.8 Selection of operation method Using the CC-Link communication functions, this servo enables a wide variety of operation methods. The operation method changes depending on the input device, parameter and point table setting. The flow of the operation method that changes depending on the device and parameter setting status is shown in the chart for your reference. Remote input-based point table No. setting auxiliary function valid (Refer to section 5.
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1. FUNCTIONS AND CONFIGURATION Reference Point table auxiliary function 0 1 Absolute value command specifying system 2 Parameter No.PA01 3 0 1 Point table auxiliary function Incremental value command specifying system Parameter No.PA01 0 1 Parameter No.PA01 0 1 Parameter No.PA01 0 1 0 1 Main description Positioning operation is executed once with position data handled as absolute value. Section 3.8.2 Positioning is started by making the start signal Section valid after selection of 5.4.
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1.
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2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead 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.
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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.
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2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.
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2. INSTALLATION 2.4 Inspection items WARNING Before starting maintenance and/or inspection, 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.
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3. CC-LINK COMMUNICATION FUNCTIONS 3. CC-LINK COMMUNICATION FUNCTIONS 3.1 Communication specifications POINT This servo is equivalent to a remote device station. For details of the programmable controller side specifications, refer to the CC-Link system master unit manual. Item Specifications Power supply 5VDC supplied from servo amplifier Applicable CC-Link version Ver.1.10 Communication speed 10M/5M/2.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.2 System configuration 3.2.1 Configuration example (1) Programmable controller side Fit "Type QJ61BT11N", "Type A1SJ61BT11" or "Type A1SJ61QBT11" "Control & Communication Link system master/local module" to the main or extension base unit which is loaded with the programmable controller CPU used as the master station. (2) Wiring Connect the programmable controller CC-Link unit master station and the servo amplifier by a twisted pair cable (3-wire type).
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3. CC-LINK COMMUNICATION FUNCTIONS 3.2.2 Wiring method (1) Communication connector The pin layout of the communication connector CN10 on the servo amplifier unit is shown below. Servo amplifier DA DB DG SLD FG CN1 CN1 (2) Connection example The servo amplifier and programmable controller CC-Link master unit are wired as shown below. Refer to section 14.9 (3) for the CC-Link Ver.1.10-compliant cable used for connection.
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3. CC-LINK COMMUNICATION FUNCTIONS (4) How to wire the CC-Link connector (CN1) (a) Strip the sheath of the cable and separate the internal wires and braided shield. (b) Strip the sheaths of the braided shield and internal wires and twist the cores. Braided shield Approx.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.2.3 Station number setting POINT Be sure to set the station numbers within the range of 1 to 64. Do not set the other values. (1) How to number the stations Set the servo station numbers before powering on the servo amplifiers. Note the following points when setting the station numbers. (a) Station numbers may be set within the range 1 to 64. (b) One servo amplifier occupies 1 or 2 stations. (One station of programmable controller remote device station) (c) Max.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.2.4 Communication baud rate setting Set the transfer baud rate of CC-Link with the transfer baud rate switch (MODE) on the servo amplifier front. The initial value is set to 156kbps. The overall distance of the system changes with the transfer speed setting. For details, refer to the CC-Link system master/local unit user's manual. Servo amplifier MODE No. 0 5 0 1 5 9 5 7 8 2 3 5 6 4 Baud rate 0 (initial value) 1 2 3 4 5 to 9 156kbps 625kbps 2.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.3 Functions 3.3.1 Function block diagram This section explains the transfer of I/O data to/from the servo amplifier in CC-Link, using function blocks. (1) Between the master station and servo amplifier in the CC-Link system, link refresh is normally performed at intervals of 3.5 to 18ms (512 points). The link scan time of link refresh changes with the communication speed. For details, refer to the CC-Link system master/local unit user's manual.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.4 Servo amplifier setting (1) Servo amplifier side operation modes This servo amplifier has the following operation modes. Operation mode Test operation mode CC-Link operation mode Description Parameter unit or personal computer in which MR Configurator is installed is used to run the servo motor. CC-Link communication functions are used to operate the servo with the programmable controller programs.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU 3.5.1 I/O signals (I/O devices) The input signals (input devices) may be used as either the CC-Link or CN6 external input signals. Make selection in parameter No.PD06 to PD11, PD12 and PD14. The output signals (output devices) can be used as both the CC-Link CN6 external output signals.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Programmable controller (Note 1) Device No. Servo amplifier (RYn) Signal name Servo amplifier CN6 Signal connector abbreviation pin No. (Note 1) Device No. Programmable controller (RXn) Signal name CN6 Signal connector abbreviation pin No.
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3. CC-LINK COMMUNICATION FUNCTIONS Programmable controller (Note 1) Address No. RWwn Servo amplifier (RWwn) Servo amplifier (Note 1) Address No. Signal name (Note 2) Monitor 1 RWrn Programmable controller (RWrn) Signal name Monitor 1 data lower 16 bit RWwn 1 (Note 2) Monitor 2 RWwn 1 RWwn 2 Instruction code RWwn 2 Monitor 1 data upper 16 bit Respond code RWwn 3 Writing data RWwn 3 Reading data RWwn 4 (Note 3) Position command data lower 16 bit/Point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.5.2 Detailed explanation of I/O signals (1) Input signals (Input devices) The note signs in the remarks column indicates the following descriptions. 1: Can be used as external input signals of CN6 connector by setting parameters No.PD06 to PD08 and parameter No.PD12 PD14. 2: Can be automatic turned ON internally by setting parameters No.PD01 PD04. The device whose Device No. field has an oblique line cannot be used in CC-Link. Signal name (Device name) Device No.
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3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Proximity dog 1 station occupied 2 stations occupied In the shipment status, the proximity dog external input signal (CN6-2) is valid. For use in CC-Link, make it usable in parameter No.PD14. When RYn3 is turned OFF, the proximity dog is detected. The polarity of dog detection can be changed using parameter No.PD16. RYn3 RYn3 1 RYn4 RYn4 RYn5 RYn5 1 2 1 Parameter No.
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3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station occupied 2 stations occupied Monitor output execution demand When RYn8 is turned ON, the following data and signals are set. At the same time, RXn8 turns ON. While RYn8 is ON, the monitor values are kept updated.
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3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station occupied 2 stations occupied Remarks Position instruction demand When RY(n 2)0 is turned ON, the point table No. or position command data set to remote register RWwn 4/RWwn 5 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2. At the same time, RX(n 2)0 turns ON. Refer to section 3.6.3 for details.
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3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description Absolute value/incremental value selection RY(n 2)B is made valid when the remote register-based position/speed specifying system is selected with Position/speed specifying system selection (RY(n 2)A) and the absolute value command system is selected in parameter No.PD10. Turn RY(n 2)B OFF or ON to select whether the set position data is in the absolute value command system or incremental value command system.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) Output signals (Output device) POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Device No. Signal name Description 1 station occupied 2 stations occupied Ready In the factory-shipped status, a ready is assigned to the CN6-14 pin as an external output signal.
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3. CC-LINK COMMUNICATION FUNCTIONS Signal name Instruction code execution completion Warning Battery warning Movement completion Dynamic brake interlock Position range Position instruction execution completion Speed instruction execution completion Point table No. output 1 Refer to Instruction code execution demand (RYn9). RXn9 RXn9 RXnA turns ON when a warning occurs. When no warning has occurred, RXnA turns OFF within about 1s after power-on.
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3. CC-LINK COMMUNICATION FUNCTIONS Device No. Signal name Description 1 station occupied 2 stations occupied Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to shut off the base circuit. When no alarm has occurred, RX(n 1)A or RX(n 3)A turns OFF within about 1.5s after power is switched ON.
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3. CC-LINK COMMUNICATION FUNCTIONS Remote register 1 station occupied 2 stations occupied Signal name Description RWwn+2 RWwn+2 Instruction code Sets the instruction code used to perform parameter or point table data read and write, alarm reference or the like. Setting the instruction code No. to RWwn+2 and turning RYn9 to ON executes the instruction. RXn9 turns to ON on completion of instruction execution. Refer to section 3.5.4 (1) for instruction code No. definitions. Refer to section 3.5.4 (1).
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3. CC-LINK COMMUNICATION FUNCTIONS (b) Output (Servo amplifier Programmable controller) Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied. If you set inappropriate code No. or data to the remote register input, the error code is set to respond code (RWrn+2). Refer to section 3.5.5 for the error code. When 1 station is occupied Remote register Signal name Description RWrn Monitor 1 data The data of the monitor code set to RWwn is set.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.5.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn+2). At this time, "0000" is set to RWrn, RWrn+1, RWrn+5 and RWrn+6. For monitor data, refer to section 8.5.3 (2). Code No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.5.4 Instruction codes (RWwn+2 RWwn+3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn+3). Set the command code No. corresponding to the item to RWrn+2. The codes and answer data are all 4digit hexadecimal numbers. Setting any command code No.
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. 0040h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Input device status 0 Reads the statuses (OFF/ON) of the input devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0 When 2 stations are occupied, DI0, DI1 and DI2 do not function and therefore they are always "0".
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. 0052h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Output device status 2 Reads the statuses (OFF/ON) of the Output devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices. Refer to section 3.5.1 for the meanings of the abbreviations. bitF bit0: bit1: bit2: bit3: 0081h Energization time Reads the energization time from shipment.
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item/Function 0100h to 011Dh Monitor multiplying factor Reads the multiplying factor of the data to be read with the monitor code. The instruction codes 0100 to 011D correspond to the monitor codes 0000 to 001D. 0000 applies to the instruction code that does not correspond to the monitor code. 0200h Parameter group reading Reads the parameter group to be read with code No.8200h to be written.
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. 0601h to 06FFh Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Servo motor speed of point table No.1 to 255 The servo motor speed set to the requested point table No. is The decimal value converted from the 2 lower returned. digits of the code No. corresponds to the point table No. Servo motor speed 0701h to 07FFh 0801h to 08FFh 0901h to 09FFh 0A01h to 0AFFh Acceleration time constant of point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item 8201h to 82FFh Data RAM instruction of parameter Writes the set value of each No. of the parameter group written by code No.8200h to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the parameter No. An error code is returned if an instruction code outside the range set in parameter No.
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item 8801h to 88FFh Deceleration time constant data RAM command of point table Writes the deceleration time constants of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Dwell data RAM command of point table Writes the dwell data of point table No.0 to 255 to RAM. These values are cleared when power is switched off.
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3. CC-LINK COMMUNICATION FUNCTIONS Code No. Item 8E01h to 8EFFh Acceleration time constant data EEP-ROM command of point table Writes the acceleration time constants of point table No.1 to 255 to EEP-ROM. Written to EEP-ROM, these values are held if power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No. Deceleration time constant data EEP-ROM command of point table Writes the deceleration time constants of point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.5.5 Respond codes (RWrn+2) If any of the monitor codes, instruction codes, position command data/point table Nos., speed command data/point table Nos. set to the remote register is outside the setting range, the corresponding error code is set to respond code (RWwn+2). "0000" is set if they are normal. Error related to Monitor code 1/Monitor code 2 Error related to Instruction code/Writing data Error related to Position instruction data/Point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.5.6 Setting the CN6 external input signals Using parameter No.PD06 to PD08, PD12 and PD14, you can assign the input devices as the CN6 external input signals. The signals assigned as the CN6 external input devices cannot be used in CC-Link. Refer to section 4.5.1 for the pins to which signals can be assigned. In the initial status, the forward rotation stroke end, reverse rotation stroke end and proximity dog are preset to be usable as the CN6 external input signals.
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3. CC-LINK COMMUNICATION FUNCTIONS Parameter No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.6 Data communication timing charts 3.6.1 Monitor codes (1) When 1 station is occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution demand (RYn8) Monitoring (RXn8) ON OFF ON OFF Monitor 1 data (RWrn) Monitor 2 data (RWrn+1) Respond code (RWrn+2) Data HOLD Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor output execution demand (RYn8) to ON.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) When 2 stations are occupied Monitor 1 (RWwn) Monitor 2 (RWwn+1) Monitor execution ON demand (RYn8) OFF Monitoring (RXn8) ON OFF Monitor 1 data Lower 16bit (RWrn) Monitor 1 data Upper 16bit (RWrn+1) Monitor 2 data Lower 16bit (RWrn+5) Monitor 2 data Upper 16bit (RWrn+6) Respond code (RWrn+2) Data HOLD Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor output execution demand (RYn8) to ON.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.6.2 Instruction codes (1) Read instruction codes (0000h to 0A1Fh) Instruction code (RWwn+2) Instruction code execution demand (RYn9) Instruction code execution completion (RXn9) Reading data (RWrn+3) Respond code (RWrn+2) Data read period Set the read instruction code (refer to section 3.5.4 (1)) to Instruction code (RWwn+2) and turn Instruction code execution demand (RYn9) to ON.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) Write instruction codes (8000h to 911Fh) Instruction code (RWwn+2) Writing data (RWwn+3) Instruction code execution demand (RYn9) Instruction code processing Write in execution Instruction code execution completion (RXn9) Respond code (RWrn+2) Set the write instruction code (refer to section 3.5.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.6.3 Remote register-based position/speed setting The functions in this section are usable when Position/speed specifying system selection (RY(n+2)A) is ON (remote register-based position/speed specifying system is selected) with 2 stations occupied. The position command/speed command necessary for positioning can be selected by parameter No.PC30 setting as indicated below. Parameter No.PC30 Set value 0 1 2 Speed command Position command Specify the point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) When setting the position command data/point table No. (speed command) Specify the position address with the remote register, and specify the speed command data by specifying the point table No. to use the preset servo motor speed, acceleration time constant and deceleration time constant the speed command data, and execute positioning. Preset " 1" in parameter No.PC30 to enable position command data-set and point table No. (speed instruction)-setting operation.
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3. CC-LINK COMMUNICATION FUNCTIONS (3) When setting the position command data and speed command data Specify the position address and servo motor speed with the remote register, and execute positioning. At this time, use the acceleration time constant and deceleration time constant set in point table No.1. Preset " 2" in parameter No.PC30 to enable position command data- and speed command data-set operation.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.7 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in section 3.7.1. 3.7.1 System configuration example As shown below, the CC-Link system master local unit is loaded to run two servo amplifiers (1 station occupied / 2 stations occupied).
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3. CC-LINK COMMUNICATION FUNCTIONS (3) Relationship of remote I/O (RX, RY) The following shows a relationship between the devices of the programmable controller CPU and the remote I/Os (RX, RY) of the remote device stations. Shaded area shows the devices actually used. Remote device (Station No.
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3. CC-LINK COMMUNICATION FUNCTIONS (4) Relationship of remote register (RWw, RWr) The following shows a relationship between the devices of the programmable controller CPU and the remote registers (RWw, RWr) of the remote device stations. Shaded area shows the devices actually used. Remote device (Station No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.7.2 Reading the servo amplifier status When the servo amplifier on station number 1 becomes ready for the remote station communication, Y30 of the output module turns on. The program is for turning on Y30 when CC-Link communication is normal. Checks data link status of station No.1. Turns on output module (Y30).
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3. CC-LINK COMMUNICATION FUNCTIONS 3.7.3 Writing the operation commands Perform positioning operation of point table No.2 for the servo amplifier of station 2. Start the operation by turning on X20. Checks data link status of station No.1. Servo-on command (RY00) Servo-on command Point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.7.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. H000A Description Cumulative feedback pulse data (hexadecimal) Read the cumulative feedback pulse monitor by turning on X20. Checks data link status of station No.2. Sets monitor code (H000A) of feedback pulse in RWw4. Turns on Monitor output execution demand (RY28).
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3. CC-LINK COMMUNICATION FUNCTIONS (2) Reading the parameter Read parameter No.PA04 "Function selection A-1" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No.PA04 setting (hexadecimal) Read the parameter No.PA04 by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Read command Writes parameter group No. write (H8200) to RWw6 and parameter group PA (H0000) to RWw7.
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3. CC-LINK COMMUNICATION FUNCTIONS (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. H0010 Description Occurring alarm/warning No. (hexadecimal) Read current alarms by turning on X20. The respond code at instruction code execution is set to D2. Checks data link status of station No.2. Read command Writes current alarm read (H0010) to RWw6. Turns on instruction code execution demand (RY29).
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3. CC-LINK COMMUNICATION FUNCTIONS 3.7.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the point table No.1 of the servo amplifier of station 2 to "100". The following shows a program example for writing data to the servo amplifier when two stations are occupied. Writing is disabled for the servo amplifier when one station is occupied. Code No.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) Writing the parameter The following shows a program example when two stations are occupied. Change parameter No.PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No. 8200h Description Parameter group selection Set data H0002 Description Set data (hexadecimal) The parameter No.12 is changed to "100" as follows. Code No. H820C Description Parameter No.
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3. CC-LINK COMMUNICATION FUNCTIONS (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the programmable controller. Reset the servo amplifier on the occurrence of a servo alarm by turning on X20. Checks data link status of station No.2. Turns on reset command (RY5A). Turns off reset command (RY5A) when trouble flag (RX5A) turns off.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.7.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Start the forward rotation JOG operation by turning on X22. Start the reverse rotation JOG operation by turning on X23.
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3. CC-LINK COMMUNICATION FUNCTIONS (2) Remote register-based position data/speed data setting The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset " 2" in parameter No.PC30.
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3. CC-LINK COMMUNICATION FUNCTIONS (3) Remote register-based point table No. setting (incremental value command system) The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 with incremental values after specifying the point table No.5 in the direct specification mode. Preset " 0" in parameter No.PA01 and " 0" in parameter No.PA30. Set data K5 Description Point table No. (decimal) Execute positioning operation to the point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.8 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in section 3.8.1, 3.8.3. 3.8.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied).
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3. CC-LINK COMMUNICATION FUNCTIONS 3.8.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position" data. Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table command Code No.
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3. CC-LINK COMMUNICATION FUNCTIONS Positioning start command In Rough position match Positioning start command Home position return completion Point table establishment time 4ms *1 Forward rotation start request Command request time 6ms *1 Forward rotation start request reset Point table No. selection 1 (RY0A) No.selection 1 Point table No. selection 2 (RY0B) No.selection 2 Point table No. selection 3 (RY0C) No.selection 3 Point table No. selection 4 (RY0D) No.selection 4 Point table No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.8.3 System configuration example when 2 stations are occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifiers (2 station occupied). Programmable controller Power supply Q62P CPU Q02HCPU Master station QJ61BT11N (X/Y00 to 1F) Input module QX40 (X20 to X2F) X20 to X28 Terminating resistor Station No.
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3. CC-LINK COMMUNICATION FUNCTIONS 3.8.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed" data. Preset the parameter No.PC30 to " 2".
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3. CC-LINK COMMUNICATION FUNCTIONS Positioning start command Position/speed specifying system selection (RY2A) Position/speed setting system changing command In Rough position match Home position return completion Writes position command data (K50000) to RWw4, RWw5, and speed data (K100) to RWw6. Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21).
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4. SIGNALS AND WIRING 4. 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.
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4. SIGNALS AND WIRING 4.1 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.
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4. 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 NFB MC 1-phase 200 to 230VAC (Note 1) Servo amplifier CNP1 L1 CNP3 U L2 Servo motor (Note 5) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor 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 RA Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.
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4. SIGNALS AND WIRING (3) MR-J3-10T1 to MR-J3-40T1 RA Forced stop ON OFF MC MC SK NFB MC 1-phase 100 to 120VAC (Note 1) Servo amplifier CNP1 L1 CNP3 Blank U Servo motor (Note 5) U 2 L2 V V 3 N W W 4 M 1 P1 P2 Motor PE 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 RA Trouble Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used. 2.
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4. 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 U L2 Servo motor (Note 5) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor 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 RA Trouble (Note 4) Note 1. Always connect P1 and P2. (Factory-wired.
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4. SIGNALS AND WIRING (5) MR-J3-500T MR-J3-700T RA Forced stop OFF ON (Note 6) Power supply of cooling fan MC MC SK NFB MC 3-phase 200 to 230VAC (Note 2) Servo amplifier TE1 L1 Built-in L2 U regenerative resistor V L3 Servo motor (Note 5) W P U 2 V 3 W 4 Motor M 1 C TE2 L11 PE NFB L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 BU BV (Note 4) Forced stop CN6 CN6 EMG DOCOM DOCOM DICOM ALM 24VDC RA Cooling fan Trouble (Note 4) Note 1.
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4.
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4.
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4.
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4. SIGNALS AND WIRING 4.
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4. SIGNALS AND WIRING 4.3 Explanation of power supply system 4.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in chapter 12. Abbreviation Connection target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open.
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4. SIGNALS AND WIRING 4.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply.
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4. 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).
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4. SIGNALS AND WIRING 4.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 14.1 in section 14.9 for the wire sizes used for wiring. MR-J3-500T to more, 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.
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4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector.
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4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21 (3) MR-J3-350T (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.
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4. 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.
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4. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow. 4) Release the cable connection lever.
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4. 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.
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4. 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. 4 - 20 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.
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4. 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.
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4. SIGNALS AND WIRING 4.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. The servo amplifier front view shown is that of the MR-J3-20T or less. Refer to chapter 12 Outline Drawings for the appearances and connector layouts of the other servo amplifiers.
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4. SIGNALS AND WIRING 4.5 Signal (device) explanation 4.5.1 I/O devices The CN6 connector provides three pins for inputs and three other pins for outputs. Devices assigned to these pins are changeable. To make this change, configure parameter settings of Nos. PD06 to PD11, PD12, and PD14. Refer to section 4.8.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Pin type Input-only pins Output-only pins CN6 connector pin No.
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4. SIGNALS AND WIRING (1) Input device POINT Input devices assigned to the CN6 connector pins cannot be used with the remote input of the CC-Link communication function. Symbol Connector pin No. Functions/Applications Forced stop EMG CN6-1 Forced stop (EMG) is fixed at CN6-1. Assigning this device to any other pin is not allowed. For device details, refer to section 3.5.1 (1).
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4. SIGNALS AND WIRING (2) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Device Ready Trouble Symbol Connector pin No. RD CN6-14 (Note) For device details, refer to section 3.5.1 (2). CN6-15 (Note) ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after power-on.
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4. SIGNALS AND WIRING Device Zero speed Symbol Connector pin No. ZSP Functions/Applications 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) Parameter No.PC17 Parameter No.
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4. SIGNALS AND WIRING 4.5.4 Power supply Symbol Connector pin No. Digital I/F power supply input DICOM CN6-5 Digital I/F common DOCOM CN6-17 OPC CN6-18 Control common LG CN6-23 Shield SD Plate Signal Open collector power input Functions/Applications I/O division Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used.
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4. SIGNALS AND WIRING 4.6.2 Movement completion rough match in position POINT If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic operation, Movement completion (MEND), Rough-match, (CPO) and In position (INP) are turned on. To resume operation, confirm the current position and the selected point table No. for preventing unexpected operation.
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4. SIGNALS AND WIRING (2) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No.PC11 (rough match output range). RXn2 turns ON in the servo-on status. Forward rotation start (RYn1) ON or reverse rotation start (RYn2) OFF 3ms or less Forward Position command rotation 0r/min Rough match (RXn2) ON OFF When "0" is set in parameter No.
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4. SIGNALS AND WIRING 4.6.3 Torque limit CAUTION 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. (1) Torque limit and torque By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation 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.
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4. SIGNALS AND WIRING 4.7 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 (RYn0) 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.
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4. SIGNALS AND WIRING 4.8 Interface 4.8.1 Internal connection diagram Servo amplifier CN6 CN6 DICOM 5 14 RD DOCOM 17 15 ALM 16 ZP CN6 13 26 11 24 12 25 23 LZ LZR LA LAR LB LBR LG 24VDC Forced stop Note 2 Note 1 EMG 1 DOG 2 LSP 3 LSN 4 Approx.5.6k RA (Note 1, 2) RA Approx.5.6k CN5 1 2 D 3 D GND 5 VBUS USB Differential line driver output (35mA or less) Servo motor CN2 7 8 3 4 2 Encoder MD MDR MR MRR LG E Note 1.
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4. SIGNALS AND WIRING 4.8.2 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 4.5.1. 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 4.8.3 for the source input. Servo amplifier For transistor EMG, 5.6k etc. Approx. 5mA Switch TR DICOM VCES 1.
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4. SIGNALS AND WIRING (3) Encoder output pulse DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier LA (LB, LZ) Am26LS32 or equivalent LA (LB, LZ) 100 150 LAR (LBR, LZR) LAR (LBR, LZR) LG SD SD (b) Output pulse Servo motor CCW rotation LA LAR Time cycle (T) is determined by the settings of parameter No.PA15 and PC19.
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4. SIGNALS AND WIRING 4.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier EMG, etc. Approx. 5.6k Switch DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 150mA (2) Digital output interface DO-1 A maximum of 2.6V voltage drop occurs in the servo amplifier.
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4. SIGNALS AND WIRING 4.9 Treatment of cable shield external conductor In the case of the CN2 and CN6 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath. Strip the sheath.
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4. SIGNALS AND WIRING 4.10 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. 4.10.1 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.
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4. SIGNALS AND WIRING 4.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less Servo amplifier CNP3 U V W 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) Servo motor U V W M (b) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extension cable as shown below.
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4. 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 14.9 for the cables used for wiring.
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4. 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 CN3 U V W 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.
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4. SIGNALS AND WIRING Encoder connector signal allotment CM10-R10P 7 10 6 9 5 8 4 3 Terminal No. 2 1 MR 1 2 MRR Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B Signal C D B A 3 View a 4 BAT 5 LG View b Terminal No. Signal A U B V C W D Power supply connector signal allotment CE05-2A22-23PD-B G F A H B E C D View b (earth) Terminal No.
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4. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 14.9 for the cables used for wiring.
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4. SIGNALS AND WIRING 2) 400V class (Note4) Cooling fan power supply 50m or less Servo amplifier MC L1 L2 L3 Servo motor TE U V W CN3 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) RA1 RA2 B1 B2 OHS1 24VDC (Note 3) power supply (Note 1) OHS2 Servo motor thermal relay RA3 Note 1.
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4. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Terminal box Encoder connector signal allotment CM10-R10P 10 9 8 7 6 5 4 3 2 1 Terminal No. Signal 1 MR 2 MRR Brake connector signal allotment MS3102A10SL-4P Terminal No. Signal 1 B1 (Note) 1 2 B2 (Note) 3 4 BAT 5 LG 2 6 7 8 P5 9 10 Terminal box inside (HA-LP601(4) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC).
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4.
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4.
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4. 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. Voltage division Servo motor BW 62(50Hz) 3-phase 200 to 230VAC 50Hz/60Hz 76(60Hz) 0.18(50Hz) 0.17(60Hz) HA-LP15K1, 20K1, 22K1M 65(50Hz) 85(60Hz) 0.20(50Hz) 0.
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4. SIGNALS AND WIRING 4.11 Servo motor with an electromagnetic brake 4.11.1 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). SON Circuit must be opened during forced stop (EMG).
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4. SIGNALS AND WIRING 4.11.2 Timing charts (1) Servo-on (RYn0) command (from controller) ON/OFF Tb [ms] after the servo-on (RYn0) is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.
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4. SIGNALS AND WIRING (3) Alarm occurrence Forward rotation 0r/min Servo motor speed Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake (10ms) ON Base circuit OFF Electromagnetic brake operation delay time (Note) ON Electromagnetic brake interlock (MBR) OFF No (ON) ALM Yes (OFF) Trouble RX(n+1)A or RX(n+3) Yes (ON) No (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated.
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4. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) Servo motor speed Base circuit Electromagnetic brake interlock (MBR) ALM Trouble Forward rotation 0r/min (10ms) (Note 1) 15ms or more Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake ON OFF (Note 3) ON OFF Electromagnetic brake operation delay time (Note 2) No (ON) Yes (OFF) Yes (ON) RX(n+1)A or RX(n+3)A No (OFF) Main circuit power supply ON OFF Note 1.
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4. SIGNALS AND WIRING 4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to section 4.10.2 (2). (1) When cable length is 10m or less 24VDC power supply for electromagnetic brake 10m or less MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL Forced stop (EMG) (Note 3) Electromagnetic Trouble brake (MBR) (ALM) + M-A1-L M-A2-L M-A1-H Servo motor M-A2-H (Note 2) AWG20 B1 (Note 1) - AWG20 B2 Note 1.
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4. SIGNALS AND WIRING 4.12 Grounding Ground the servo amplifier and servo motor securely. WARNING 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. The servo amplifier switches the power transistor on-off to supply power to the servo motor.
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4.
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5. OPERATION 5. 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.
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5. OPERATION 5.1.2 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.
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5. OPERATION 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 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 brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to section 14.2.
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5. OPERATION 5.2 Startup 5.2.1 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 (RYn0). 2) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off. 3) Switch on the main circuit power supply and control circuit power supply.
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5. OPERATION 5.2.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 5.2.1 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.
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5. OPERATION 5.2.4 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.PC22 setting 0 (initial value) MR-EKCBL30M-H MR-EKCBL40M-H 1 MR-EKCBL50M-H ) mainly.
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5. OPERATION 5.2.5 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.
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5. OPERATION 5.3 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3) Waiting for CC-Link communication (Note 1) When alarm warning No.
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5. OPERATION (2) Indication list Indication Status b # # Waiting for CC-Link communication (Note 1) $ $ $ Ready for operation (Note 3) A (Note 4) Warning The servo amplifier is being initialized or an alarm has occurred. Two seconds have passed after the servo amplifier is ready to operate by turning ON the servo-on (RYn1). The alarm No./warning No. that occurred is displayed. (Refer to section 11.4.) 8 8 8 CPU error CPU watchdog error has occurred. b 0 0. JOG operation step feed d # #.
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5. OPERATION 5.4 Automatic operation mode 5.4.1 What is automatic operation mode? (1) Command system After selection of preset point tables using the input signals or communication, operation is started by the forward rotation start (RYn1) or reverse rotation start (RYn2). 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.
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5. OPERATION (b) Selection of point table Using the input signal or CC-Link, select the point table No. with the remote input and remote register from the command device (controller) such as a personal computer. The following table lists the point table No. selected in response to the remote input. When 2 stations are occupied, the point table No. can be selected by remote register setting. (Refer to section 3.6.3.) Remote input (0: OFF 1: ON) 2 stations occupied Selected point table No.
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5. OPERATION 5.4.2 Automatic operation using point table (1) Absolute value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. The following table gives a setting example. However, this function cannot be used when the point table No.
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5. OPERATION 2) Rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) is switched on. Parameter No.PA14 setting Servo motor rotation direction when forward rotation start (RYn1) is switched on 0 CCW rotation with position data CW rotation with position data 1 CW rotation with position data CCW rotation with position data CCW CW 3) Feed length multiplication selection (parameter No.
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5. OPERATION (2) Incremental value command system (a) Point table Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote register of CC-Link. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function to the point table. The following table gives a setting example. Name Setting range Unit Description Position data 0 to 999999 10STM m Set the moving distance.
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5. OPERATION 2) Forward rotation direction selection (parameter No.PA14) Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) signal or reverse rotation start (RYn2) signal is switched on. Parameter No.
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5. OPERATION (3) Automatic operation timing chart The timing chart is shown below. ON OFF ON OFF Automatic/manual selection (RYn6) Servo-on (RYn0) Point table No. 1 Forward rotation start (RYn1) Reverse rotation start (RYn2) (Note 1) ON OFF ON OFF 2 (Note 2) 4ms or more (Note 2) 4ms or more 6ms or more 3ms or less Servo motor speed Forward rotation 0r/min Reverse rotation In position (RXn1) Rough match (RXn2) Movement completion (RXnC) Point table No.1 Point table No.
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5. OPERATION (4) Automatic continuous operation POINT This function is valid when the point table is selected using the input signal or the remote input of CC-Link. It cannot be used when the point table No. is selected using the remote register of CC-Link. (a) What is automatic continuous operation? By merely choosing one point table and making a start (RYn1 or RYn2), operation can be performed in accordance with the point tables having consecutive numbers.
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5. 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.
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5. 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 No.
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5. 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 No. Position data [ 10STM m] Servo motor speed [r/min] Acceleration time constant [ms] Deceleration time constant [ms] Dwell [ms] (Note 1) Auxiliary function 1 5.00 3000 100 150 0 1 2 6.
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5. OPERATION (c) Temporary stop/restart When RYn7 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 RYn7 is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (RYn1 or RYn2) is ignored if it is switched on during a temporary stop.
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5. OPERATION 5.4.3 Remote register-based position/speed setting This operation can be used when 2 stations are occupied. This section explains operation to be performed when the remote register is used to specify the position command data/speed command data. (1) Absolute value command positioning in absolute value command system The position data set in the absolute value command system are used as absolute values in positioning. Set the input devices and parameters as indicated below.
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5.
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5. OPERATION (2) Incremental value command positioning in absolute value command system The position data set in the absolute value command system are used as incremental values in positioning. Set the input devices and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed setting Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON.
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5.
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5. OPERATION (3) Positioning in incremental value command system Execute positioning in the incremental value command system. Set the input signals and parameters as indicated below. Item Used device/parameter Description Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON. Remote register-based position/speed setting Position/speed specifying system selection (RY(n 2)A) Turn RY(n 2)A ON. Command system Parameter No.PA01 1 : Incremental value command system is selected.
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5.
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5. OPERATION 5.5 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. 5.5.1 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 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) are invalid.
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5. OPERATION (4) Timing chart Automatic/manual selection (RYn6) Servo-on (RYn0) ON OFF ON OFF 100ms ON OFF ON Reverse rotation start (RYn2) OFF Forward rotation start (RYn1) Forward rotation jog Reverse rotation jog Forward rotation 0r/min Reverse rotation Servo motor speed ON OFF ON Movement completion (RXnC) OFF ON Ready (RD) OFF ON Trouble (ALM) OFF Rough match (RXn2) 5.5.2 Manual pulse generator (1) Setting Set the input signal and parameters as follows according to the purpose of use.
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5. 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.
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5. OPERATION 5.6 Manual home position return mode 5.6.1 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.
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5. OPERATION (1) Home position return types Choose the optimum home position return according to the machine type, etc. Type Home position return method Features Dog type home position return With deceleration started at the front end of a 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.
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5. 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.
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5. OPERATION 5.6.2 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.
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5. OPERATION (3) Timing chart Automatic/manual selection ON (RYn6) OFF Selected point table No. Forward rotation start (RYn1) Reverse rotation start (RYn2) Servo motor speed 0 (Note) ON 4ms or more 6ms or more OFF ON OFF Forward rotation 0r/min Point table No.1 Point table No.1 deceleration time constant acceleration time Home position return speed parameter No.PC04 constant Home position shift distance parameter No.PC06 Creep speed parameter No.
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5. OPERATION 5.6.3 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.
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5. OPERATION (2) Timing chart ON Automatic/manual selection OFF (RYn6) Selected point table No. 0 Forward rotation start (RYn1) Reverse rotation start (RYn2) Servo motor speed (Note) ON 4ms or more 6ms or more OFF ON OFF Forward rotation 0r/min Point table No.1 Home position return speed Point table No.1 deceleration time constant acceleration time parameter No.PC04 constant Creep speed parameter No.
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5. OPERATION 5.6.4 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 Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off.
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5. OPERATION 5.6.5 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 Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No.
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5. OPERATION (2) Timing chart ON Automatic/manual selection (RYn6) OFF Selected point table No. 0 (Note 1) 4ms or more ON Forward rotation start (RYn1) 6ms or more OFF ON Reverse rotation start (RYn2) 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 Home position return speed parameter No.PC04 Parameter No.PC35 Home position address parameter No.
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5. OPERATION 5.6.6 Home position ignorance (servo-on position defined as home position) The position where servo is switched on is defined as a home position. POINT When executing this home position return, changing to the home position return mode is not necessary. (1) Devices, parameter Set the input devices and parameter as follows. Item Device/Parameter used Home position ignorance Parameter No.PC02 Description 4: Home position ignorance is selected.
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5. OPERATION 5.6.7 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.
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5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 Forward rotation start (RYn1) ON 4ms or more (Note) OFF 6ms or more Reverse rotation start (RYn2) 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.
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5. OPERATION 5.6.8 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.
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5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 Forward rotation start (RYn1) ON 4ms or more (Note) OFF 6ms or more Reverse rotation start (RYn2) 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.
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5. OPERATION 5.6.9 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 Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No.
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5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. Forward rotation start (RYn1) 0 ON 4ms or more (Note) OFF 6ms or more Reverse rotation start (RYn2) ON 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.
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5. OPERATION 5.6.10 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.
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5. OPERATION (2) Timing chart ON Automatic/manual selection (RYn6) OFF Selected point table No. 0 4ms or more (Note) ON Forward rotation start (RYn1) OFF 6ms or more ON Reverse rotation start (RYn2) OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance Home position address parameter No.
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5. OPERATION 5.6.11 Dog type front end reference home position return method The home position is determined to be the position of the front end of the proximity dog. (1) Devices, parameters Set the input devices and parameters as indicated below. Item Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are turned off.
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5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No.
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5. OPERATION 5.6.12 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 Manual home position return mode selection Device/Parameter used Description Automatic/manual selection (RYn6) Turn RYn6 ON. Point table No.
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5. OPERATION (2) Timing chart Automatic/manual selection (RYn6) ON OFF Selected point table No. 0 4ms or more (Note) Forward rotation start (RYn1) ON OFF 6ms or more Reverse rotation start (RYn2) ON OFF Home position return speed Servo motor speed Forward rotation 0r/min Reverse rotation Home position shift distance 3ms or less Creep speed Z-phase Rough match (RXn2) Movement completion (RXnC) Home position return completion (RXn3/ZP) ON OFF ON OFF ON OFF ON OFF Note.
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5. OPERATION 5.6.13 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.
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5. OPERATION 5.6.14 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.
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5. OPERATION 5.7 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.
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5. OPERATION 5.8 Absolute position detection system CAUTION 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 may cause unexpected operation. 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.
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5. OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-J3BAT Encoder cable Use a standard model. (Refer to section 14.1.) (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.
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5. OPERATION (a) For MR-J3-350T or less MR-J3-200T4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier. Insert connector into CN4. (b) For MR-J3-500T or more MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.
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5.
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6. PARAMETERS 6. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. 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. In this servo amplifier, the parameters are classified into the following groups on a function basis. Parameter group Main description Basic setting parameters (No.PA ) Make basic setting with these parameters.
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6. PARAMETERS 6.1.2 Parameter write inhibit Initial value Parameter No. Symbol PA19 *BLK 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. 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.PA19, write can be disabled to prevent accidental changes.
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6. PARAMETERS 6.1.3 Selection of command system Initial value Parameter No. Symbol PA01 *STY Name Control mode Unit 0000h Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the command system. Parameter No.PA01 0 0 0 Selection of command system (Refer to section 5.4) 0: Absolute value command system 1: Incremental value command system 6.1.4 Selection of regenerative option Initial value Parameter No.
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6. PARAMETERS 6.1.5 Using absolute position detection system Initial value Parameter No. Symbol PA03 *ABS 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. 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 5.
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6. PARAMETERS 6.1.7 Feeding function selection Initial value Parameter No. Symbol PA05 *FTY Name Feeding function selection 0000h Unit Setting range Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Select the feed length multiplication and the manual pulse generator input multiplication. Parameter No.
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6. PARAMETERS 6.1.8 Electronic gear Initial value Parameter Name Unit Setting range No. Symbol PA06 *CMX Electronic gear numerator 1 0 to 65535 PA07 *CDV Electronic gear denominator 1 1 to 65535 False setting will result in unexpected fast rotation, causing injury. CAUTION POINT This parameter is made valid when power is switched off, then on after setting. 1 CMX 2000.
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6. PARAMETERS r=160[mm] (b) Conveyor setting example Machine specifications Pulley diameter: r 160 [mm] Reduction ratio: n 1/3 Servo motor resolution: Pt 262144 [pulse/rev] pt S CMX CDV pt n r n NL NM n=NL/NM=1/3 262144 1/3 160 1000 1000 Servo motor 262144[pulse/rev] 262144 167551.61 32768 20944 Reduce CMX and CDV to the setting range or less, and round off the first decimal place. Hence, set 32768 to CMX and 20944 to CDV. 6.1.9 Auto tuning Initial value Parameter No.
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6. PARAMETERS (2) Auto tuning response (parameter No.PA09) If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value. Setting Response Guideline for machine resonance frequency [Hz] Setting Response Guideline for machine resonance frequency [Hz] 1 Low response 10.0 17 Low response 67.1 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.
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6. PARAMETERS 6.1.11 Torque limit Parameter No. Symbol Name Initial value Unit Setting range PA11 TLP Forward rotation torque limit 100.0 % 0 to 100.0 PA12 TLN Reverse rotation torque limit 100.0 % 0 to 100.0 The torque generated by the servo motor can be limited. (1) Forward rotation torque limit (parameter No.PA11) Set this parameter on the assumption that the maximum torque is 100[%].
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6. PARAMETERS 6.1.12 Selection of servo motor rotation direction Initial value Parameter No. Symbol PA14 *POL Name Rotation direction selection Unit 0 Setting range 0 1 POINT This parameter is made valid when power is switched off, then on after setting. Select servo motor rotation direction relative to the input pulse train. Parameter No.
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6. 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.
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6. PARAMETERS 6.2 Gain/filter parameters (No.PB ) 6.2.1 Parameter list No.
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6. PARAMETERS 6.2.2 Detail list Symbol Name and function Initial value PB01 FILT 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). 0000h Response of mechanical system No.
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6. PARAMETERS No. Symbol PB02 VRFT Name and function Initial value Vibration suppression control tuning mode (Advanced vibration suppression control) The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning.
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6. PARAMETERS No. Symbol PB05 Name and function Initial value For manufacturer setting Do not change this value by any means. 500 Unit Setting range PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 9.1.1) In this case, it varies between 0 and 100.0. 7.
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6. PARAMETERS No. Symbol PB14 NHQ1 Name and function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial value Unit 0000h Refer to name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting range Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.
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6. PARAMETERS No. Symbol PB18 LPF PB19 PB20 Unit Low-pass filter Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No.PB23 is set to " 1 ", this parameter can be set manually. 3141 rad/s 100 to 18000 VRF1 Vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration.
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6. PARAMETERS No. Symbol PB25 PB26 *CDP Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Gain changing selection Select the gain changing condition. (Refer to section 10.6.) 0000h Unit Setting range Refer to name and function column. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings.
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6. PARAMETERS No. Name and function Setting range Initial value Unit PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. 100.0 Hz 0.
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6. PARAMETERS 6.3 Extension setting parameters (No.PC ) 6.3.1 Parameter list No.
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6. PARAMETERS No. Symbol PC49 Name and function Initial value For manufacturer setting Unit 0000h 0000h PC50 6.3.2 Detail list No. Symbol PC01 PC02 *ZTY Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h Home position return type Used to set the home position return system. (Refer to section 5.6.) 0000h Refer to name and function column. 0001h Refer to name and function column.
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6. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PC10 ZTT Stopper type home position return torque limit value Used to set the torque limit value relative to the max. torque in [%] in stopper type home position return. (Refer to section 5.6.5.) 15.0 % 1 to 100.0 PC11 CRP Rough match output range Used to set the command remaining distance range where the rough match (RXn2) is output. 0 PC12 JOG Jog speed Used to set the jog speed command.
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6. PARAMETERS No. Symbol PC19 *ENRS Name and function Initial value Encoder output pulse selection Use to select the, encoder output pulse direction and encoder output pulse setting. Unit 0000h Setting range Refer to name and function column. 0 0 Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output .
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6. PARAMETERS No. Symbol PC23 PC24 *COP3 Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Function selection C-3 Select the unit of the in-position range. 0000h 0 0 0 Unit Setting range Refer to name and function column. In-position range unit selection 0: Command input unit 1: Servo motor encoder unit PC25 For manufacturer setting Do not change this value by any means.
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6. PARAMETERS No. Symbol PC29 PC30 *DSS Name and function Initial value For manufacturer setting Do not change this value by any means 0000h Remote register-based position/speed specifying system selection This parameter is made valid when Position/speed specification selection (RY(n 2)A) is turned ON with 2 stations occupied. Select how to receive the position command and speed command. When 1 station is occupied, selection of "0001" or "0002" will result in a parameter error.
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6. PARAMETERS No. Symbol Name and function *LPPL Position range output address PC38 *LPPH 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 (RXnE) turns on.
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6. PARAMETERS 6.3.3 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 (RXnC) is complete.
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6. PARAMETERS 6.3.6 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.
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6. PARAMETERS 6.4 I/O setting parameters (No.PD ) 6.4.1 Parameter list No.
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6. PARAMETERS 6.4.2 Detail list No. Symbol PD01 *DIA1 Initial value Name and function Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means.
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6. PARAMETERS No. Symbol PD03 *DIA3 Initial value Name and function Input signal automatic ON selection 3 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. Automatic/manual selection (MD0) Setting range 0000h Refer to name and function column. 0000h Refer to name and function column. 0 0 0 Device name Unit Initial value BIN HEX 0 0 0 0 0 BIN 0: Used in CC-Link or as external input signal.
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6. PARAMETERS No. Symbol PD06 *DI2 Initial value Name and function Output signal device selection 2 (CN6-2) Any input device can be assigned to the CN6-2 pin. Unit Setting range 002Bh Refer to name and function column. 000Ah Refer to name and function column. 000Bh Refer to name and function column. 0 0 Select the input device of the CN6-2 pin The devices that can be assigned are indicated in the following table.
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6. PARAMETERS No. Symbol PD09 *DO1 Initial value Name and function Output signal device selection 1 (CN6-14) Any output signal can be assigned to the CN6-14 pin. Unit Setting range 0002h Refer to name and function column. 0003h Refer to name and function column. 0 0 Select the output device of the CN6-14 pin The devices that can be assigned are indicated in the following table.
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6. PARAMETERS No. Symbol PD11 *DO3 Initial value Name and function Output signal device selection 3 (CN6-16) Any output signal can be assigned to the CN6-16 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD09. Unit Setting range 0024h Refer to name and function column. 0C00h Refer to name and function column.
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6. PARAMETERS No. Symbol PD14 DIN3 Initial value Name and function External DI function selection 3 This function sets any signal imported from the CN6 connector. part is for manufacturer setting. Do not set the value by any means. 0800h 0 Device name Automatic/manual selection (MD0) Temporary stop/Restart (TSTP) Device name Proximity dog (DOG) Setting range Refer to name and function column.
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6. PARAMETERS No. Symbol PD20 *DOP1 Name and function Function selection D-1 Select the stop processing at forward rotation stroke end (LSN)/reverse rotation stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or RY(n 3)A) ON. Initial value 0010h Unit Setting range Refer to name and function column.
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6. PARAMETERS No. Symbol PD24 *DOP5 Initial value Name and function Function selection D-5 Select the output status of the warning (WNG). 0 0 0000h 0 Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n+1)A or RX(n+3)A) output status at warning occurrence.
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6. PARAMETERS 6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off. Parameter No.
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6. PARAMETERS 6.4.4 Stopping method when a software limit is detected A stopping method of the servo motor when a software limit (parameter No.PC31 to PC34) is detected can be selected. The software limit imposes a limit on the command position, which is controlled in the servo amplifier. Therefore, actual stop position does not reach to the software limit set position. Parameter No.
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6.
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7. MR Configurator 7. 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. 7.1 Specifications Item Description The following table shows MR Configurator software version for each servo amplifier.
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7. MR Configurator 7.2 System configuration (1) Components To use this software, the following components are required in addition to the servo amplifier and servo motor.
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7.
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7. MR Configurator 7.3 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.
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7. MR Configurator 7.4 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.
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7. 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 detection system selection.
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7. MR Configurator 7.5 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.
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7. 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.
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7. MR Configurator 7.6 Device assignment method POINT To use a device as an external I/O signal, the settings for the parameter No. PD12 and PD14 are required after the device is assigned according to the device setting described below. (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.
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7. 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.
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7. 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.
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7. 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.
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7. MR Configurator 7.7 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). 7.7.1 Jog operation POINT For the program operation, refer to the manual of MR Configurator.
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7. MR Configurator c) a) 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) Start button operation selection Check the check box for operating the servo motor only while pressing the button.
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7. MR Configurator 7.7.2 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.
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7. 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.
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7. 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.
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7. MR Configurator 7.7.3 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 (PC) can be checked without connection of a servo motor.
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7. MR Configurator 7.7.4 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.
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7. 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 CC-Link operation mode To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the servo amplifier. 7.7.
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7. 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.
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7. 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.
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7. MR Configurator 7.8 Alarm 7.8.1 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 (A16). 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.
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7. 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 (A16). (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. 7.8.
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7. MR Configurator Click the "Read" button to read the monitor data at error occurrence from the servo amplifier. Read results are displayed as follows.
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7. MR Configurator 7.8.3 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.
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8. PARAMETER UNIT (MR-PRU03) 8. 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.
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8. PARAMETER UNIT (MR-PRU03) 8.1 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.
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8. PARAMETER UNIT (MR-PRU03) 8.2 Specifications Item Description Model MR-PRU03 Power supply Supplied from the servo amplifier Basic setting parameters, Gain/filter parameters, Extension setting parameters, I/O setting parameters Parameter mode Current position, Command position, Command remaining distance, Point table No.
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8. PARAMETER UNIT (MR-PRU03) 8.4 Connection with servo amplifier 8.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable. Servo amplifier Parameter unit (MR-PRU03) CN3 10BASE-T cable, etc.
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8. PARAMETER UNIT (MR-PRU03) 8.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus. Servo amplifier Servo amplifier Servo amplifier CN3 CN3 CN3 Parameter unit (MR-PRU03) (Note 2) (Note 1) (Note 2) (Note 2) (Note 2) (Note 1) (Note 2) (Note 1) (Note 2) (Note 3) Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector. 2. Use the 10BASE-T cable (EIA568-compliant), etc. 3.
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8. PARAMETER UNIT (MR-PRU03) (2) Cable internal wiring diagram Wire the cables as shown below.
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8. PARAMETER UNIT (MR-PRU03) 8.5 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. 8.5.1 Outline of screen transition Servo amplifier power ON MR-PRU03 parameter unit setting Initializing (Note) Normal transition (i.e.
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8. PARAMETER UNIT (MR-PRU03) 8.5.2 MR-PRU03 parameter unit setting MR-PRU03 parameter unit setting Station number Set and enter the station number. (e.g. To enter 31th 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 to set. Buzzer Press the " 1 " key to select ON or the " 0 " key to select OFF, and press the " " key to set.
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8. PARAMETER UNIT (MR-PRU03) 8.5.3 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.
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8. PARAMETER UNIT (MR-PRU03) (2) Monitor display list The following table lists the items and descriptions of monitor display. Status display Display on parameter unit Unit Description Display range Cur posit 10STM mm The current position from the machine home position of 0 is displayed. 9999999 to 9999999 Command position Cmd Posit 10STM mm The command position is displayed.
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8. PARAMETER UNIT (MR-PRU03) 8.5.4 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.
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8. 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.
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8. PARAMETER UNIT (MR-PRU03) 8.5.5 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.
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8. PARAMETER UNIT (MR-PRU03) 8.5.6 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.
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8. PARAMETER UNIT (MR-PRU03) 8.5.7 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 executed without turning the servo OFF.
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8. 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.
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8. 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.
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8. PARAMETER UNIT (MR-PRU03) If the communication cable is disconnected during positioning operation, the servo motor will come to a sudden stop. (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. (3) Motor-less operation Without connecting the servo motor, you can provide output signals or monitor the status display as if the servo motor is running in response to external input devices.
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8. PARAMETER UNIT (MR-PRU03) (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. Press the " Fn " and " keys to start. 1STEP " After the start, press the " STOP " key while holding down the " Fn " key to stop temporarily.
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8. 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.
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9 GENERAL GAIN ADJUSTMENT 9. GENERAL GAIN ADJUSTMENT 9.1 Different adjustment methods 9.1.1 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 Parameter No.
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9. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Yes Interpolation made for 2 or more axes? Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No Operation Yes OK? Yes Auto tuning mode 2 OK? Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes.
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9. GENERAL GAIN ADJUSTMENT 9.2 Auto tuning 9.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1.
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9. GENERAL GAIN ADJUSTMENT 9.2.2 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.
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9. GENERAL GAIN ADJUSTMENT 9.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied.
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9. GENERAL GAIN ADJUSTMENT 9.2.4 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.
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9. GENERAL GAIN ADJUSTMENT 9.3 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 10.1.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment. Parameter No.
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9. 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.
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9. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB08 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 9.2.3.
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9. 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.
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9. GENERAL GAIN ADJUSTMENT 9.4 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.
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9. GENERAL GAIN ADJUSTMENT 9.5 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 Guideline for machine resonance frequency [Hz] 1 10.0 2 11.3 3 12.
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10. SPECIAL ADJUSTMENT FUNCTIONS 10. 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.
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10. 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 Parameter No.PB13 Parameter No.PB14 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values.
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10. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration or unusual noise occurred? Yes Execute or re-execute adaptive tuning. (Set parameter No.PB01 to "0001".) Tuning ends automatically after the predetermined period of time. (Parameter No.PB01 turns to "0002" or "0000".
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10. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated. After filter generation, the adaptive tuning mode automatically shifts to the manual mode.
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10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No.PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No.PB13, PB14) When you have made adaptive filter tuning mode (parameter No.PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective. POINT The machine resonance suppression filter is a delay factor for the servo system.
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10. SPECIAL ADJUSTMENT FUNCTIONS 10.4 Advanced vibration suppression control Position Position (1) Operation Vibration suppression control is used to further suppress machine side vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
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10. 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. No Has vibration of workpiece end/device increased? Yes Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.PB02 to "0001".) Resume operation. Tuning ends automatically after operation is performed the predetermined number of times.
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10. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work side vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) to set vibration suppression control manually.
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10. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine side vibration does not show up in motor side vibration, the setting of the motor side vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance.
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10. SPECIAL ADJUSTMENT FUNCTIONS 10.5 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.
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10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.2 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.
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10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.3 Parameters 3" in parameter No.PA08 (auto tuning) to choose the When using the gain changing function, always set " manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter Abbreviation No. PB06 GD2 PB07 PG1 Name Ratio of load inertia moment to servo motor inertia moment Model loop gain Unit Description Multi- Control parameters before changing.
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10. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No.PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed. (2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29) Set the ratio of load inertia moment to servo motor inertia moment after changing.
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10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.4 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 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.
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10. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.
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10.
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11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 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 2 3 4 Start-up sequence Power on Fault LED is not lit. LED flickers.
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11. TROUBLESHOOTING 11.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table.
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11. TROUBLESHOOTING 11.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. 11.4.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 11.4.2 or 11.4.3 and take the appropriate action. When an alarm occurs, ALM turns off.
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11. TROUBLESHOOTING 11.4.2 Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again. Not doing so may cause unexpected operation. As soon as an alarm occurs, turn off Servo-on (RYn0) and power off. POINT When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly.
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11. TROUBLESHOOTING Display A15 Name Memory error 2 (EEP-ROM) Cause Definition EEP-ROM fault 1. Faulty parts in the servo amplifier Action Change the servo amplifier. Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. A16 Encoder error 1 Communication error 1. Encoder connector (CN2) (At power on) occurred between disconnected. encoder and servo 2.
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11. TROUBLESHOOTING Display A30 Name Regenerative error Definition Cause Permissible 1. Wrong setting of parameter No. regenerative power PA02 of the built-in 2. Built-in regenerative resistor or regenerative resistor regenerative option is not or regenerative connected. option is exceeded. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Action Set correctly. Connect correctly 1.
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11. TROUBLESHOOTING Display A32 A33 Name Overcurrent Overvoltage Definition Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (A32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (A32) first occurred, the transistor (IPM, IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power. Check the transistor with the checking method of “Cause 2”.
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11. TROUBLESHOOTING Display A37 Name Definition Cause Parameter error Parameter setting is 1. Servo amplifier fault caused the wrong. parameter setting to be rewritten. Action Change the servo amplifier. 2. Regenerative option not used with servo amplifier was selected in parameter No.PA02. 3. Value outside setting range has been set in electronic gear. 4. Opposite sign has been set in software limit increasing side (parameters No.PC31, PC32).
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11. TROUBLESHOOTING Display A50 Name Overload 1 Definition Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Servo amplifier is used in excess of 1. Reduce load. its continuous output current. 2. Check operation pattern. 3. Use servo motor that provides larger output. 2. Servo system is instable and hunting. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually.
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11. TROUBLESHOOTING Display A52 Name Definition Cause Error excessive The difference 1. Acceleration/deceleration time constant is too small. between the model position and the 2. Forward rotation torque limit actual servo motor (parameter No.PA11) or reverse position exceeds rotation torque limit (parameter three rotations. No.PA12) are too small. (Refer to the function 3. Motor cannot be started due to block diagram in torque shortage caused by power section 1.1.2.) supply voltage drop. 4.
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11. TROUBLESHOOTING Display (Note) 888 Name Watchdog Definition CPU, parts faulty. Cause Fault of parts in servo amplifier. Action Change the 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. 11.4.
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11. TROUBLESHOOTING Display Name Definition A92 Open battery cable Absolute position warning detection system battery voltage is low. A96 A98 A99 A9D A9E Home position setting warning Home position setting could not be made. Cause 1. Battery cable is open. 2. Battery voltage supplied from the servo amplifier to the encoder fell to about 3V or less. (Detected with the encoder) 1. Droop pulses remaining are greater than the in-position range setting. 2.
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11. TROUBLESHOOTING Display AE8 AE9 Name Definition Cause Cooling fan speed The speed of the servo reduction warning amplifier decreased to or below the warning level. This warning is not displayed with MR-J370T/100T among servo amplifiers equipped with a cooling fan. Main circuit off Servo-on (SON) was warning switched on with main circuit power off. Change the cooling fan of the servo amplifier. The power supply of the cooling fan is broken. Change the servo amplifier.
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11.
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12. OUTLINE DRAWINGS 12. OUTLINE DRAWINGS 12.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] 40 4 Rating plate 6 mounting hole 6 Approx. 80 135 (Note) CNP1 CN1 CNP2 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.
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12. OUTLINE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] 40 Rating plate 6 6 mounting hole 5 Approx. 80 170 (Note) CNP1 CN1 CNP2 CNP3 6 Approx. 68 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] (2.21 [lb]) Terminal signal layout For 3-phase or For 1-phase 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 Approx.
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12. OUTLINE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] 60 6 Rating plate 6 mounting hole 12 Approx. 80 185 CNP1 CN1 CNP2 CNP3 Approx. 68 12 Cooling fan wind direction Approx. 25.5 6 42 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout L1 Approx. 60 PE terminal L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) 3-M5 screw U CNP3 V 42 W Approx. 12 P C CNP2 0.3 Approx.
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12. OUTLINE DRAWINGS (4) MR-J3-60T4 MR-J3-100T4 [Unit: mm] 6 mounting hole 60 6 Rating plate Approx. 80 195 12 CNP1 CN1 CNP2 CNP3 Approx. 68 Approx. 25.5 6 12 42 With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) 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. 6 L11 Mounting hole process drawing L21 Mounting screw Screw size: M5 Tightening torque: 3.24[N m] (28.
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12. 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 5. [Unit: mm] 6 90 85 Rating plate 6 mounting hole Approx. 80 45 195 CNP1 CN1 CNP2 CNP3 Approx. 68 6 6 Cooling fan wind direction Approx. 25.5 78 6 With MR-J3BAT Mass: 2.1 [kg] (4.
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12. OUTLINE DRAWINGS (6) MR-J3-350T [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.
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12. OUTLINE DRAWINGS (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] Approx. 80 6 200 131.5 130 118 Cooling fan 68.5 Cooling fan wind direction Terminal layout (Terminal cover open) 6 Rating plate 235 250 Approx. 7.5 2- 6 mounting hole TE2 TE3 With MR-J3BAT CHARGE TE1 Approx. 7.5 20.5 6 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw Mass: 4.6 [kg] (10.1 [lb]) Approx. 6 Terminal signal layout 118 TE1 L1 L2 L3 TE2 L11 Approx.
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12. OUTLINE DRAWINGS (8) MR-J3-700T(4) [Unit: mm] 172 6 2- Approx. 80 6 160 200 Cooling fan wind direction 6 mounting hole CN1 Rating plate TE3 With MR-J3BAT 75 99.8 102.6 149.2 6 TE1 34 13 13 31 13 24.5 13 13 7 13 91 TE2 14.5 10 Built-in regenerative resistor lead terminal fixing screw Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Approx. 6 Approx. 172 160 0.5 Approx. 6 TE1 L1 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.
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12. OUTLINE DRAWINGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] 260 236 2-12 mounting hole 12 Approx. 80 12 260 Cooling fan wind direction CN1 With MR-J3BAT 123 13 Rating plate 12 183 227 TE 26 52 6 26 Approx. 12 Approx. 260 236 0.5 156 Approx. 12 4-M10 screw Servo amplifier Mass[kg]([lb]) MR-J3-11KT(4) 18.0(39.7) MR-J3-15KT(4) 18.0(39.7) MR-J3-22KT(4) 19.0(41.
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12. OUTLINE DRAWINGS 12.2 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. 12.7 B 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.
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12. OUTLINE DRAWINGS (2) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 39.5 22.4 11.0 34.
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12.
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13. CHARACTERISTICS 13. CHARACTERISTICS 13.1 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 13.1. Overload 2 alarm (A51) occurs if the maximum current flew continuously for several seconds due to machine collision, etc.
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13 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 13.
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13 CHARACTERISTICS 13.2 Power supply equipment capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 13.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation.
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13 CHARACTERISTICS Servo amplifier MR-J3-700T (4) MR-J3-11KT (4) MR-J3-15KT (4) MR-J3-22KT (4) (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation (Note 1) Power supply capacity [kVA] At rated torque With servo off [m2] HF-SP702 (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 Servo motor HC-LP11K2 (4) 16.0 530 45 HC-LP801 (4) 12.0 390 45 7.8 HC-LP12K1 (4) 18.0 580 45 11.
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13 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 13.1. A P K T where, A P T K ....................
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13 CHARACTERISTICS 13.3 Dynamic brake characteristics 13.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.2 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. 13.
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13 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 0 353 500 202 502 152 500 1000 1500 2000 2500 3000 Speed [r/min] 0 0 2000 352 702 203 1000 1500 2000 2500 3000 Speed [r/min] HC-RP series 72 502 352 202 152 0
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13 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 80 302 102 40 152 0 0 500 1000 1500 Speed[r/min] 2000 HC-LP series (b) 400V class servo motor 35 75 [ms] 2024 524 60 1024 45 3524 30 5024 15 0 0 1000 30 1524 7024 2000
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13 CHARACTERISTICS 13.3.2 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.
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13 CHARACTERISTICS 13.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14. 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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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.1 Combinations of cable/connector sets 33) Servo amplifier Personal computer 1) 2) Note CN5 CNP1 32) CN3 CN1 CNP2 CN6 CNP3 CN2 CN4 Direct connection type (cable length 10m or less, IP65) 15) 16) 17) 18) 31) Junction type (cable length more than 10m, IP20) 19) 20) 21) 22) Battery MR-J3BAT 23) To 24VDC power supply for electromagnetic brake 13) 14) 9) 10) 11) 12) 7) 8) Servo motor HF-MP HF-KP 3) 4) 5) 6) To next page a) To next page b) Note.
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14.
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14. OPTIONS AND AUXILIARY EQUIPMENT No. Product 1) Servo amplifier power supply connector Model Description Wire size: 0.14mm2(AWG26) to 2.5mm2 (AWG14) Cable finish OD: to 3.8mm 2) Application Supplied with servo amplifiers of 1kW or less in 100V class CNP3 CNP2 CNP1 and 200V connector: 54928-0670 connector: 54928-0520 connector: 54928-0370 class (Molex) (Molex) (Molex) REC.
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14. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 7) Motor power supply cable MR-PWS2CBL03M-A1-L Cable length: 0.3m Description Application Power supply connector IP55 Load side lead HF-MP series HF-KP series Refer to section 14.1.3 for details. 8) Motor power supply cable MR-PWS2CBL03M-A2-L Cable length: 0.3m Power supply connector HF-MP series HF-KP series IP55 Opposite-toload side lead Refer to section 14.1.3 for details.
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14. OPTIONS AND AUXILIARY EQUIPMENT No. Product 19) Encoder cable Model Description MR-J3JCBL03M-A1-L Cable length: 0.3m Application Encoder connector IP20 Load side lead HF-MP series HF-KP series Refer to section 14.1.2 (3) for details. 20) Encoder cable MR-J3JCBL03M-A2-L Cable length: 0.3m IP20 Opposite-toload side lead Encoder connector HF-MP series HF-KP series Refer to section 14.1.2 (3) for details.
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14. OPTIONS AND AUXILIARY EQUIPMENT No. Product Model 30) Power supply connector set MR-PWCNS3 31) Cable for connecting battery MR-J3BTCBL03M 32) USB cable MR-J3USBCBL3M Cable length: 3m 33) Connector set MR-J2CMP2 Description Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D (D265) (DDK) Example of applicable cable Applicable wire size: 14mm2 (AWG6) to 22mm2 (AWG4) Cable finish D: 22 to 23.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.2 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.
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14. 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.
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14. 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: 0.3m Servo motor HF-MP HF-KP CN2 1) 2) Cable model MR-EKCBL M-L 1) Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) (Note) Signal layout 2 LG 4 6 1 MR-EKCBL M-H 3 MR 5 7 9 BAT MD View seen from wiring side.
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14.
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14. 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 14.9 for the specifications of the used cable.
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14.
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14. 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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14.
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14. 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 model Cable length MR-J3BTCBL03M 0.3m Application For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier 1) MR-J3BTCBL03M (Note) Encoder cable Servo motor CN2 2) Battery 3) Note.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.3 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 4.10 when wiring. 2m 5m 10m Protective structure Flex life Cable length Cable model 0.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.1.4 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 4.11 when wiring. 2m 5m 10m Protective structure Flex life Cable length Cable model 0.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.2 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] (Note 1) MR-RB50 [13 ] (Note 1) MR-MB51 [6.
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
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14. 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 servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW.
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14. OPTIONS AND AUXILIARY EQUIPMENT (a) MR-J3-350T or less MR-J3-200T4 or less Always remove the wiring from across P-D and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option overheats abnormally. Always remove the lead from across P-D. Regenerative option Servo amplifier P P C C G3 D (Note 2) G4 5m (16.4 ft) max. Cooling fan (Note 1) Note 1.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor.
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14. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-350T4 and MR-J3-500T(4). Refer to section 12.1 (6) Outline drawings for the position of the fixing screw for MR-J3-700T(4). Built-in regenerative resistor lead terminal fixing screw 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(in)] Cooling fan installation screw hole dimensions 2-M3 screw hole Top Bottom 82.5 (3.
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14. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-J3-11KT(4) to MR-J3-22KT(4) (when using the supplied regenerative resistor) When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install the resistors at intervals of about 70mm.
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14. 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.
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14. 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 m] (4 to 5 [lb in]) Mounting screw 144 168 156 Screw size: M5 Tightening torque: 3.24 [N m] 5 (28.7 [lb in]) 6 12 G3 G4 P C TE1 1.6 6 Approx. 20 LD LC Regenerative option LA LB LC MR-RB032 30 15 119 99 0.5 1.1 MR-RB12 40 15 169 149 1.1 2.
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14. 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 m] (47.79 [lb in]) Regenerative option Variable dimensions A B 17 335 Mass [kg] (Ib) MR-RB30 MR-RB31 MR-RB32 2.9 (6.
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14. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm (in)] 2- 10 mounting hole Terminal block 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 Regenerative option [kg] [Ib] MR-RB5E 10 22.0 MR-RB9P 11 24.3 MR-RB9F 11 24.
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14. OPTIONS AND AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] 40 (4.43 to 5.31 [lb in]) 36 15 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 14 - 31 Regenerative option Mass [kg] ([lb]) MR-RB1H-4 1.1 (2.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.3 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Brake unit 200V class 400V class Resistor unit FR-BU2-15K Number of connected units Permissible continuous power [kW] Total resistance [ ] Applicable servo amplifier FR-BR-15K 1 0.99 8 MR-J3-500T (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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.3 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.
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14. 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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14.
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14. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit Servo motor (Note 9) thermal relay ALM RA2 RA1 EMG OFF ON RA3 MC MC SK (Note 4) NFB (Note 1) Power supply MC Servo amplifier CN6 EMG 1 L1 17 DOCOM L2 5 DICOM L3 (Note 9) ALM L11 L21 C (Note 10) P1 (Note 2) P( ) (Note 7) N( ) 24VDC RA1 P PR MT-BR5-(H) (Note 5) TH1 TH2 SK RA3 FR-BU2-(H) PR P/ (Note 3) N/ MSG SD A B C BUE (Note 8) (Note 6) SD Note 1. For power supply specifications, refer to section 1.2. 2.
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14. 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.
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14. 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 PC BUE SD RES SD MSG MSG SD 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. Screw size: M3 Tightening torque: 0.5N m to 0.6N m 2 2 Wire size: 0.3mm to 0.
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14. 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 connected units Crimping terminal (Manufacturer) 1 FVD5.5-S4(Japan Solderless Terminal) c 2 8-4NS(Japan Solderless Terminal) (Note 2) d FR-BU2-30K 1 FVD5.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.3.4 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 14 - 41 6 18.5 52 72 142.
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14. 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. W W1 H H1 H2 H3 D D1 C Approximate mass [kg]([Ib]) FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15(33.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02.
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14.
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.5 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).
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14. 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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14.
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14.
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14. 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.
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 2) 400V class Wire as short as possible. FR-CV-H55K R2/L1 P/L+ S2/L2 N/L- T2/L3 22mm2 14mm2 14mm2 5.5mm2 R/L11 S/L21 T/MC1 5.5mm2 Servo amplifier (15kW) First unit: P 22mm2 assuming that the total of servo amplifier N capacities is 30kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. Servo amplifier (7kW) Second unit: P 14mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. 2mm2 Servo amplifier (3.
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14. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.6 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 13.3. The brake unit is rated for a short duration. Do not use it for high duty.
PAGE 440
14. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example ALM RA1 EMG Operation-ready ON OFF MC Servo amplifier Servo motor MC U U SK V V NFB MC (Note 4) W W M L1 (Note 5) Power supply L2 L3 15 ALM RA1 (Note 3) DB RA2 P 5 DICOM P1 17 DOCOM 1 EMG L11 L21 (Note 2) CN6 24VDC Plate SD (Note 1) 14 13 U V W (Note 6) a RA2 b External dynamic brake Note 1. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open.
PAGE 441
14. OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Coasting Forward rotation 0r/min ALM Coasting Dynamic brake Dynamic brake Present Absent ON Base OFF ON RA1 Dynamic brake OFF Invalid Valid Short Forced stop (EMG) Open a. Timing chart at alarm occurrence Servo motor speed Coasting Dynamic brake Electro magnetic brake interlock Forward rotation 0r/min ON b.
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14. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K [Unit: mm] D E 5 A B E 5 100 G D C Terminal block E a (GND) 2.3 F U b 13 14 V W Screw : M4 Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in]) Tightening torque: 1.2 [N m](10.6 [lb in]) Dynamic brake A B C D E F G Mass [kg]([Ib]) Connection wire [mm2] (Note) 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) 5.5 Note.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) DBU-11K-4 DBU-22K-4 [Unit: mm] 228 280 7 150 25 2.3 10 51 73.75 26 43 260 26 10 2- 7mounting hole 25 195 200 15 179.5 15 178.5 170 15 210 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]) Dynamic brake V W Screw: M4 Tightening torque: 1.2[N m](10.6[lb in]) Wire [mm2] (Note) b a U V DBU-11K-4 2 5.5 DBU-22K-4 2 5.5 W Note.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.7 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.
PAGE 445
14. OPTIONS AND AUXILIARY EQUIPMENT 14.8 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.
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14. 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 14 - 61 Servo amplifier 3.2 155 105 Approx.260 Panel Approx.11.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.9 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 6. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more for wiring.
PAGE 448
14. 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 14.1 Wire size selection example 1 (IV wire) Wires [mm2] (Note 1, 4) Servo amplifier 1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) 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 1.25(AWG16) MR-J3-100T 2(AWG14) MR-J3-200T MR-J3-350T 3.
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14. 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 14.
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14. 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 a (Note 2) Crimping terminal 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.
PAGE 451
14. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 14.3 Wires for option cables Characteristics of one core Type Length [m(ft)] Model MR-J3ENCBL Core size Number [mm2] of cores M-A2-L MR-J3ENCBL M-A1-H MR-J3ENCBL 53 or less 1.2 7.1 0.3 (Note 3) VSVP 7/0.26 (AWG#22 or equivalent)-3P Ban-gi-shi-16823 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.3 (Note 3) ETFE SVP 70/0.
PAGE 452
14. OPTIONS AND AUXILIARY EQUIPMENT (3) CC-Link twisted cable POINT For the cables other than the one indicated here, refer to the open field network CC-Link catalog (L(NA)74108143). The specifications of the twisted cable usable in CC-Link and the recommended cable are indicated below. If the cable used is other than the recommended cable indicated in the following table, we cannot guarantee the performance of CC-Link.
PAGE 453
14. OPTIONS AND AUXILIARY EQUIPMENT 14.10 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.
PAGE 454
14. OPTIONS AND AUXILIARY EQUIPMENT 14.11 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%.
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.12 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier Model C Mounting screw size Terminal screw size Mass [kg (lb)] 0 -2.5 7.5 M4 M3.5 2.0 (4.41) 57 0 -2.5 7.5 M4 M3.5 2.8 (6.17) 71 55 0 -2.5 7.5 M4 M3.5 3.7 (8.16) 91 75 0 -2.5 7.5 M4 M3.5 5.6 (12.35) 90 70 0 -2.5 10 M5 M4 8.5 (18.74) 120 100 0 -2.5 10 M5 M5 14.5 (31.97) 100 0 -2.5 12.5 M6 M6 19 (41.89) 110 0 -2.5 12.5 M6 M6 27 (59.53) Dimensions [mm] W W1 H D FR-BAL-0.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.13 Relays (recommended) The following relays should be used with the interfaces. Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of rated current 40mA or less (Ex.) Omron : type MY 14.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.15 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
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14. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1.
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14. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, or the like near the servo amplifier is shown below. Use this product or equivalent. MC Surge suppressor Relay Surge suppressor This distance should be short (within 20cm). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Rated voltage AC[V] 200 Outline drawing [Unit: mm] C [ F] R[ ] Test voltage AC[V] 0.
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14. 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.
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14. 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 W).
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.16 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT Table 14.4 Servo motor’s leakage current example (Igm) Servo motor output [kW] Table 14.5 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 14.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.17 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.
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14. 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 HF3030A-UN Dimensions [mm] A 260 B 210 C 85 D 155 E 140 F 125 HF3040A-UN 14 - 84 G 44 H 140 J K L M 70 R3.
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14. 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 2 308 5 Approx.
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14. 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 L D 1 C 2 K 2 B 5 J H 5 A 5 Model TF3040C-TX Dimensions [mm] A 438 B 412 C 390 D 100 E 175 F 160 G 145 TF3060C-TX 14 - 86 H 200 J Approx.190 K 180 L M Approx.91.5 R3.
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14. 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.
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14. OPTIONS AND AUXILIARY EQUIPMENT 14.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to rotate the servo motor. Using external input signals, the moving distance of the servo motor can be specified in accordance with pulses generated from MR-HDP01. To do this specification, in the parameter No.PD06 to PD08, assign the manual pulse generator multiplication 1 (TP0) and 2 (TP1) to the CN6 connector pins.
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14. OPTIONS AND AUXILIARY EQUIPMENT (3) Terminal layout Signal 5 to 12V 0V A Description 5 to 12V B 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 3.6 [Unit: mm] Packing t2.0 3-M4 stud L10 1 0.5 60 80 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 0.5 8.89 14 - 89 7.
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14.
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15. COMMUNICATION FUNCTION 15. COMMUNICATION FUNCTION Using the serial communication function of RS-422, this servo amplifier enables servo operation, parameter change, monitor function, etc. 15.1 Configuration (1) Single axis Operate the single-axis servo amplifier. It is recommended to use the following cable.
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15. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below.
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15. COMMUNICATION FUNCTION 15.2 Communication specifications 15.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifier) is called a slave station. When fetching data successively, the master station repeatedly commands the slave station to send data.
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15. COMMUNICATION FUNCTION 15.2.2 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.
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15. COMMUNICATION FUNCTION 15.3 Protocol 15.3.1 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.
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15. COMMUNICATION FUNCTION 15.3.2 Character codes (1) Control codes Hexadecimal Code name Personal computer terminal key operation Description (ASCII code) (General) SOH 01H start of head ctrl A STX 02H start of text ctrl B ETX 03H end of text ctrl C EOT 04H end of transmission ctrl D (2) Codes for data ASCII codes are used.
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15. COMMUNICATION FUNCTION 15.3.3 Error codes Error codes are used in the following cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave station sends the error code corresponding to that data to the master station. The error code sent in upper case indicates that the servo is normal and the one in lower case indicates that an alarm occurred.
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15. COMMUNICATION FUNCTION 15.3.5 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.
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15. COMMUNICATION FUNCTION 15.3.7 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. 15.3.
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15. COMMUNICATION FUNCTION 15.4 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. 15.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. [0] [1] [0] [0] Description Status display name and unit [0] [1] Display item Current position Frame length 16 Command position [0] [2] Command remaining distance [0] [3] Point table No.
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15. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9]) Command Data No. [0] [4] [0] [1] Description Parameter group read 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.PB ) 0002: Extension setting parameter (No.PC 0003: I/O setting parameter (No.PD ) Frame length 4 ) [0] [5] [0] [1] to [F] [F] Current values of parameters Reads the current values of the parameters in the parameter group specified with the command [8][5] + data No.
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15. COMMUNICATION FUNCTION (4) Alarm history (Command [3][3]) Command Data No.
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15. COMMUNICATION FUNCTION (6) Point table/position data (Command [4][0]) Command [4][0] Data No. Description [0][1] to [F][F] Position data read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Frame length 8 (7) Point table/speed data (Command [5][0]) Command [5][0] Data No. Description [0][1] to [F][F] Speed data read The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No.
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15. COMMUNICATION FUNCTION (14) Others Command Data No. [0] [2] [9] [0] Description Frame length Servo motor side pulse unit absolute position 8 [9] [1] Command unit absolute position 8 [7] [0] Software version 16 15.4.2 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.
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15. COMMUNICATION FUNCTION (7) Point table/speed data (Command [C][6]) Command [C][6] Data No. Description [0][1] to [F][F] Speed data write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. Setting range 0 to Permissible instantaneous speed Frame length 8 (8) Point table/acceleration time constant (Command [C][7]) Command [C][7] Data No. Description [0][1] to [F][F] Acceleration time constant write The decimal equivalent of the data No.
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15. COMMUNICATION FUNCTION (14) Test operation mode data (Command [9][2] [A][0]) Command [9] [2] Data No. Setting range Frame length Input signal for test operation Refer to section 15.5.7. 8 [A] [0] Forced output of signal pin Refer to section 15.5.9. 8 [1] [0] Writes the speed in the test operation mode (JOG operation, positioning operation). 0000 to 7FFF 4 [1] [1] Writes the acceleration/deceleration time constant in the test operation mode (JOG operation, positioning operation).
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15. COMMUNICATION FUNCTION 15.5 Detailed explanations of commands 15.5.1 Data processing When the master station transmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and receive data, they are represented in decimal, hexadecimal, etc. Therefore, data must be processed according to the application.
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15. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the decimal point position must be specified. If it is not specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal point position. The data to be sent is the following value. 0 Data is transferred in hexadecimal.
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15. COMMUNICATION FUNCTION 15.5.2 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 15.4.1.) (b) Reply The slave station sends back the status display name and unit requested.
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15. COMMUNICATION FUNCTION 15.5.3 Parameters (1) Specify the parameter group The group of the parameters to be operated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated. Command Data No. Transmission data Parameter group [8] [5] [0] [0] 0000 Basic setting parameter (No.PA 0001 Gain filter parameter (No.PB ) ) 0002 Extension setting parameter (No.
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15. 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][0] to [F][F]. (Refer to section 15.4.1.) The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the parameter number. (b) Reply The slave station sends back the data and processing information of the parameter No.
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15. 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.
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15. COMMUNICATION FUNCTION 15.5.4 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] (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. Data No. [0][0] bit Device name Data No.
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15. 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 data No. [4][0]. Command Data No. [1][2] [4][0] (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.
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15. 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] (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. Data No.
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15. 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 data No. [C][0]. 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.
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15. 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] (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. Data No. [8][0] bit 0 Device name Data No.
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15. COMMUNICATION FUNCTION 15.5.5 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 Data No.
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15. COMMUNICATION FUNCTION 15.5.6 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.
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15. COMMUNICATION FUNCTION 15.5.7 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] b31 b1 b0 1: ON 0: OFF Command of each bit is transmitted to the slave station as hexadecimal data. Data No.
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15. COMMUNICATION FUNCTION 15.5.8 Test operation mode POINT The test operation mode is used to confirm operation. Do not use it for actual operation. If communication stops for longer than 0.5s during test operation, the servo amplifier decelerates to a stop, resulting in servo lock. To prevent this, continue communication all the time, e.g. monitor the status display. Even during operation, the servo amplifier can be put in the test operation mode.
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15. COMMUNICATION FUNCTION (2) JOG operation Send the command, data No. and data as indicated below to execute JOG operation. Start Select the JOG operation in the test operation mode. Command : [8][B] Data No. : [0][0] Data : 0001(JOG operation) Servo motor speed setting Command: [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal. Set the operation pattern. Acceleration/deceleration time constant setting Command: [A][0] Data No.
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15. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indicated below to execute positioning operation. Start Command : [8][B] Data No. : [0][0] Data : 0002 (positioning operation) Select the positioning operation in the test operation mode. Servo motor speed setting Command: [A][0] Data No. : [1][0] Data : Write the speed [r/min] in hexadecimal. Acceleration/deceleration time constant setting Command: [A][0] Data No.
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15. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following command, data No. and data during a temporary stop to make a restart. Command Data No. [A][0] [4][1] Note. (Note) Data GO indicates a blank. Send the following command, data No.
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15. 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.
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15. 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.
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15. COMMUNICATION FUNCTION 15.5.9 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 15.4.1. (b) Reply The alarm No. corresponding to the data No. is provided. 0 0 Alarm No. is transferred in hexadecimal. For example, "0032" means A32 and "00FF" means A_ _ (no alarm).
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15. COMMUNICATION FUNCTION 15.5.10 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 hexadecimal. 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.
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15. COMMUNICATION FUNCTION 15.5.11 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 15.4.1. 2) Reply The slave station sends back the position data of the requested point table.
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15. 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 15.4.1. 2) Reply The slave station sends back the acceleration time constant of the requested point table.
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15. 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 15.4.1. 2) Reply The slave station sends back the dwell of the requested point table.
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15. 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.
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15. 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 15.4.2. Command Data No. Data [C][7] [0][1] to [F][F] See below.
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15. 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 15.4.2. Command Data No. Data [C][B] [0][1] to [F][F] See below.
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15. COMMUNICATION FUNCTION 15.5.12 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.
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15. COMMUNICATION FUNCTION 15.5.13 Other commands (1) Servo motor side pulse unit absolute position Read the absolute position in the servo motor side 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 side pulses. Absolute value is sent back in hexadecimal in the servo motor side pulse unit.
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16. INDEXER POSITIONING OPERATION 16. INDEXER POSITIONING OPERATION POINT To execute the indexer positioning operation, parameter needs to be changed. Set the parameter No.PA01 to "1 ". This chapter provides the indexer positioning operation method using MR-J3- T servo amplifier. Any matters not described in this chapter are the same as those of the point table positioning operation. For more information, refer to chapters up to 15. 16.1 Function 16.1.
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16. INDEXER POSITIONING OPERATION 16.1.3 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field.
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16. INDEXER POSITIONING OPERATION Function Description Torque limit Reference Servo motor-torque is limited. Output signal can be forced on/off independently of the servo status. Use this function for output signal wiring check, etc. JOG operation positioning operation DO forced output. MR Configurator is necessary for this function. The servo motor travel region can be limited using the forward rotation stroke end (LSP)/reverse rotation stroke end (LSN).
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16. INDEXER POSITIONING OPERATION (2) When 2 stations are occupied RXn/RYn: 64 points each, RWrn/RWwn: 8 points each Programmable controller (Note) Device No. Servo amplifier (RYn) Device name Servo amplifier Programmable controller (RXn) (Note) Device No.
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16. INDEXER POSITIONING OPERATION Programmable controller (Note 1) Address No. RWwn Servo amplifier (RWwn) Signal Servo amplifier Monitor 1 (Note 2) RWwn 1 RWwn RWwn Programmable controller (RWrn) (Note 1) Address No. RWrn Signal Monitor 1 data lower 16 bit Monitor 2 (Note 2) RWwn 1 Monitor 1 data upper 16 bit 2 Instruction code RWwn 2 Respond code 3 Writing data RWwn 3 Reading data RWwn 4 Next station RWwn 5 RWwn 6 RWwn 7 RWwn 4 RWwn 5 Point table No.
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16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Rotation direction specifying Description 1 station occupied 2 stations occupied Turning on/off RYn2 specifies the rotation direction at start. 1. Automatic operation mode 1 Rotation direction changes according to the parameter No.PA14 setting. RYn2 is used only for the automatic operation mode 1 (Rotation direction specifying indexer). It is not used for the automatic operation mode 2 (Shortest rotating indexer).
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16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Description 1 station occupied 2 stations occupied Monitor output execution demand When RYn8 is turned ON, the following data and signals are set. At the same time, RXn8 turns ON. While RYn8 is ON, the monitor values are kept updated.
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16. INDEXER POSITIONING OPERATION Signal name (Device name) Device No. Description 1 station occupied 2 stations occupied Position instruction execution demand When RY(n 2) is turned on, the next station number set in the remote register RWwn 4 is set. When it is set to the servo amplifier, the respond code indicating normal or error is set to RWrn 2. At the same time, RX(n 2)0 turns ON. Refer to section 3.6.3 for details.
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16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Speed selection 1 Speed selection 2 Speed selection 3 Description 1 station occupied Set the servo motor speed, acceleration time constant, and deceleration time constant for positioning operation by selecting the point table number from 1 to 8 using RY(n 2)C, RY(n 2)D, and RY(n 2)E. (Note) Remoto input RY(n 2)E RY(n 2)D RY(n 2)C 2 stations occupied RY(n 2)C RY(n 2)D RY(n 2)E Point table No.
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16. INDEXER POSITIONING OPERATION (2) Output signals (Output device) POINT The output devices can be used for both the remote output and the external output signals of CN6 connector. The signal whose Device No. field has an oblique line cannot be used in CC-Link. Signal name (Device name) Device No. Description 1 station occupied 2 stations occupied Ready A ready is assigned to the CN6-14 pin as an external output signal. RXn0 turns ON when the servo amplifier is ready to operate after servo-on.
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16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Warning Battery warning Movement completion Dynamic brake interlock Position instruction execution completion Speed instruction execution completion Station output 1 Station output 2 Station output 3 Station output 4 Station output 5 Description 1 station occupied 2 stations occupied RXnA turns ON when a warning occurs. When no warning has occurred, RXnA turns OFF within about 1s after power-on.
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16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Description 1 station occupied 2 stations occupied Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to shut off the base circuit. When no alarm has occurred, RX(n 1)A or RX(n 3)A turns OFF within about 1.5s after power is switched ON.
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16. INDEXER POSITIONING OPERATION Remote register 1 station occupied 2 stations occupied RWwn 3 RWwn 3 Signal name Writing data Description Setting range Refer to section Sets the written data used to perform parameter or point 16.2.4 (2). table data write, alarm history clear or the like. Setting the written data to RWwn 3 and turning RYn9 to ON writes the data to the servo amplifier. RXn9 turns to ON on completion of write. Refer to section 16.2.4 (2) for written data definitions.
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16. INDEXER POSITIONING OPERATION 16.2.3 Monitor codes To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication. Setting any code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn 2). At this time, "0000" is set to RWrn, RWrn 1, RWrn 5 and RWrn 6. Code No.
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16. INDEXER POSITIONING OPERATION 16.2.4 Instruction codes (RWwn 2 RWwn 3) Refer to section 3.6.2 for the instruction code timing charts. (1) Read instruction codes The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code (RWrn 3). Set the command code No. corresponding to the item to RWrn 2. The codes and answer data are all 4digit hexadecimal numbers. Setting any command code No.
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16. INDEXER POSITIONING OPERATION Code No. 0040h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Input device status 0 Reads the statuses (OFF/ON) of the input devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding input devices.
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16. INDEXER POSITIONING OPERATION Code No. 0050h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Output device status 0 Reads the statuses (OFF/ON) of the Output devices. bit 0 to bit F indicate the OFF/ON statuses of the corresponding output devices.
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16. INDEXER POSITIONING OPERATION Code No. 0081h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Energization time Reads the energization time from shipment. Returns the energization time [h]. Energization time 0082h Power ON frequency Reads the number of power-on times from shipment. Returns the number of power-on times.
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16. INDEXER POSITIONING OPERATION Code No. 0200h Reading data (RWrn 3) contents (Servo amplifier Programmable controller) Item/Function Parameter group reading Reads the parameter group to be read with code No.8200h to be written. 0 0 0 Parameter group 0: Basic setting parameters (No.PA ) 1: Gain/filter parameters (No.PB ) 2: Extension setting parameters (No.PC 3: I/O setting parameters (No.PD ) 0201h to 02FFh 0301h to 03FFh Parameter data reading Reads the set value of each No.
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16. INDEXER POSITIONING OPERATION (2) Write instruction codes Set the data, which was requested to be written with the instruction code 8010h to 91FFh. Set the instruction code No. corresponding to the item to Instruction code (RWwn 2) and the written data to Writing data (RWwn 3). The codes and answer data are all 4-digit hexadecimal numbers. When the instruction code which has not been described in this section is set, the error code ( 1 ) is stored in respond code (RWrn 2). Code No.
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16. INDEXER POSITIONING OPERATION Writing data (RWwn 3) contents (Programmable controller Servo amplifier) Code No. Item 8701h to 87FFh Acceleration time constant data RAM command of point table Writes the acceleration time constants of point table No.1 to 255 to RAM. These values are cleared when power is switched off. The decimal value converted from the 2 lower digits of the code No. corresponds to the point table No.
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16. INDEXER POSITIONING OPERATION 16.2.5 Respond codes (RWrn 2) If any of the monitor codes, instruction codes, Next station, Point table Nos./Speed command data set to the remote register is outside the setting range, the corresponding error code is set to respond code (RWwn 2). "0000" is set if they are normal. Error related to Monitor code 1/Monitor code 2 Error related to Instruction code/Writing data Error related to Next station Error related to point table No./Speed command data Code No.
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16. INDEXER POSITIONING OPERATION 16.3 Signal 16.3.1 Signal (device) explanation POINT In the indexer positioning operation, devices assigned to the CN6 connector cannot be changed. (1) I/O device (a) Input device Symbol Connector pin No. Forced stop EMG CN6-1 Turn EMG off (open between commons) to bring the motor to an emergency stop state, in which the base circuit is shut off and the dynamic brake is operated. Turn EMG on (short between commons) in the emergency stop state to reset that state.
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16. INDEXER POSITIONING OPERATION (b) Output device POINT Output devices assigned to the CN6 connector pins can be used with the remote output of the CC-Link communication function. Device Symbol Connector pin No. Functions/Applications Ready RD CN6-14 RD turns ON when the servo amplifier is ready to operate after servo-on. Trouble ALM CN6-15 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit.
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16. INDEXER POSITIONING OPERATION (3) Output signals Refer to section 4.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the corresponding connector pins. Symbol Connecto r pin No. Encoder A-phase pulse (differential line driver) LA LAR CN6-11 CN6-24 Encoder B-phase pulse (differential line driver) LB LBR CN6-12 CN6-25 Encoder Z-phase pulse (differential line driver) LZ LZR CN6-13 CN6-26 Symbol Connector pin No.
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16. INDEXER POSITIONING OPERATION 16.3.2 Detailed description of signals (devices) (1) Forward rotation start reverse rotation start temporary stop/restart (a) A start (RYn1) 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). (b) A start in the servo amplifier is made when a start (RYn1) changes from OFF to ON.
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16. INDEXER POSITIONING OPERATION (b) Rough match The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No.PC11 (rough match output range). RXn2 turns ON in the servo-on status. Start (RYn1) ON OFF 3ms or less Forward Position command rotation 0r/min Rough match (RXn2) ON OFF When "0" is set in parameter No.
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16. INDEXER POSITIONING OPERATION (3) Torque limit CAUTION 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. POINT In the indexer positioning operation, the torque limit 2 becomes automatically effective depending on the operation status. (a) Torque limit and torque By setting parameter No.PA11 (forward rotation torque limit) or parameter No.
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16. INDEXER POSITIONING OPERATION 16.4 Switching power on for the first time 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.
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16. INDEXER POSITIONING OPERATION 16.4.2 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.
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16. INDEXER POSITIONING OPERATION 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 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 brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m. (Refer to section 14.2.
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16. INDEXER POSITIONING OPERATION 16.5 Startup 16.5.1 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 (RYn0). 2) Make sure that the start (RYn1) is off. 3) Switch on the main circuit power supply and control circuit power supply. When main circuit power/control circuit power is switched on, the servo amplifier display shows "b01" (if the servo amplifier has the station number of 1).
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16. INDEXER POSITIONING OPERATION 16.5.3 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 16.5.1 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.
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16. INDEXER POSITIONING OPERATION 16.5.4 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.PC22 setting 0 (initial value) MR-EKCBL30M-H MR-EKCBL40M-H 1 MR-EKCBL50M-H ) mainly.
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16. INDEXER POSITIONING OPERATION 16.5.5 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 Not used in indexer positioning operation. Do not change this value by any means. Servo motor speed Set the command speed of the servo motor for execution of positioning. Acceleration time constant Set the acceleration time constant.
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16. INDEXER POSITIONING OPERATION 16.6 Servo amplifier display On the servo amplifier display (three-digit, seven-segment display), check the status of communication with the CC-Link controller at power-on, check the station number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON (Note 3) Waiting for CC-Link communication (Note 1) When alarm warning No.
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16. INDEXER POSITIONING OPERATION (2) Indication list Indication Status Description Power of the CC-Link master module was switched on at the condition that the power of CC-Link master module is OFF. The CC-Link master module is faulty. b # # Waiting for CC-Link communication (Note 1) d # # Ready The servo was switched on after completion of initialization and the servo amplifier is ready to operate. (This is indicated for 2 seconds.
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16. INDEXER POSITIONING OPERATION 16.7 Automatic operation mode POINT In the absolute position detection system, the following restriction condition applies for the number of gears on machine-side (parameter No.PA06 CMX) and servo motor speed (N). When CMX 2000, N 3076.7 r/min When CMX 2000, N 3276.7–CMX r/min When the servo motor is operated at servo motor speed higher than the limit value, the absolute position counter warning (AE3) occurs. 16.7.
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16. INDEXER POSITIONING OPERATION 16.7.2 Automatic operation mode 1 (Rotation direction specifying indexer) In this operation mode, the servo motor rotates in the fixed direction and executes positioning to a station. (1) When not using the remote register Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning.
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16. INDEXER POSITIONING OPERATION 2) Setting the number of stations Set the number of stations in the parameter No.PC46. Parameter No.PC46 setting value 0000 to 0002 0003 0004 00FF 2 3 4 255 Number of stations No.1 No.2 No.2 No.1 No.3 Station No. No.254 No.0 No.0 No.1 No.0 No.0 No.1 (c) Setting the speed data Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table number 1 to 8.
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16. INDEXER POSITIONING OPERATION Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn on the start (RYn1) to execute positioning with the speed data set in the point table. Rotation direction of the servo motor is the direction set in the rotation direction specifying (RYn2). When one station is occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number cannot be selected. Use point table No.1 when one station is occupied.
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16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below.
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16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation.
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16. INDEXER POSITIONING OPERATION (b) Other parameter settings 1) Setting the servo motor rotation direction and allocation direction of station numbers Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Setting is the same as that for when not using the remote register. Refer to (1) (b) 1) in this section. 2) Setting the number of stations Set the number of stations in the parameter No.PC46.
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16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. 1) When using the speed data of point table Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) No.1 No.3 No.
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16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4.
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16. INDEXER POSITIONING OPERATION 2) When directly setting the servo motor speed Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) Point table No.
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16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4.
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16. INDEXER POSITIONING OPERATION 16.7.3 Automatic operation mode 2 (Shortest rotating indexer) In this operation mode, the servo motor automatically changes the direction for the shortest distance and executes positioning. (1) When not using the remote register Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and execute positioning.
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16. INDEXER POSITIONING OPERATION Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn on the start (RYn1) to execute positioning with the speed data set in the point table. When one station is occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number cannot be selected. Use the point table No.1 when one station is occupied. (Note) Device Pint table No.
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16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) ON OFF ON OFF ON OFF (Note 2) Next station selection 1 to 8 (RYnA to RYnE RY(n 2)3 to RY(n 2)5) No.1 No.
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16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation.
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16. INDEXER POSITIONING OPERATION (b) Other parameter settings (Setting the number of stations) Set the number of stations in the parameter No.PC46. Setting is the same as that for the automatic operation mode 1. Refer to (1) (b) 2) in section 16.7.2. In the automatic operation mode 2, the station No. direction selection (parameter No.PA14) is not used.
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16. INDEXER POSITIONING OPERATION (e) Timing chart POINT Always execute a home position return. The home positioning incomplete (A90) occurs when turning on the start (RYn1) without executing a home position return. The timing chart is shown below. 1) When using the speed data of point table Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) No.1 No.3 No.
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16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4.
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16. INDEXER POSITIONING OPERATION 2) When directly setting the servo motor speed (only when 2 stations are occupied) Operation mode selection 1 (RYn6) Operation mode selection 2 (RYn7) Servo-on (RYn0) Position/speed specifying system selection (RYn 2)A ON OFF ON OFF ON OFF ON OFF (Note 2) Next station (RWwn 4) Point table No.
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16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication. 2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next station warning (A97) occurs. 3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the movement completion (RXnC) turns on. 4.
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16. INDEXER POSITIONING OPERATION 16.8 Manual operation mode For adjusting the machine or home position, JOG operation or indexer JOG operation can be used to move the position to any position. 16.8.1 Indexer JOG operation (1) Setting Set the devices and parameters as indicated below according to the purpose of use. In this case, the next station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) are invalid.
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16. INDEXER POSITIONING OPERATION (3) Operation Turn on the start (RYn1) to operate the servo motor with the servo motor speed, acceleration time constant, and deceleration time constant set in the point table No.1. Turning off RYn1 makes the servo motor execute positioning to the station where the servo motor can decelerate to stop. For the rotation direction, refer to (2) in this section.
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16. INDEXER POSITIONING OPERATION 16.8.2 JOG operation (1) Setting Set the devices and parameters as indicated below for the purpose of use. In this case, the next station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C to RY(n 2)E) are invalid. Item Indexer positioning operation selection Device/Parameter Setting description 1 Parameter No.PA01 : Select the indexer positioning operation.
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16. INDEXER POSITIONING OPERATION 16.9 Home position return mode 16.9.1 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.
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16. INDEXER POSITIONING 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.PC02 0 0 0 Home position return method 0: 1: 2: 3: 4: 5: Not used in indexer postioning operation.
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16. INDEXER POSITIONING OPERATION 16.9.2 Torque limit changing 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.
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16. INDEXER POSITIONING OPERATION (3) Timing chart Operation mode selection 1 (RYn6) ON Operation mode selection 2 (RYn7) ON OFF OFF ON Start (RYn1) Servo motor speed OFF Forward rotation 0r/min (Note) 4ms or more 6ms or more Point table No.1 Point table No.1 Home position return speed deceleration time acceleration Home position shift distance parameter No.PC04 constant time constant parameter No.PC06 Creep speed 3ms or less parameter No.
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16. INDEXER POSITIONING OPERATION 16.9.3 Torque limit changing data setting type home position return POINT Torque limit becomes effective after completing the torque limit changing data setting type home position return, so that when the servo motor is rotated by the external force, a difference occurs in between the command position and the current position.
PAGE 587
16. INDEXER POSITIONING OPERATION 16.9.4 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.
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16. INDEXER POSITIONING OPERATION 16.10 Absolute position detection system CAUTION 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 may cause unexpected operation. 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.
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16. INDEXER POSITIONING OPERATION (3) Structure Component Description Servo amplifier Use standard models. Servo motor Battery MR-J3BAT Encoder cable Use a standard model. (Refer to section 14.1.) (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.
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16. INDEXER POSITIONING OPERATION (a) For MR-J3-350T or less MR-J3-200T4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier. Insert connector into CN4. (b) For MR-J3-500T or more MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.
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16. INDEXER POSITIONING OPERATION 16.11 Parameters CAUTION Never adjust or change the parameter values extremely as it will make operation instable. 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. In this servo amplifier, the parameters are classified into the following groups on a function basis. Parameter group Main description Basic setting parameters (No.
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16. INDEXER POSITIONING OPERATION (2) Parameter write inhibit Initial value Parameter No. Symbol PA19 *BLK 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. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.
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16. INDEXER POSITIONING OPERATION (4) Selection of regenerative option Initial value Parameter No. Symbol PA02 *REG 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.
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16. INDEXER POSITIONING OPERATION (6) Electronic gear Initial value Parameter Name Unit Setting range No. Symbol PA06 *CMX Number of gears on machine-side 1 1 to 16384 PA07 *CDV Number of gears on servo motor-side 1 1 to 16384 CAUTION False setting will result in unexpected fast rotation, causing injury. POINT This parameter is made valid when power is switched off, then on after setting. Set the electronic gear within the following condition range.
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16. INDEXER POSITIONING OPERATION (a) Example 1 When the number of pulley teeth on the machine-side is 50, and the number of pulley teeth on the servo motor side is 20. Number of pulley teeth on macine side: 50 Parameter No.PA06: 50 Parameter No.PA07: 20 Number of pulley teeth on servo motor side: 20 (b) Example 2 When the number of pulley teeth on the machine-side is 50, the number of pulley teeth on the servo motor side is 20, and using the servo motor with 1/9 reduction gear.
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16. INDEXER POSITIONING OPERATION (7) Auto tuning Initial value Parameter No. Symbol Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Unit Setting range 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details. (a) Auto tuning mode (parameter No.PA08) Select the gain adjustment mode. Parameter No.PA08 0 0 0 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No.
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16. INDEXER POSITIONING OPERATION (8) In-position range Parameter No. Symbol PA10 INP Name In-position range Initial value Unit Setting range 100 pulse 0 to 10000 Set the range for outputting the movement completion (RXnC) and the in position (RXn1) in command pulse unit. Servo motor Droop pulse Command pulse Command pulse In-position range [pulse] Droop pulse ON In position (RXn1) OFF (9) Torque limit Parameter No.
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16. INDEXER POSITIONING OPERATION (10)Station No. direction selection Initial value Parameter No. Symbol PA14 *POL Name Station No. direction selection Unit Setting range 0 0 1 POINT This parameter is made valid when power is switched off, then on after setting. Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction selection). Station No. allocation direction Start (RYn1) ON Parameter No.PA14 setting 0 (Initial value) 1 CCW Station No.
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16. INDEXER POSITIONING OPERATION (11)Encoder output pulse Parameter No. Symbol PA15 *ENR Name Encoder output pulse Initial value Unit Setting range 4000 pulse/ rev 1 to 65535 POINT This parameter is made valid when power is switched off, then on after setting. Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.
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16. INDEXER POSITIONING OPERATION 16.11.2 Gain/filter parameters (No.PB ) (1) Parameter list No.
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16. INDEXER POSITIONING OPERATION (2) Detail list Symbol Name and function Initial value PB01 FILT 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). 0000h Response of mechanical system No.
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16. INDEXER POSITIONING OPERATION No. Symbol Name and function Initial value PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning.
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16. INDEXER POSITIONING OPERATION No. Symbol PB05 Name and function Initial value For manufacturer setting Do not change this value by any means. 500 Unit Setting range PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 9.1.
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16. INDEXER POSITIONING OPERATION No. Symbol PB14 NHQ1 Name and function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial value Unit 0000h Refer to name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain -40dB -14dB -8dB -4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting range Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter.
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16. INDEXER POSITIONING OPERATION Setting range No. Symbol Name and function Initial value Unit PB18 LPF Low-pass filter Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No.PB23 is set to " 1 ", this parameter can be set manually.
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16. INDEXER POSITIONING OPERATION No. Symbol PB25 PB26 *CDP Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Gain changing selection Select the gain changing condition. (Refer to section 10.6.) 0000h Unit Setting range Refer to name and function column. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings.
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16. INDEXER POSITIONING OPERATION No. Name and function Setting range Initial value Unit PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped.
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16. INDEXER POSITIONING OPERATION 16.11.3 Extension setting parameters (No.PC ) (1) Parameter list No. Symbol PC01 Name Initial value For manufacturer setting 0000h Unit PC02 *ZTY Home position return type 0000h PC03 *ZDIR Home position return direction 0001h PC04 ZRF Home position return speed 500 r/min PC05 CRF Creep speed 10 r/min PC06 ZST Home position shift distance 0 m Not used in indexer positioning operation. 0 PC07 PC08 1000 PC09 100 PC10 15.
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16. INDEXER POSITIONING OPERATION No. Symbol PC49 Name and function Initial value For manufacturer setting Unit 0000h 0000h PC50 (2) Detail list No. Symbol PC01 PC02 *ZTY Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h Home position return type Used to set the home position return system. (Refer to section 5.6.) 0000h Refer to name and function column. 0001h Refer to name and function column. Parameter No.
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16. INDEXER POSITIONING OPERATION No. Symbol PC13 PC14 *BKC PC15 PC16 MBR *BPS Initial value 0 Backlash compensation Used to set the backlash compensation made when the command direction is reversed. This function compensates for the number of backlash pulses in the opposite direction to the home position return direction.
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16. INDEXER POSITIONING OPERATION No. Symbol Name and function Initial value Unit Setting range PC20 *SNO Station number setting Used to specify the station number for RS-422 serial communication and USB communication. Always set one station to one axis of servo amplifier. If one station number is set to two or more stations, normal communication cannot be made.
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16. INDEXER POSITIONING OPERATION No. Symbol PC29 PC30 *DSS Name and function Initial value For manufacturer setting Do not change this value by any means. 0000h Remote register-based position/speed specifying system selection This parameter is made valid when Position/speed specification selection (RY(n 2)A) is turned ON with 2 stations occupied. Select how to receive the position command and speed command. When 1 station is occupied, selection of "0001" or "0002" will result in a parameter error.
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16. INDEXER POSITIONING OPERATION No. Symbol PC46 *STN Initial value Unit Setting range 0000h Number of stations 0000h to 00FFh Indexer positioning operation station home position shift distance This parameter is available only in the absolute position detection system. Set the distance for shifting the home position toward the set home position in number of pulses. This shift distance does not become valid immediately after the home position setting.
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16. INDEXER POSITIONING OPERATION (4) Rough match output Rough match (RXn2) is output when the command remaining distance reaches the value set in parameter No.PC11 (rough match output range). The setting range is 0 to 65535 [pulse]. Command remaining distance [pulse] set in parameter No.PC11 Actual servo motor speed Servo motor Command pulse speed Rough match (RXn2) ON OFF In position (RXnC) ON OFF 16.11.4 I/O setting parameters (No.PD ) (1) Parameter list No.
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16. INDEXER POSITIONING OPERATION (2) Detail list No. Symbol PD01 *DIA1 Initial value Name and function Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. 0000h 0 0 Unit Setting range Refer to name and function column.
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16. INDEXER POSITIONING OPERATION No. Symbol PD17 PD18 PD19 *DIF Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h Response level setting Used to select the input. 0002h Refer to name and function column. 0010h Refer to name and function column. 0000h 0 0 0 Input filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 0.88[ms] 2: 1.77[ms] 3: 2.66[ms] 4: 3.
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16. INDEXER POSITIONING OPERATION No. Symbol Initial value Name and function PD24 *DOP5 Function selection D-5 Select the output status of the warning (RXnA). 0 0 Unit Setting range ms Refer to name and function column. 0000h 0 Selection of output device at warning occurrence Select the warning (RXnA) and trouble (RX(n 1)A or RX(n 3)A) output status at warning occurrence.
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16. INDEXER POSITIONING OPERATION (3) Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off. Parameter No.
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16. INDEXER POSITIONING OPERATION 16.12 TROUBLESHOOTING 16.12.1 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 2 3 4 Start-up sequence Power on Switch on servo-on (RYn0) signal.
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16. INDEXER POSITIONING OPERATION 16.12.2 Operation at error occurrence An error occurring during operation will result in any of the statuses indicated in the following table.
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16. INDEXER POSITIONING OPERATION 16.12.4 When alarm or warning has occurred POINT Configure up a circuit which will detect the trouble (ALM) signal and turn off the servo-on (RYn0) at occurrence of an alarm. (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2), (3) in this section and take the appropriate action. When an alarm occurs, ALM turns off.
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16. INDEXER POSITIONING OPERATION (2) Remedies for alarms When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. CAUTION If an absolute position erase (A25) occurred, always make home position setting again. Not doing so may cause unexpected operation. As soon as an alarm occurs, turn off Servo-on (RYn0) and power off.
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16. INDEXER POSITIONING OPERATION Display A15 Name Cause Definition Memory error 2 EEP-ROM fault (EEP-ROM) 1. Faulty parts in the servo amplifier Action Change the servo amplifier. Checking method Alarm (A15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. A16 A17 Encoder error 1 Communication (At power on) error occurred between encoder and servo amplifier.
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16. INDEXER POSITIONING OPERATION Display A30 Name Regenerative error Definition Cause Permissible 1. Wrong setting of parameter No. regenerative power PA02 of the built-in 2. Built-in regenerative resistor or regenerative resistor regenerative option is not connected. or regenerative 3. High-duty operation or continuous option is exceeded. regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Action Set correctly. Connect correctly 1.
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16. INDEXER POSITIONING OPERATION Display A32 A33 Name Overcurrent Overvoltage Definition Cause Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (A32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (A32) first occurred, the transistor (IPM, IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power.
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16. INDEXER POSITIONING OPERATION Display A37 A45 Name Parameter error Main circuit device overheat Definition Parameter setting is wrong. Cause Action 1. Servo amplifier fault caused the parameter setting to be rewritten. Change the servo amplifier. 2. Regenerative option not used with servo amplifier was selected in parameter No.PA02. Set parameter No.PA02 correctly. 3. Value outside setting range has been set in electronic gear. Set parameters No.PA06, PA07 correctly. 4.
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16. INDEXER POSITIONING OPERATION Display A50 Name Overload 1 Definition Load exceeded overload protection characteristic of servo amplifier. Cause Action 1. Servo amplifier is used in excess of its continuous output current. 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. 2. Servo system is instable and hunting. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change auto tuning response setting. 3.
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16. INDEXER POSITIONING OPERATION Display A52 Name Definition Error excessive The difference between the model position and the actual servo motor position exceeds three rotations. (Refer to the function block diagram in section 1.1.2.) Cause Action 1. Acceleration/deceleration time constant is too small. Increase the acceleration/deceleration time constant. 2. Forward rotation torque limit (parameter No.PA11) or reverse rotation torque limit (parameter No.PA12) are too small.
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16. INDEXER POSITIONING OPERATION Display (Note) 888 Name Watchdog Definition CPU, parts faulty. Cause Fault of parts in servo amplifier. Action Change the 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.
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16. INDEXER POSITIONING OPERATION If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed. Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence. A90 Home position return incomplete Definition In incremental system Name Cause Action Positioning operation was performed without home position return. 1.
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16. INDEXER POSITIONING OPERATION Display A92 A96 Name Definition Open battery cable warning Absolute position detection system battery voltage is low. Home position setting error Home position setting could not be made. Cause Action 1. Battery cable is open. Repair cable or changed. 2. Battery voltage supplied from the servo amplifier to the encoder fell to about 3V or less. (Detected with the encoder) Change the battery. 1.
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16. INDEXER POSITIONING OPERATION Display Name AE3 Absolute position counter warning AE6 AE8 Servo forced stop warning Cooling fan speed reduction warning Definition Absolute position encoder pulses faulty. Cause Action 1. Noise entered the encoder. Take noise suppression measures. 2. Encoder faulty. Change the servo motor. The multi-revolution counter value of the absolute position encoder exceeded the maximum revolution range. 3.
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16. INDEXER POSITIONING OPERATION 16.12.5 Point table error When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error (A37), the point table error details are displayed. AL37 #00 PB10 PB11 PB12 PB16 Spd001 Point table error details For the point table No.1 speed data error Point table No.
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APPENDIX App. 1 Parameter list POINT For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. No.
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APPENDIX No.
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APPENDIX App. 2 Signal layout recording paper CN6 1 2 14 15 3 4 5 6 PP 16 17 DICOM 7 DOCOM 19 NP 20 22 9 23 10 11 LB OPC 21 8 12 18 LA 13 LG 25 LBR LZ App.
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APPENDIX App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) [Unit: mm] Latch Coding finger Detecting hole 4 5( 20) 26.45 15.1 2.9 5.25 25 5 4.75 10.6 5.8 5 20.8 2.75 2.7 App.
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APPENDIX App. 4 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.
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APPENDIX App. 5 MR-J3-200T-RT servo amplifier 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. 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. 5.
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APPENDIX App. 5.2 Configuration including auxiliary equipment (1.7 Configuration including auxiliary equipment) (Note 3) Power supply RST No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator Personal computer (Note2) Servo amplifier Line noise filter (FR-BSF01) (Note 2) Power factor improving DC reactor(FR-BEL) L1 L2 L3 P1 CN5 CN3 P2 CC-Link CN1 Regenerative option P C L11 CN6 L21 I/O signal CN2 CN4 (Note 1) Battery MR-J3BAT U V W U Servo motor Note 1.
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APPENDIX App. 5.3 CNP1, CNP2, CNP3 wiring method (4.3.3 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.
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APPENDIX App. 5.4 OUTLINE DRAWINGS (Chapter 12 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.
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APPENDIX App. 6 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.
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APPENDIX App. 7 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. PA01 PA02 PA03 PA04 PA05 PA06 PA07 PA08 PA09 PA10 PA11 PA12 PA13 PA14 PA15 PA16 to PA18 PA19 Basic setting parameters (PA ) Symbol Name *STY Control mode *REG Regenerative option *ABS Absolute position detection system Not used in indexer positioning operation.
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APPENDIX No. PC01 PC02 PC03 PC04 PC05 PC06 PC07 PC08 PC09 PC10 PC11 PC12 Extension setting parameters (PC ) Symbol Name For manufacturer setting *ZTY Home position return type *ZDIR Home position return direction ZRF Home position return speed CRF Creep speed ZST Home position shift distance Not used in indexer positioning operation.
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APPENDIX App. 8 Program example with MELSEC-A series programmable controllers (point table positioning operation) App. 8.1 Function-by-function programming examples This section explains specific programming examples for servo operation, monitor, parameter read and write, and others on the basis of the equipment makeup shown in appendix 8.1.1. App.8.1.
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APPENDIX App. 8.1.2 Reading the servo amplifier status Read the servo amplifier status from the master station buffer memory. The servo amplifier status is always stored in the remote input RX (addresses E0H to 15FH) Read the servo amplifier status of station 1 to M0 to M31. Reads remote input (RX00 to RX1F) of buffer memory to M0 to M31. Station No.
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APPENDIX App. 8.1.3 Writing the operation commands To operate the servo amplifier, write the operation commands to the remote output RY (addresses 160H to 1DFH). Perform positioning operation of point table No.2 for the servo amplifier of station 2. Start the operation by turning on X20. Servo-on command (RY00) Point table No.
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APPENDIX App. 8.1.4 Reading the data Read various data of the servo amplifier. (1) Reading the monitor value Read the (feedback pulse value) of the servo amplifier of station 2 to D1. Data No. H000A Description Cumulative feedback pulse data (hexadecimal) Read the cumulative feedback pulse monitor by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Sets monitor code (H000A) of feedback pulse in RWw4. Read command Turns on Monitor output execution demand (RY28).
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APPENDIX (2) Reading the parameter Read parameter No.PA04 "Function selection A-1" of the servo amplifier of station 2 to D1. Data No. Description H8200 Parameter group selection H2024 Parameter No.PA04 setting (hexadecimal) Read the parameter No.PA04 by turning on X20. The respond code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Read command Writes parameter group No. write (H8200) to RWw6 and parameter group PA (H0000) to RWw7.
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APPENDIX (3) Reading the alarm definition Read the alarm definition of the servo amplifier of station 2 to D1. Data No. H0010 Description Occurring alarm/warning No. (hexadecimal) Read current alarms by turning on X20. The respond code at instruction code execution is set to D9. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Read command Writes current alarm read (H0010) to RWw6. Turns on instruction code execution demand (RY29).
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APPENDIX App. 8.1.5 Writing the data This section explains the programs for writing various data to the servo amplifier. (1) Writing the servo motor speed data of point table Change the servo motor speed data in the point table No.1 of the servo amplifier of station 2 to "100". The following shows a program example for writing data to the servo amplifier when two stations are occupied. Writing is disabled for the servo amplifier when one station is occupied. Code No.
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APPENDIX (2) Writing the parameter The following shows a program example when two stations are occupied. Change parameter No.PC12 (JOG speed) of the servo amplifier of station 2 to "100". The parameter group PC is specified as follows. Code No. 8200h Description Parameter group selection Set data H0002 Description Set data (hexadecimal) The parameter No.12 is changed to "100" as follows. Code No. H820C Description Parameter No.
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APPENDIX (3) Servo amplifier alarm resetting program examples (a) Deactivate the alarm of the servo amplifier of station 2 by issuing a command from the programmable controller. Reset the servo amplifier on the occurrence of a servo alarm by turning on X20. Reads remote input (RX20 to RX5F) of buffer memory to M200 to M263. Turns on reset command (RY5A). Reset command Turns off reset command (RY5A) when trouble flag (RX5A) turns off. Writes M100 to M163 to remote output (RY20 to RY5F) of buffer memory.
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APPENDIX App. 8.1.6 Operation This section explains the operation programs of the servo amplifier. (1) JOG operation Perform JOG operation of the servo amplifier of station 1 and read the "current position" data. Code No. Description H0001 Lower 16-bit data of current position (hexadecimal) H0002 Upper 16-bit data of current position (hexadecimal) Start the forward rotation JOG operation by turning on X22. Start the reverse rotation JOG operation by turning on X23.
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APPENDIX (2) Remote register-based position data/speed data setting The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 after specifying the position data as "100000" and the speed data as "1000" in the direct specification mode. Preset " 2" in parameter No.PC30.
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APPENDIX (3) Remote register-based point table No. setting (incremental value command system) The following program example is only applicable when two stations are occupied. Operate the servo amplifier of station 2 with incremental values after specifying the point table No.5 in the direct specification mode. Preset " 0" in parameter No.PA01 and " 0" in parameter No.PC30. Set data K5 Description Point table No. (decimal) Execute positioning operation to the point table No.5 by turning on X20.
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APPENDIX App. 8.2 Continuous operation program example This section shows a program example which includes a series of communication operations from a servo start. The program will be described on the basis of the equipment makeup shown in appendix 8.2.1, appendix 8.2.3. App. 8.2.1 System configuration example when 1 station is occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifier (1 station occupied).
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APPENDIX App. 8.2.2 Program example when 1 station is occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "current position" data. Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table command Code No.
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APPENDIX Forward rotation start request Forward rotation JOG command Positioning start command In position Reverse rotation start request Reverse rotation JOG command Rough match Positioning start command Home position return completion Point table establishment time 10ms *1 Forward rotation start request Command request time 10ms *1 Forward rotation start request reset Point table No. selection 1 (RY0A) No. selection 1 Point table No. selection 2 (RY0B) No. selection 2 Point table No.
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APPENDIX App. 8.2.3 System configuration example when 2 stations are occupied As shown below, the CC-Link system master local unit is loaded to run one servo amplifiers (2 station occupied). Programmable controller Power supply A1S62PN CPU A1SHCPU Master station A1SJ61BT11 (X/Y00 to 1F) Input module A1SX40 (X20 to X2F) X20 to X28 Terminating resistor Station No.
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APPENDIX App. 8.2.4 Program example when 2 stations are occupied POINT To execute a dog type home position return with the CC-Link communication functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG) with the remote input (RY03) in this example. Operate the servo amplifier of station 1 in the positioning mode and read the "motor speed" data. Preset the parameter No.PC30 to " 2".
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APPENDIX Positioning start command Forward rotation start request Forward rotation JOG command Reverse rotation start request Reverse rotation JOG command Position/speed specifying system selection (RY4A) Position/speed setting system changing command In Rough position match Home position return completion Writes position command data (K50000) to RWw4, RWw5, and speed data (K100) to RWw6. Turns on position instruction demand (RY20). Turns on speed instruction demand (RY21).
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REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Apr., 2006 SH(NA)030058-A First edition Revision Jul., 2006 SH(NA)030058-B Chapter 2 Section 3.5.2(2) Section 3.5.3 Section 3.6.3(1) Section 3.6.3(2) Section 3.6.3(3) Section 3.7.1 Section 4.8.2(3)(b) Section 4.10.2(2) Section 5.6.5(2) Section 5.6.8 Section 5.8(1) Section 5.8(5)(a) Section 6.2.1 Section 6.2.2 Section 6.3.5 Section 6.4.2 Section 9.3(1)(a) Section 9.5 Section 13.1 Section 14.1.
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Print Data *Manual Number Oct., 2007 SH(NA)030058-C Revision Section 13.2 Section 13.3 Section 13.5 Section 14.1.1 Section 14.1.1 2) Section 14.1.2 400V compatible added Dynamic brake time constant and load inertia moment ratio compatible with 400V added. The calculation methods and graph in section 13.3.1, the permissible load inertia moment in 13.3.2, each divided by paragraph.
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Print Data *Manual Number Feb., 2008 SH(NA)030058-D Revision Section 4.10.2 (3)(b) Section 4.11.2 (1) Section 4.11.2 (5) to (8) Section 5.3 (1) Section 5.3 (2) Section 7.2 (1) Section 7.2 (2) 1) Section 8.5.7 (1)(a) Section 11.4.2 Section 12.1 (5) Section 14.1.
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Print Data *Manual Number Jun., 2008 SH(NA)030058-E SH(NA)030058-E Revision Section 5.6.11 (2) Section 5.6.12 (2) Section 6.3 Section 6.4.3 Section 6.4.4 Section 7.7.1 Section 11.4.2 Section 14.1 Chapter 16 Appendix 7 Appendix 8 Note. Change of sentence Note. Change of sentence Parameter No.
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General-Purpose AC Servo J3 Series Built-in Positioning Function MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030058-E (0806) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice.