Gebruiksaanwijzing /service van het product MR-J3 van de fabrikant Mitsubishi Electronics
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SH (NA) 030058-E (0806) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 10.
A - 1 Safety Ins tructions (Alwa ys rea d thes e inst ruct ions before usin g the equip m ent.) Do not a ttem pt to insta ll, op erate, m aint ain or insp ect th e ser vo am plifier and s ervo m otor unti l you have re ad throug h this Ins truct ion Man ual, Inst allat ion guid e, Serv o motor Instruct ion Ma nual (Vol .
A - 2 1. To prevent electr ic shock , note the following WARNING Befor e wiri ng or inspec tion, turn of f the pow er and wait f or 15 m inutes or m ore u ntil t he char ge l amp tur ns off . Then, co nfirm that the volta ge bet ween P( ) and N( ) is s afe with a volt age t ester and o ther s.
A - 3 4. Additional inst ructions The f ollowi ng ins truc tions should als o be fu ll y noted. Inc orrect handl ing m ay caus e a f aul t, inj ur y, electr ic sh ock, etc. (1) Transpor tation and installation CAUTION Trans port the pro ducts c orrec tly accor ding to their we ights.
A - 4 (2) W iri ng CAUTION W ire the equ ipm ent corr ectly a nd sec urel y. Oth erwis e, the s erv o motor ma y oper ate unex pecte dly. Do not inst all a power c apac itor, sur ge a bsorb er or r adio noise filter (FR- BIF-( H) op tion) between the servo m otor and s ervo am pl ifier.
A - 5 (4) Usa ge CAUTION Prov ide an exter nal em erge ncy st op c ircuit t o ens ure th at op eration c an be st opped and power s witc hed off imm ediatel y. Any pers on who is invol ved in disas sem bly and re pair sho uld be fu lly com petent to do the work .
A - 6 (7) Gener al instruction To il lustr ate details , t he equ ipm ent in the d iagr ams of this Specif ic atio ns and Ins truct ion Ma nual ma y have been dr awn withou t cov ers an d safet y g uards. W hen the equ ipm ent is oper ated, th e cov ers a nd saf et y guards mus t be ins ta lled as specif ied.
A - 7 COMPLIANCE WITH EC DIRECTIVES 1. W HAT ARE EC DIR ECTI VES ? The E C direc tives were issued to s tandar dize th e reg ula tions of the EU cou ntries and e nsur e sm ooth distr ibutio n of s afet y-guar anteed produc ts.
A - 8 (2) C onfigura tion The c ontro l cir cuit prov ide s afe se para tion t o the m ain ci rcuit in th e ser vo am plif ier. NFB MC No-fuse bre ake r Mag netic contactor Reinforced insulating type .
A - 9 (6) W iring (a) T he cab les to be co nnected to t he term in al bloc k of the s ervo amplif ier m us t have c rim ping ter mina ls prov ided w ith insula ting tubes to p revent con tact w ith adjacen t te rminal s.
A - 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Ser vo am plif iers and s ervo m otors used Use the ser vo am plifier s an d ser vo m otors whic h com ply with th e st andar d mode l.
A - 11 (5) Opti ons and aux ili ary equi pment Use UL/ C-UL stand ard-com plia nt pro ducts . (6) Att achm ent of a ser vo m otor For t he fla nge si ze of th e mach ine si de wher e t he ser vo m otor is inst alle d, ref er to “ CON FOR MANCE W ITH UL/C -UL S TANDAR D” in the S ervo Mo tor In stru ction Manual (Vol.
A - 12 MEMO.
1 CONTENTS 1. FUNCT IONS AN D CONF IGURATION 1 - 1 to 1 -36 1.1 Intr oduct ion ............................................................................................................................................... 1 - 1 1.1.1 Fe atures of CC- Link comm unicat ion func tions .
2 3.6.3 Rem ote regist er-bas ed pos ition/s peed s ettin g ............................................................................. ... 3 -3 8 3.7 Funct ion-b y-functi on program ming ex amples ...................................................
3 5. OP ERAT ION 5 - 1 t o 5 -6 0 5.1 Swi tchin g power on f or the f irst t ime ....................................................................................................... 5 - 1 5.1.1 S tartup proce dure ..................................
4 6.1.8 E lectro nic ge ar.......................................................................................................... ......................... 6 - 6 6.1.9 A uto tun ing ..................................................................
5 8.5 Dis pla y ...................................................................................................................................................... 8 - 7 8.5.1 O utlin e of s creen tr ans ition ......................................
6 12. OUT LINE DR AW INGS 12- 1 to 12-12 12.1 Ser vo am plifier ........................................................................................................... ........................... 12- 1 12.2 Conn ector .............................
7 15.3 Pro tocol ................................................................................................................................................. 15- 5 15.3.1 T ransm iss ion data c onfi gurati on .....................................
8 16.5.3 T est operat ion .......................................................................................................... ..................... 16-3 3 16.5. 4 Param ete r se tting ............................................................
1 - 1 1. FUNCTIO NS AND CONFIGURATION 1. FUNCTIONS A ND CONFIGURATION 1.1 Introduc tion The MR-J 3- T CC-Link c om patible ser vo am plifier can s upp ort the CC-L ink c omm unication funct ions. Up to 42 axes of ser vo am plifi ers can be c ontro lled/m onitore d fro m the program m able co ntrol ler sid e.
1 - 2 1. FUNCTIONS AND CONFIGURAT ION 1.1.2 Func tion block diagr am The fu ncti on block d iagr am of thi s servo i s shown be low. (1) MR -J3-3 50T or less MR-J 3-200T 4 or l ess RS-422 1 1000 1000 .
1 - 3 1. FUNCTIONS AND CONFIGURAT ION (2) MR-J3-350T4 MR-J 3-50 0T(4) MR-J3- 700T (4) RS-422 1 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 4 5 00 2000 60 7 0 1 000 1 5 2000 80 80 0 0 6 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 8 1000 1000 100 100 0 0 1000 1000 100 100 0 0 255 200 0 200 0 8 0 80 0 0 1000 No.
1 - 4 1. FUNCTIONS AND CONFIGURAT ION (3) MR-J3-11KT(4) to 22KT(4) RS-422 1 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 4 5 00 2000 60 7 0 1 000 1 5 2000 80 80 0 0 6 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 8 1000 1000 100 100 0 0 1000 1000 100 100 0 0 255 200 0 200 0 8 0 80 0 0 1000 No.
1 - 5 1. FUNCTIONS AND CONFIGURAT ION 1.1.3 S ystem c onfiguratio n This sect ion pr ovides oper at ions us ing this ser vo. Use of CC- Link enabl es you t o free ly conf igure a ny s ystem f rom a s ingle-ax is s ystem to a n up to 42-axi s sy st e m.
1 - 6 1. FUNCTIONS AND CONFIGURAT ION (2) Op erati on using CC-L ink c omm unicatio n fu nctions and ex terna l inp ut sig nals (a) Op erati on Using p aram eter No. PD06 to PD08 a nd param eter No.PD 12, PD 14, in put de vices can be as sign ed to the ex terna l inpu t de vices of CN 1A and CN1 B.
1 - 7 1. FUNCTIONS AND CONFIGURAT ION 1.2 Serv o amplif ier stan dar d specif ications (1) 20 0V cla ss, 100V cl ass Servo am plifier MR-J 3- Item 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15K.
1 - 8 1. FUNCTIONS AND CONFIGURAT ION Servo am plifier MR-J 3- Item 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Dog type Home pos ition return i s made start ing with Z-phase pul se after pas sage of pro ximity dog. Home pos ition addres s may be set.
1 - 9 1. FUNCTIONS AND CONFIGURAT ION Servo am plifier MR-J 3- Item 10T 20T 40T 60T 70T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 [ ] (Note 2) 0 to 55 (no n-freezing ) In operation [ ] (N.
1 - 10 1. FUNCTIONS AND CONFIGURAT ION (2) 400V class Servo am plifier MR-J 3- Item 60T4 100T4 200T4 350T 4 500T4 700T4 11KT4 15KT4 22KT4 Voltage/ frequency 3-phase 380 to 480VA C, 50/60H z Permis sible volt age fluct uation 3-phase 323 to 528VAC Perm issible f requency fluct uation Wit hi n 5% Power supply c apacit y Ref er to sec tion 13.
1 - 11 1. FUNCTIONS AND CONFIGURAT ION Servo am plifier MR-J 3- Item 60T4 100T4 200T4 350T 4 500T4 700T4 11KT4 15K T4 22KT4 Dog type Home pos ition return i s made start ing with Z-phase pul se after pas sage of pro ximity dog. Home pos ition addres s may be set.
1 - 12 1. FUNCTIONS AND CONFIGURAT ION Servo am plifier MR-J 3- Item 60T4 100T4 200T4 350T 4 500T4 700T4 11KT4 15K T4 22KT4 [ ] 0 to 55 (non-freezi ng) In operation [ ] 32 to 131 (non-free zing) [ ] 2.
1 - 13 1. FUNCTIONS AND CONFIGURAT ION 1.3 Func tion list The f ollowi ng tabl e list s the funct ions of this ser vo. For detai ls of t he f unctio ns, ref er to t he ref ere nce fie ld.
1 - 14 1. FUNCTIONS AND CONFIGURAT ION Function Des cription Reference I/O signal select ion (Device setting) Any input device such as servo-on (SON) can be assigned t o any pin of CN6 connector. Para meter N o. PD06 to PD08 PD12 PD14 Torque limit Servo m otor-torque is limited.
1 - 15 1. FUNCTIONS AND CONFIGURAT ION 1.4 Mode l code d efinition (1) Rating plate Model Capacity Applicable power supply Rated output current Serial number MITSUBISHI MADE IN JAPAN MODEL MR-J3- 10T MITSUBISHI ELECT RIC CORPORAT ION AC SER V O PASSED POWE R : INPUT : OUT PUT : SERI AL : 100W 1.
1 - 16 1. FUNCTIONS AND CONFIGURAT ION 1.5 Com bination with ser vo m otor The f ollow ing ta ble lists c om binat ions of ser vo am plif iers an d ser vo m otors. T he sam e com binatio ns app l y to the ser vo m otors with a n ele ctrom agnetic brak es and the ser vo m otors with a reduc tion gear.
1 - 17 1. FUNCTIONS AND CONFIGURAT ION 1.6 Structure 1.6.1 Parts identif icat ion (1) MR -J3-1 00T or less 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Fixed part (2 places) RS-422 communication c onnector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
1 - 18 1. FUNCTIONS AND CONFIGURAT ION (2) MR-J3-200T(4) or less 5 3 2 0 8 7 5 3 2 0 8 7 5 3 2 0 8 7 Cooling fan Fixed part (3 places) RS-422 communication connector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer. Section 4.1 Section 4.
1 - 19 1. FUNCTIONS AND CONFIGURAT ION (3) MR-J3-350T 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Fixed part (3 places) Cooling fan RS-422 communication c onnector (CN3) Used to connect the MR-PRU03 parameter unit or personal computer.
1 - 20 1. FUNCTIONS AND CONFIGURAT ION (4) MR-J3-350T4 MR-J 3-50 0T(4) POINT The s ervo amplif ier is s how n without th e fr ont cover. F or rem oval of the front cover, ref er to sec tion 1.
1 - 21 1. FUNCTIONS AND CONFIGURAT ION (5) MR-J3-700T(4) POINT The s ervo amplif ier is s how n without th e fr ont cover. F or rem oval of the front cover, ref er to sec tion 1.
1 - 22 1. FUNCTIONS AND CONFIGURAT ION (6) MR-J3-11KT(4) to MR-J3-22KT(4) POINT The s ervo amplif ier is s how n without th e fr ont cover. F or rem oval of the front cover, ref er to sec tion 1.
1 - 23 1. FUNCTIONS AND CONFIGURAT ION 1.6.2 Rem oval and reinst allatio n of the f ront cover W ARNING Be fore removi ng or insta lling the fr ont c ove r, tur n off t he pow er a nd wai t for 15 minutes or m ore u ntil t he c harge lam p turns off.
1 - 24 1. FUNCTIONS AND CONFIGURAT ION Rein stallation of the fr ont c ove r Front co ver setti ng tab a) a) Insert the fr ont c over s ettin g tabs into the soc kets of servo am pl ifier (2 p laces) . Pull up the cove r, supp orti ng at poi nt a) . Setti ng tab Push the sett ing tab s until they click.
1 - 25 1. FUNCTIONS AND CONFIGURAT ION (2) For MR-J3-11KT(4) to MR-J3-22KT(4) Remo val of the f ront c over c) b) a) 1) Press the rem oving k nob on the lo wer sid e of the front c over ( a) a nd b) ) and rel ease t he ins tallat ion hook . 2) Pres s the rem oving k nob of c ) and r eleas e the exter nal hook .
1 - 26 1. FUNCTIONS AND CONFIGURAT ION 1.7 Conf iguratio n includ ing aux iliar y equipm ent POINT Equipm ent other tha n the s ervo am plif ier and ser vo motor are opt ional or recomm ended produc ts.
1 - 27 1. FUNCTIONS AND CONFIGURAT ION (b) For 1-phas e 10 0V t o 120V AC CN5 PC CN6 CN2 CN4 U V W CN3 CN1 CC-Link R S (Note 3) Power supply No-fuse breaker (NFB) or fu se Mag netic contactor (MC) (No.
1 - 28 1. FUNCTIONS AND CONFIGURAT ION (2) MR-J3-60T4 MR-J 3-100 T4 Servo amplifier (Note 1) Batter y MR-J3BAT (Note 3) Power supply No-fuse breaker (NFB) or fuse R S T CN2 CN4 PC L 21 L 11 W V U P 1 .
1 - 29 1. FUNCTIONS AND CONFIGURAT ION (3) MR-J3-200T(4) Servo amplifier (No te 1) Battery MR-J3BAT (Note 3) Power supp ly No-fuse breaker (NFB ) or fu se MR Configurator I/O s ign al Magnetic contact.
1 - 30 1. FUNCTIONS AND CONFIGURAT ION (4) MR-J3-350T Power fac tor improving DC reactor (FR-BEL ) Line noise filter (FR-BLF) R S T CN5 CN3 CN2 CN4 CN6 CC-Link P C P 1 P 2 L 21 L 11 U CN1 UV W L 1 L 3.
1 - 31 1. FUNCTIONS AND CONFIGURAT ION (5) MR-J3-350T4 MR-J 3-50 0T(4) R S T L 21 P 1 P 2 CN5 CN3 CN2 CN4 CN6 L 11 UV W C P L 1 L 2 L 3 CC-Link CN1 (Note 3) Powe r supply No-fuse breaker (NFB) or fuse.
1 - 32 1. FUNCTIONS AND CONFIGURAT ION (6) MR-J3-700T(4) R S T L 21 P 2 P 1 CN5 CN3 CN2 CN4 CN6 L 11 UV W C P L 1 L 2 L 3 CC-Link (Note 3) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor.
1 - 33 1. FUNCTIONS AND CONFIGURAT ION (7) MR-J3-11KT(4) to MR-J3-22KT(4) R S T L 21 L 11 U V W C P L 1 L 3 CN4 CN5 CN6 CN2 P 1 P CC-Link CN3 L 2 (Note 3) Powe r supply No-fuse breaker (NFB) or fuse M.
1 - 34 1. FUNCTIONS AND CONFIGURAT ION 1.8 Selec tion of operation m ethod Using the C C-Link com m unicatio n funct ions, this ser vo e nables a wi de var iet y of oper ation m ethods. T he operat ion m ethod cha nges de pend ing on the in put de vice, param eter and point ta ble sett ing.
1 - 35 1. FUNCTIONS AND CONFIGURAT ION Positioning is started by making the start signal valid after selection of the point table with the remote input. Using the auxiliary fun ction, automatic continuous operation can be performed with multiple point tables.
1 - 36 1. FUNCTIONS AND CONFIGURAT ION MEMO.
2 - 1 2. INSTALLATION 2. INSTALLA TION CAUTION Stack ing in exces s of the l im ited num ber of prod ucts is no t allo wed. Instal l the eq uipm ent on inc om bustib le m aterial. I nstal ling t hem dir ectl y or clos e to com bustibles wil l lead to a fir e.
2 - 2 2. INSTALLATION (b) I nstal lation of t wo or m ore s ervo am plifier s POINT Close m ounting is availab le f or the servo amplif ier of under 3.
2 - 3 2. INSTALLATION (b) I nstal lation of t wo or m ore s ervo am plifier s Leave a lar ge cle aranc e be tween the t op of the s ervo amplif ier and th e in terna l surf ace of the c ontro l box, and insta ll a co oling f an to pr event th e inter nal te m perature of the con trol bo x fr om exceed ing the environm ent al co ndit ions.
2 - 4 2. INSTALLATION 2.4 Inspec tion item s W ARNING Befor e star ting m ain tenanc e and/or ins pecti on, tur n off the power and wa it f or 15 minutes or m ore until t he char ge lam p turns off . Then, conf irm that the vo ltage betwe en P( ) and N( ) is safe with a v oltage t ester a nd others .
3 - 1 3. CC-LINK COMMUNICATI ON FUNCTIONS 3. CC-LINK COMMUNICATION FUNCTIONS 3.1 Com munic ation sp ecific ations POINT This servo is e quiva lent to a rem ote device s tatio n. For det ails of th e pro gramm able c ontro ller s ide s pec ifica tions, refer to t he C C-Link syst em master unit m anua l.
3 - 2 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.2 System configuration 3.2.1 Config urat ion exam ple (1) Pr ogram m able con tro ller s ide Fit "T ype QJ61BT 1 1N", "T ype A1SJ 61 BT11&q.
3 - 3 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.2.2 W iring m ethod (1) C omm unicat ion co nnect or The pin la yout of the comm unicat ion con nect or CN10 o n the ser vo amplif ier un it is sho wn belo w.
3 - 4 3. CC-LINK CO MMUNI CATION FUNCT IONS (4) How to wire the CC-Link connector (CN1) (a) Stri p the shea th of the cab le and sep arate th e inter nal wir es and bra ided sh ield . (b) Stri p the shea ths of the bra ided sh ield and inter nal wires and twist th e cores .
3 - 5 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.2.3 Stati on num ber settin g POINT Be sure to s et the st ation num bers within the ra nge of 1 to 64. Do n ot set the other values . (1) Ho w to number th e stati ons Set th e servo st ation nu m bers be fore powering on the se rvo ampl ifier s.
3 - 6 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.2.4 Comm unic ation baud rate sett ing Set the trans fer ba ud rat e of CC-Link with the tr ansfer baud r ate s witch (MOD E) on the ser vo am plif ier fr ont. The i nitia l va lue is set t o 15 6kbps . The ov erall d istanc e of the s ystem chan ges wit h the transf er speed s ett ing.
3 - 7 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.3 Func tions 3.3.1 Functi on bloc k diagr am This sectio n ex plains the tr ansf er of I/O d ata to/f rom the ser vo am plifier in CC-Li nk, u sing f uncti on b locks .
3 - 8 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.4 Serv o amplif ier sett ing (1) Se rvo am pl ifier s ide oper atio n m odes This servo am plifi er has th e follo wing op erat ion mod es. Operation m ode Description Test operation mode P arameter unit or personal computer in which MR Confi gurator is installed is used to run the serv o motor .
3 - 9 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.5 I/O sign als (I/O devices ) transf erred to/f rom the pro gramm able contr oller CPU 3.5.1 I/O sig nals (I/O de vices) The inp ut sign als (in put dev ices) m ay be use d as eit her the CC- Link or CN6 ex ternal input s ignals.
3 - 10 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) W hen 2 s tatio ns are occ upie d RXn/RYn : 64 points each, R W rn/R W wn: 8 points each Program mable co ntroll er Serv o amplifi er (R Yn) Servo am plifi er Progr ammabl e con troller (RXn) (Note 1 ) Device No.
3 - 11 3. CC-LINK CO MMUNI CATION FUNCT IONS Program mable co ntroll er Serv o amplifi er (RW wn) Servo amplifi er Progr amm able con troller (RW rn) (Note 1 ) Address N o.
3 - 12 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.5.2 Detai led expl anation of I/O s ignals (1) In put si gnals ( Input devi c es) The no te si gns i n the r em arks colum n indic ates the fo llow ing des crip tions. 1: Can be us ed as ex tern al in put si gnals of CN 6 conn ector by sett ing param eters No.
3 - 13 3. CC-LINK CO MMUNI CATION FUNCT IONS Device No. Signal name Description 1 stati on occupied 2 stations occupied Remar ks Proximit y dog In the shipment stat us, the proximity dog external input signal (CN6- 2) is valid . For u s e in CC-Lin k, make i t usab le in paramet er No.
3 - 14 3. CC-LINK CO MMUNI CATION FUNCT IONS Device No. Signal name Description 1 stati on occupied 2 stations occupied Remar ks Monitor output executi on demand When RYn8 is turned ON, the following data and signals are set. At the same t ime, RXn8 turns ON.
3 - 15 3. CC-LINK CO MMUNI CATION FUNCT IONS Device No. Signal name Desc ription 1 st ation occupied 2 stations occupied Remar ks Position i nstruction demand When RY(n 2)0 is turned ON, the point tabl e No. or position command data set to remote regist er R W wn 4/RW wn 5 is set.
3 - 16 3. CC-LINK CO MMUNI CATION FUNCT IONS Device No. Signal name Desc ription 1 st ation occupied 2 stations occupied Remar ks Absolute value/ incremental value select ion RY(n 2)B is made valid wh.
3 - 17 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) Ou tput sign als (Out put devi ce) POINT The output devices can be used for both the r emote o utput an d the exter nal out put si gnal s of CN6 connect or. The sig nal wh ose De vice No. fi eld has an o bliqu e line can not be used i n CC-L ink .
3 - 18 3. CC-LINK CO MMUNI CATION FUNCT IONS Device No. Signal name Description 1 stat ion occupied 2 stations occupied Instruc tion code executi on completion Refer to Instruct ion code execution demand (RYn9). RXn9 R Xn9 Warning RXnA turns ON when a w arning oc curs.
3 - 19 3. CC-LINK CO MMUNI CATION FUNCT IONS Device No. Signal name Description 1 stat ion 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 activat ed to shut off the base c ircuit.
3 - 20 3. CC-LINK CO MMUNI CATION FUNCT IONS Remote register 1 station occupied 2 stations occupied Signal name Description S etting range RWwn+2 RWwn+2 Inst ruction code Sets the inst ruction code used to perform parameter or point tabl e data read and w rite, alarm referenc e or the like.
3 - 21 3. CC-LINK CO MMUNI CATION FUNCT IONS (b) Out put ( Serv o am plifier Progr amm able co ntrol ler) Note t hat the dat a set t o RW rn and RW rn+1 dep ends on wh ether 1 stat ion or 2 st atio ns ar e occup ied. If you s et in appro priat e cod e No.
3 - 22 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.5.3 Monit or codes To dem and 32-b it data when 2 stat ions ar e occu pied, spec if y the lo wer 16-bi t code No . Use an y of the instr uctio n codes 010 1 to 011C to r ea d the d ecim al po int pos itio n (m ultip lyin g factor ) of the s tatus ind ication .
3 - 23 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.5.4 Instr uction co des (R W wn+2 RW wn +3 ) Refer t o sec tion 3. 6.2 f or th e instr uction co de tim ing ch arts. (1) Read in struction cod es The word data r eques ted t o be re ad wi th the i nstruct ion c ode 00 00h t o 0AFF h is r ead b y Read c ode (RW rn+3).
3 - 24 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0040h Input device status 0 Reads the statuses (OFF/ON) of the input devices. bit 0 t o bit F i ndicate the OFF/ON st atuses of the corres ponding input devices.
3 - 25 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0052h Output device st atus 2 Reads the statuses (OFF/ON) of the Output devices. bit 0 t o bit F i ndicate the OFF/ON st atuses of the corres ponding output devic es.
3 - 26 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0100h to 011Dh Monitor mul tiplying f actor Reads the multiplying fact or of the data to be read with t he monitor c ode.
3 - 27 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0601h to 06FFh Servo mot or speed of point tabl e No.1 to 255 The decimal value convert ed from the 2 lower digits of the code No.
3 - 28 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item Writing data (RW wn+3) contents (Programmable c ontroller Servo a m plifier ) 8201h to 82FFh Dat a R AM ins t ruc ti on o f p aram et er Writes the set value of eac h No. of the paramet er group w ritten by c ode No.
3 - 29 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item Writing data (RW wn 3) cont ents (Programmable c ontroller Servo a m plifier ) 8801h to 88FFh Decele ration ti me con stant data RAM command of point table Writes the decelerat ion time constants of point tabl e No.
3 - 30 3. CC-LINK CO MMUNI CATION FUNCT IONS Code No. Item Writing data (RW wn+3) contents (Programmable c ontroller Servo a m plifier ) 8E01h to 8EFFh Accelerat ion time const ant data EEP-ROM command of point table Writes the accelerat ion time constants of point table No.
3 - 31 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.5.5 Respo nd codes (RW rn+2) If an y of th e moni tor c odes, instruc tio n cod es, pos itio n com m and data/p oint table Nos.
3 - 32 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.5.6 Setti ng the C N6 ext ernal in put signa ls Using param eter N o.PD 06 t o PD08, PD1 2 and PD14, you c an assign the input devi ces as t he C N6 ex tern al input s igna ls. T he sign als assig ned as the CN6 ext erna l inpu t devic es c annot be us ed in CC-L ink .
3 - 33 3. CC-LINK CO MMUNI CATION FUNCT IONS 0 BIN 0: Used in CC-Link BIN 1: Use d as CN6 exter nal inpu t signal 0 Initi al value BIN HEX Device name 0 0 0 Temporary stop/Rest art (T ST P ) 0 Initi a.
3 - 34 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.6 Data com m unication ti ming char ts 3.6.1 Monit or codes (1) W hen 1 station is occ upied Data HOLD ON OFF Monitor 1 (RWwn ) Monitor 2 (RWwn+1) Monito.
3 - 35 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) W hen 2 stations are occ upied Da ta HO LD ON OFF Monitor 1 (RWwn) Monitor 2 (RW wn+1) Monitor executi on demand ( RYn8) ON OFF Monitori ng (RXn8) Moni.
3 - 36 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.6.2 Instr uction co des (1) R ead ins truc tio n codes ( 0000 h to 0A1Fh) Instruction code (RWwn+2) Data read pe riod Instruction code execution demand (.
3 - 37 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) W rite instr uctio n co des ( 8000 h to 911Fh) Instruction code (RWwn+2 ) Instruction code processing Instruction code execution completion (RXn9) Writ.
3 - 38 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.6.3 Rem ote regist er-base d positio n/speed s ettin g The f unctions in this sect ion are us ab le when Posit ion /speed s pecif yin g s y stem sel ectio n (R Y(n+2) A) is ON (remot e reg ister -based positi on/s peed spe cifyi ng sy stem is sele cted) wi th 2 stations occu pied.
3 - 39 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) W hen sett ing the pos itio n com mand data/ point table No. (s peed c omm and) Specif y t he pos ition addres s with the r em ote re gister , an d spec if y the s peed c omm and da ta b y spec if ying the poi nt ta ble No .
3 - 40 3. CC-LINK CO MMUNI CATION FUNCT IONS (3) W hen sett ing the pos itio n com mand data and s peed c omm and dat a Specif y t he pos ition addres s an d ser vo m otor sp eed w ith t he rem ote r egist er, and ex ecute posi tionin g. A t this tim e, use the ac celer ati on time co nstant a nd decel eration tim e constant set in point ta ble No.
3 - 41 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.7 Func tion-b y-function programm ing exam ples This sect ion ex plai ns sp ecif ic pr ogram m ing exam ples for s ervo oper ation, m onitor, param eter r ea d and write, and oth ers o n th e basis of t he equ ipm ent mak eup s hown in sec tion 3 .
3 - 42 3. CC-LINK CO MMUNI CATION FUNCT IONS (3) Relationship o f remote I/O (RX, RY) The f ollowin g sh ows a r elatio nship between the d evices of the program m able contr oller CPU a nd th e rem ote I/Os ( RX, R Y) of the r emote d evic e stat ions .
3 - 43 3. CC-LINK CO MMUNI CATION FUNCT IONS (4) Relationship o f remote register (RW w, R W r) The f ollowin g sh ows a r elatio nship between the d evices of the program m able contr oller CPU a nd th e rem ote regis ters ( RW w, RWr) of the r emote de vice st ati ons.
3 - 44 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.7.2 Readi ng the ser vo am plif ier status W hen the serv o amplif ier o n statio n num ber 1 becom es read y for th e rem ote stati on comm unica tion , Y30 of the out put m odu le tur ns on. The progr am is for turni ng on Y30 whe n CC-Link comm unicat ion is norm al.
3 - 45 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.7.3 W riting the o peration comm ands Perfor m pos ition ing op erat ion of poin t tab le N o.2 for the servo am plif ier of st atio n 2. Start t he o perat ion by tur ning o n X2 0. *1: This is when the h igh-speed t imer limit is se t to 1ms.
3 - 46 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.7.4 Readi ng the d ata Read v arious data of t he se rvo am plif ier. (1) Re ading t h e moni tor value Read the (f eedbac k puls e value) of the serv o amplif ier of station 2 t o D1.
3 - 47 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) R eading the par am eter Read par am eter N o.PA0 4 "F unctio n sel ectio n A-1 " of th e ser vo am plifier of s tation 2 to D1. Data No. Descri ption H8200 Parameter group selection H2024 Parameter No.
3 - 48 3. CC-LINK CO MMUNI CATION FUNCT IONS (3) R eading the alarm defin ition Read th e al arm definit ion of the servo am plifier of s tati on 2 to D1. Data No. Descri ption H0010 Oc curring alarm/warning No. (hexadec imal) Read c urren t alarm s by turnin g on X 20.
3 - 49 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.7.5 W riting the d ata This sect ion ex plains the program s f or wri ting v arious data to the s er vo am plifi er. (1) Wr iting the ser vo motor speed da ta of point ta ble Change the s ervo m otor s pee d data in th e poin t tab le No.
3 - 50 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) Wr iting the par am eter The f ollowi ng sho ws a pr ogr am ex am ple when t wo s tations are occupi ed. Change param eter No. PC12 ( JOG s peed) of the ser vo am plif ier of st ation 2 to "100 ".
3 - 51 3. CC-LINK CO MMUNI CATION FUNCT IONS (3) Ser vo am pl ifier alarm resett ing progr am ex am ples (a) D eacti vate th e al arm of the s ervo amplif ier of s tation 2 b y issui ng a c omm and f rom the program m able control ler. Reset the servo am plifi er on the occ urre nce of a serv o alarm by turnin g on X20.
3 - 52 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.7.6 Operat ion This sect ion ex plains the operat ion progr ams of the ser vo am plifier . (1) JO G oper at ion Perfor m J OG op eratio n of the s ervo amplif ier of s tatio n 1 and read the "curr ent p ositi on" dat a.
3 - 53 3. CC-LINK CO MMUNI CATION FUNCT IONS (2) R emote r egis ter-bas ed p ositi on data /spe ed dat a sett ing The f ollowi ng pro gram exa m ple is on ly ap plic able whe n two st ati ons ar e occ upied .
3 - 54 3. CC-LINK CO MMUNI CATION FUNCT IONS (3) R emote r egis ter-bas ed point table No. set ting (incr em ental val ue com m and s ystem ) The f ollowi ng pro gram exa m ple is on ly ap plic able whe n two st ati ons ar e occ upied .
3 - 55 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.8 Cont inuous op eration program ex ample This section s hows a pr ogr am example which i nclud es a ser ies of c omm unicat ion op erati ons fr om a s ervo start. The pr ogram will be des crib ed on t he b asis of the equipm ent m ak eup sho wn in s ecti on 3.
3 - 56 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.8.2 Pro gram example when 1 st ation is occupied POINT To ex ecute a dog t ype hom e positio n retur n with the C C-Link comm unication functions , set " 0 " in param eter No.PD1 4 and use Proxi mit y dog (DOG) with the rem ote inpu t (RY0 3) in this exam ple.
3 - 57 3. CC-LINK CO MMUNI CATION FUNCT IONS No.selection 1 Positioning start comma nd In posi tio n Rough match Home position return completion Point table No. selection 1 (RY0A) Forward r otation star t (RY01) Reverse rota tion start (R Y02) Point ta ble No.
3 - 58 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.8.3 S ystem c onfiguratio n exam ple when 2 statio ns are oc cupied As sho wn belo w, the CC-Li nk s ystem m aster local u nit is loaded t o run o ne ser vo am plifi ers (2 s tatio n occupi ed).
3 - 59 3. CC-LINK CO MMUNI CATION FUNCT IONS 3.8.4 Pro gram example when 2 st ations are occupied POINT To ex ecute a dog t ype hom e positio n retur n with the C C-Link comm unication functions , set " 0 " in param eter No.PD1 4 and use Proxi mit y dog (DOG) with the rem ote inpu t (RY0 3) in this exam ple.
3 - 60 3. CC-LINK CO MMUNI CATION FUNCT IONS Position/speed s etting system changing command Position/s peed specifyi ng system sel ection (RY2A) Reads resp ond code (RWr2) to D 2 when position instru ction executi on completio n (RX20) and speed instruction execution com pletion (RX21) t urn on.
4 - 1 4. SIGNALS AND WI RING 4. SIGNALS AND W IR ING W ARNING Any pers on who is invol ved in wir ing sho uld be ful ly com petent to do the work . Befor e wiri ng, tur n off the p ower and wai t for 15 m inutes or m ore u ntil the c har ge lamp tur ns off .
4 - 2 4. SIGNALS AND WIRING 4.1 Input power supp ly circuit CAUTION Alwa ys con nect a m agnet ic c ontactor (MC) bet ween the m ain circ uit power s uppl y and L 1 , L 2 , an d L 3 of the ser vo am plifier , and co nfigur e the wiring to b e able to s hut down th e po wer su ppl y on the s ide of th e serv o ampl ifie r’s po wer su ppl y.
4 - 3 4. SIGNALS AND WIRING (2) For 1-phas e 20 0 to 230V AC po wer sup ply to MR-J 3-10T t o MR-J 3-70T DOCOM NFB MC L 1 L 2 L 3 RA P 1 P 2 P SK MC ON OFF MC L 11 L 21 N D C PE U V W 2 3 4 1 CN2 24VD.
4 - 4 4. SIGNALS AND WIRING (3) MR-J3-10T1 to MR-J3-40T1 NFB MC L 1 Blank L 2 RA P 1 P 2 P SK MC ON OFF MC L 11 L 21 N D C PE U V W 2 3 4 1 M CN2 24VDC 1-phase 100 to 120VAC Servo amplifier CNP1 CNP3 .
4 - 5 4. SIGNALS AND WIRING (4) MR -J3-6 0T4 t o MR-J 3-2 00T4 DOCOM EMG CN6 CN6 DOCOM DICOM ALM Forced stop RA Servo amplifier CNP3 CNP1 U V W (Note 5) CNP2 (Note 1) (Note 2) (Note 3) Encoder cable E.
4 - 6 4. SIGNALS AND WIRING (5) MR-J3-500T MR-J3- 700T EMG NFB MC L 1 L 2 L 3 3-phase 200 to 230VAC Servo amplifier ALM RA C DICOM DOCOM P U V W TE1 PE L 11 L 21 TE2 Servo mot or U V W 2 3 4 1 M Motor.
4 - 7 4. SIGNALS AND WIRING (6) MR-J 3-350T 4 to MR-J 3-70 0T4 NFB MC 3-phase 380 to 480VAC Servo amplifier RA U V W 2 3 4 1 M Motor Encoder 24VDC (Note 3) Encoder cable (Note 5) Troubl e Forced stop .
4 - 8 4. SIGNALS AND WIRING (7) MR-J3-11KT to MR-J3-22KT NFB MC L 1 L 2 L 3 P C U V W TE PE L 11 L 21 U V W M CN2 (Note 5) P 1 (Note 1) (Note 2) RA2 24VDC power supply OHS2 OHS 1 BU BV BW (Note 6) MC .
4 - 9 4. SIGNALS AND WIRING (8) MR-J3-11KT4 to MR-J3-22KT4 NFB MC L 1 L 2 L 3 P C U V W TE PE L 11 L 21 U V W M CN2 P 1 EMG ALM RA1 DICOM DOCOM 24VDC Troubl e DOCOM CN6 CN6 (Note 4) OHS2 OHS 1 (Note 7.
4 - 10 4. SIGNALS AND WIRING 4.2 I/O s ignal connec tion di agram SD LBR LAR LA LB LZ LZR LG 15 12 25 RA1 RA2 RA3 14 RD ALM 16 ZP CN6 11 24 13 26 1 2 3 Plate 4 5 17 EMG DOG LSP LSN DICOM DOCOM 23 + MR.
4 - 11 4. SIGNALS AND WIRING 4.3 Expla nation of power s uppl y system 4.3.1 Sign al expla nations POINT For the la yout of connect or and ter minal b lock , refer to outl ine dra wings in chapter 12. Abbreviati on Connect ion target (Applic ation) Descr ipti on Supply the foll owing power to L 1 , L 2 , L 3 .
4 - 12 4. SIGNALS AND WIRING 4.3.2 Power -on se quence (1) Po wer-o n proce dure 1) Al ways wire t he po wer su ppl y as sho wn i n abov e sec tion 4.1 us ing t he m agnetic cont act or wit h the main c ircuit po wer su ppl y (three- phase : L 1 , L 2 , L 3 , single-p hase: L 1 , L 2 ).
4 - 13 4. SIGNALS AND WIRING (3) Forced stop CAUTION Provid e an exter nal for ced s top c ircu it to e nsur e tha t oper ation c an be sto pped and power s witc hed of f im media tel y. Make up a circu it that shut s off main cir cuit po wer as s oon as E MG is t urned of f at a f orced s top.
4 - 14 4. SIGNALS AND WIRING 4.3.3 CNP1, CN P2, CN P3 wiring m ethod POINT Refer to tab le 14.1 i n sectio n 14.9 f or the wire s izes used for wir ing. MR-J3-500T to m ore, MR-J3-350T 4 or m ore does not have th ese con nectors. Use the supp lied servo amplif ier power s uppl y con necto rs f or wirin g of CNP1, C NP2 and CN P3.
4 - 15 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L 11 L 21 ): 721-2105/ 026- 000 ( W AGO) Using this c onnec tor e nable s pass ing a wire of c ontro l cir cuit p ower supp ly.
4 - 16 4. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L 11 L 21 ): 721-2105/ 026- 000 ( W AGO) Using this c onn ector e nabl es pass ing a wire of c ontro l ci rcuit power supp ly.
4 - 17 4. SIGNALS AND WIRING (4) I nsert ion of cable into Mol ex and W AGO c onnectors Insert ion of cabl e into 549 28-067 0, 5 4928- 0520, 549 28-037 0 (Mo lex) c onnec tors and 72 1-207 /026- 000, 721-20 5/02 6-000 and 7 21-2 03/02 6-000 (W AGO) connec tors ar e as f ollows .
4 - 18 4. SIGNALS AND WIRING 2) Cab le con necti on pr ocedure 1) Attach the ca ble connection lever to the housing. (Detach able) 2) Push the cable connection lever in the direct ion o f ar row. 3) Hold down the ca ble connection lever a nd insert t he cable in the direction of arrow.
4 - 19 4. SIGNALS AND WIRING (b) I nsert ing t he ca ble in to t he con nect or 1) Ap plica ble f lat-bl ade sc rew driver dim ensions Alwa ys use the scre wdr iver sho wn here to do th e work . [Unit: mm] 3 0.6 A ppr ox.R0 .3 Approx.22 Appro x.R0.3 3 to 3.
4 - 20 4. SIGNALS AND WIRING 3) W hen usi ng the f lat- blade scr ewdriver - p art 2 1) Insert the screwdriver into the square window a t top of the co nnector . 2) Push the scr ewdriver in the direction of arrow. 3) With the screwdriver pushed, insert the cable in the dire ction of arrow.
4 - 21 4. SIGNALS AND WIRING (5) How to ins ert the cab le into Phoen ix Contac t conn ector POINT Do not use a precisi on dri ver becaus e the ca ble cann ot be tighte ned with enough tor que. Insert ion of c ables i nto Ph oenix Contac t connec tor PC4/6- STF- 7.
4 - 22 4. SIGNALS AND WIRING 4.4 Conn ectors and s ignal arrangem ents POINT The pin c onfigur ations of the conn ectors are as vi ewed f rom the c able connector wir ing section. The s ervo am plif ier f ront vie w sho wn is that of the MR-J 3-20T or les s.
4 - 23 4. SIGNALS AND WIRING 4.5 Signa l (device) expla nation 4.5 .1 I/O device s The CN6 conn ector pr ovid es thr ee pins for in puts an d three other pins for out puts. De vices assi gned to t hese pins are c hangea ble. To m ak e this c hang e, c onfigur e param eter set tings of Nos.
4 - 24 4. SIGNALS AND WIRING (1) Input device POINT Input devic es as signed to the CN6 c onnector pins can not be use d with t he rem ote input of the CC- Link comm unication f unction. Device Sym bol Connector pin No. Func tions/Applications Forced st op EMG CN6-1 Forced stop (EMG) is fixed at CN6-1.
4 - 25 4. SIGNALS AND WIRING (2) Output device POINT Output de vices ass igned to the CN6 c onnector p ins ca n be used with the rem ote output of the CC- Link comm unication f unction. Device Sym bol Connector pin No. Func tions/Applications Ready RD CN6-14 (Note) For device details, refer t o section 3.
4 - 26 4. SIGNALS AND WIRING Device Sym bol Connector pin No. Func tions/Applications Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or less.
4 - 27 4. SIGNALS AND WIRING 4.5.4 Power suppl y Signal Sym bol Connector pin No. Functions/Applicat ions I/O divisi on Digital I/ F power supply input DICOM CN6-5 Used to input 24VDC (24VDC 10% 150m A) for I/O interface. The power supply capacit y changes depending on the number of I/O interfac e points to be used.
4 - 28 4. SIGNALS AND WIRING 4.6.2 Movem ent c ompletio n rough m atch in pos ition POINT If an alar m c ause, etc. are r emoved an d serv o-on occu rs af ter a stop is m ade by servo-of f, alar m oc .
4 - 29 4. SIGNALS AND WIRING (2) R ough m atch The f ollow ing tim ing c harts sho w the re lat ionsh ips bet wee n the s ignal and t he pos ition c om mand ge nerat ed in th e servo am plifier . This t im ing can b e chan ged us ing p aram eter N o.PC11 ( rou gh m atch out put ran ge).
4 - 30 4. SIGNALS AND WIRING 4.6.3 T orque lim it CAUTION If the torqu e lim it is c anc eled d uring s ervo l ock , the ser vo m otor m ay sud denl y rotate accor ding to posi tion deviat ion i n respec t to t he c omm and posit ion. (1) Torque l imit and torque By setting parameter No.
4 - 31 4. SIGNALS AND WIRING 4.7 Alarm occ urrence tim ing char t CAUTION W hen an alar m has occur re d, rem ove its caus e, m ake s ure th at the o perat ion signa l is n ot bei ng inp ut, e nsure s afe ty, an d res et the alarm befor e res tarting operat ion.
4 - 32 4. SIGNALS AND WIRING 4.8 Interf ace 4.8.1 Inter nal conn ection d iagram LSN CN6 5 LSP 17 EMG 1 DOG 2 DICOM 3 4 CN6 15 14 RD CN6 13 26 11 24 12 25 LZ LZR LA LAR LB LBR Appro x.
4 - 33 4. SIGNALS AND WIRING 4.8.2 Detailed des cription o f interfac es This section prov ides th e det ails of the I/O s ignal int erf aces (r efer to the I/O div ision in the ta ble) given in section 4.5. 1. Ref er to this s ection and mak e connect ion with th e exter nal equipm ent .
4 - 34 4. SIGNALS AND WIRING (3) Enc oder outp ut p ulse D O-2 (D iff erent ial l ine dr iver s yst em ) (a) Interface Max. o utput c urrent: 35m A LA (LB, L Z) LAR (LBR, LZR) LG SD LA (LB, LZ) LAR (L.
4 - 35 4. SIGNALS AND WIRING 4.8.3 Sour ce I/O interfaces In this s erv o ampl ifier , sour ce t ype I/O i nterfac es c an be us ed. In t his cas e, all DI- 1 input s igna ls and DO-1 outpu t sign als ar e of source t ype. Per form wiring accor ding to th e foll owin g inter face s.
4 - 36 4. SIGNALS AND WIRING 4.9 Treatm ent of cable shie ld ext ernal cond uctor In the ca se of the CN2 an d CN6 conne cto rs, secur ely conne ct the shie lded ex ternal condu ctor of the ca ble to the gr ound p late as sh own i n this sect ion and f ix it to the c onnec tor s hell.
4 - 37 4. SIGNALS AND WIRING 4.10 Connec tion of s ervo a mplif ier and ser vo m otor W ARNING Duri ng po wer-on , do no t op en or c lose t he m otor p ower l ine.
4 - 38 4. SIGNALS AND WIRING 4.10.2 Po wer suppl y cable wirin g diagram s (1) HF-MP service HF-KP series servo motor (a) W hen c able l engt h is 1 0m or less CNP3 AWG 19(red) AWG 19(white) AWG 19(bl.
4 - 39 4. SIGNALS AND WIRING (2) HF-SP series HC-R P series HC-U P series HC-LP ser ies ser vo m otor POINT B Insert a contac t in the d irection s hown in the figur e. If ins erted in th e wrong direction, t he co ntact is dam aged and falls off. Soldered part or crimping part facing up Soldered part or crimping part facing down Pin No.
4 - 40 4. SIGNALS AND WIRING 2) W hen the power s uppl y con nector and t he e lectrom agn etic br ake c onnect or ar e shar ed. Servo mot or (Note 1) Servo amplifier M U V W B1 B2 U V W 24VDC power s.
4 - 41 4. SIGNALS AND WIRING Encoder c onnector signal allotment CM10-R10P Power supply connect or signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B Power supply connect or signal allotment CE05-2A22-23PD-B Terminal No. Signal Terminal No.
4 - 42 4. SIGNALS AND WIRING (3) HA-LP series servo motor (a) W iring diagram s Refe r to se ction 14 .9 for the cabl es used for wi r ing . 1) 200V c lass Ser vo moto r (Note 1) Servo amplifier U V W.
4 - 43 4. SIGNALS AND WIRING 2) 400V c lass Servo motor (Note 1) Servo amplifier U V W B1 B2 U V W 24VDC power supply for electromagnetic brake 50m or less Forced stop (EMG) Trouble (ALM) RA1 24V DC A.
4 - 44 4. SIGNALS AND WIRING (b) Servo motor terminal s Terminal box Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Terminal No. Si gnal Terminal No.
4 - 45 4. SIGNALS AND WIRING Terminal box inside (HA-LP801(4) 12K1(4) 11K1 M(4) 15K1M(4 ) 15K2( 4) 22K2 (4)) Earth terminal M6 screw Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan term.
4 - 46 4. SIGNALS AND WIRING Term inal box in side (HA- LP25K 1) OHS 2 OHS1 BW BV BU W V U Encoder connector CM10-R10P Thermal sensor terminal block Cooling fan terminal block (OHS1 OHS2) M4 screw (BU.
4 - 47 4. SIGNALS AND WIRING Signal name A bbreviation Des cription Power supply U V W Connect to t he motor output terminals (U, V, W ) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunct ion or faulty may occur.
4 - 48 4. SIGNALS AND WIRING 4.11 Ser vo motor with an el ectrom agnetic brak e 4.11.1 Saf ety prec autions CAUTION Configur e the elec trom agne tic br ake o perat ion c ircui t so th at it is ac tiva ted no t onl y by the s erv o am plifier sign als but als o b y an ext ernal for ced st op si gnal.
4 - 49 4. SIGNALS AND WIRING 4.11.2 T iming char ts (1) Servo-on (RYn0 ) command (from controller) ON/OFF Tb [m s] after the ser vo-o n (R Yn0) is s witched off , the ser vo lock is r eleas ed a nd the s ervo m otor c oasts. If the elec trom agnet ic brak e is made va lid in t he ser vo lo ck status, the brake l ife m ay be shor ter.
4 - 50 4. SIGNALS AND WIRING (3) Al arm occurr ence Dynamic b rake Dynamic brake Electromagnetic brake Electromagnetic brake (10ms) (ON) Forward rotati on 0r/ mi n No Yes (OFF) ON OFF ON OFF (Note) (O.
4 - 51 4. SIGNALS AND WIRING (5) On ly m ain cir cuit power supp ly of f (c ontrol c ircu it po wer supp l y remains on) RX(n+1)A or R X(n +3 )A Electromagnetic brake Dynamic brake Electromagnetic bra.
4 - 52 4. SIGNALS AND WIRING 4.11.3 W iring dia gram s (HF-MP ser ies HF-KP series servo motor) POINT For HF-SP se ries HC-RP series HC-UP series HC- LP series s ervo motors , refer to section 4.
4 - 53 4. SIGNALS AND WIRING 4.12 Gro unding W ARNING Groun d the s ervo am pl ifier and s ervo motor sec urel y. To pre vent an elec tric s hock , al ways co nnect t he pr otec tive earth ( PE) t erm inal (term inal m ark ed ) of th e ser vo am plifier with the protec tive earth (PE) of th e contr ol box.
4 - 54 4. SIGNALS AND WIRING MEMO.
5 - 1 5. OPERATION 5. OPERATION W ARNING Do no t oper ate t he s witches with wet hands. You ma y get an e lectr ic sh ock. CAUTION Befor e star ting o perat ion, c hec k the param eters . Som e m achines ma y perf orm unexpec ted o perat ion. Take s afet y measur es, e .
5 - 2 5. OPERATION 5.1.2 W iring c heck (1) Power supply system wiring Befor e switc hing on t he m ain circ uit a nd co ntrol c ircu it po wer sup plies , chec k th e foll owin g item s.
5 - 3 5. OPERATION 2) W hen reg enera tive optio n is used over 5kW for 20 0V c lass and 3.5kW f or 400V class The l ead of buil t-in r egen erat ive r esistor conn ected to P term ina l and C term inal of T E1 ter m inal block shou ld not be con nect ed.
5 - 4 5. OPERATION 5.2 Startup 5.2.1 Power on and of f pr ocedures (1) Power-on Switch po wer on in t he fol lowing proc edure. Alwa ys fo llo w this pr oce dure a t po wer-on. 1) S witch of f the servo- on ( RYn0). 2) Mak e sure that the F orwa rd rotat ion s tart (RYn 1) and Rever se r otati on star t (R Yn2) ar e of f.
5 - 5 5. OPERATION 5.2.3 T est operat ion Befor e star ting ac tual opera tio n, perf orm test op erati on to m ak e sure t hat t he mac hine opera tes nor mal ly. Refer t o sec tion 5. 2.1 f or th e pow er on and of f m ethods of the ser vo amplif ier.
5 - 6 5. OPERATION 5.2.4 Par ameter setting POINT The enc oder cable MR-EK CBL M-L/H for the HF-MP series HF- KP series servo m otor requir es the pa ram eter No.PC22 s etting to be change d depending on its length. C heck whether the param eter is s et correct ly.
5 - 7 5. OPERATION 5.2.5 Point table s etting Set nec ess ary i tems to the poi nt tabl e bef ore st art ing op eratio n. T he fo llow ing ta ble in dic ates t he item s that must be set . Name D escri ptio n Position data S et the position data for movement.
5 - 8 5. OPERATION 5.3 Serv o amplif ier d ispla y On the ser vo am plifi er dis pla y (three- dig it, se ven-s egm ent dis pla y), ch eck the stat us of com munic atio n with the CC-Link cont roller at po wer- on, ch eck the stat ion numbe r, and diagn ose a faul t at oc currenc e of an a larm .
5 - 9 5. OPERATION (2) Indication list Indication S tatus Description b ## W aiting for CC-Link communication Power of the CC-Link mast er module was switc hed on at the condition that the power of CC-Link m aster module is OFF. The CC-Link master m odule is fault y.
5 - 10 5. OPERATION 5.4 Autom atic op eration m ode 5.4.1 W hat is autom atic operatio n mode? (1) C omm and syst em After s elec tion of pres et po int tab les us ing th e input sig nals or com m unicatio n, ope ration is st arted b y the forwar d rotat ion star t (RYn 1) or revers e rotati on star t (RYn2) .
5 - 11 5. OPERATION (b) Se lect ion of poi nt tabl e Using the input s igna l or CC -Link , selec t the p oint t able No. with t he rem ote in put a nd rem ote reg ister from the com m and devic e (c ontrol ler) s uch as a per son al com puter . The f ollowi ng ta ble l ists t he po int t able N o.
5 - 12 5. OPERATION 5.4.2 Autom atic operatio n using p oint tabl e (1) Ab solu te va lue com m and s ystem (a) Point table Set t he poi nt tabl e val ues us ing th e MR C onfi gurat or, th e MR-P RU03 param eter unit or the r emote register of CC- Link .
5 - 13 5. OPERATION 2) Rota tion d irec tion s elect ion ( param eter N o.PA1 4) Choose t he ser vo m otor rota tion dir ect ion at t he tim e when t he for ward ro tatio n start ( RYn1) is swit ched on .
5 - 14 5. OPERATION (2) Inc rem ental v alue c omman d s y stem (a) Point table Set t he poi nt tabl e val ues us ing th e MR C onfi gurat or, th e MR-P RU03 param eter unit or the r emote register of CC- Link .
5 - 15 5. OPERATION 2) For ward r otati on d irectio n sel ectio n (par ameter No .PA1 4) Choose the ser vo m otor rot ation d irect ion at t he tim e whe n the f orward r otati on sta rt (R Yn1) sig nal or reve rse rota tion start (RYn2) si gnal is swi tched on .
5 - 16 5. OPERATION (3) Autom atic operat ion tim ing chart The tim ing c hart is s hown belo w. ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r/min ON OFF ON OFF 2 1 ON OFF 12 Automa tic/m anual selection (RYn 6) Servo-on (RYn 0) Forward rota tion star t (RYn1) Reverse rotati on start (RYn2) (Note 1) Point table No.
5 - 17 5. OPERATION (4) A utom atic co ntin uous oper ation POINT This function is valid when the poin t table is sel ected u sing t he inpu t signa l or the rem ote input of CC-Link . It cannot b e used when th e point tab le No. is selected using th e rem ote register of CC-Link .
5 - 18 5. OPERATION 1) Abs olute va lue com m and spec if ying s ystem This system is an auxil iar y functio n for po int t ables t o perf orm autom atic oper ation by spec if ying th e absol ute va lue c omm and or incr ementa l va lue c omm and.
5 - 19 5. OPERATION Po sition ing that rever ses the dire ction midw a y The oper atio n exam ple giv en bel ow ass umes that the set valu es are as indic ated in the f ollow ing table. H ere, th e point tabl e No.1 us es th e abso lute valu e comm and s ystem , the poi nt tab le No.
5 - 20 5. OPERATION 2) Inc rem ental val ue com man d s y stem The pos itio n da ta of the inc rem enta l valu e com m and syst em is the s um of the p osit ion d ata of the consec utiv e point t ables . The op erati on exam ple g iven belo w ass umes that t he set values are as in dic ated i n th e follo wing table.
5 - 21 5. OPERATION (c) T emporar y sto p/restar t W hen RYn7 is tur ned ON durin g aut om atic oper atio n, the mo tor is dec eler ate d to a t em porar y stop a t the dec elera tion tim e co nst ant in th e po int tab le bein g ex ecute d. W hen RYn7 is tu rned O N aga in, the rem aining d ist ance is ex ecuted .
5 - 22 5. OPERATION 5.4.3 Rem ote regist er-base d positio n/spe ed settin g This operat ion can b e used whe n 2 stat ions are occup ied. T his sec tion ex plain s operat ion to be p erfor med when th e rem ote r egist er is used to sp ecif y the posit ion c omm and data /speed com m and data .
5 - 23 5. OPERATION ON OFF ON OFF Servo-on (RYn0) A utomatic/manual selection (RYn6) Speed data (RWwn 6) ON Speed data 2 Speed data 1 Position data (RWwn 4 RWwn 5) Position data 2 Position data 1 OFF .
5 - 24 5. OPERATION (2) I ncrem ental value comm and pos ition ing i n abso lute val ue com mand s ystem The p ositi on d ata set in the abs olute va lue c omm and s ystem are us ed as incr ement al va lues in p osit ionin g. Set t he inp ut dev ices a nd p aram eters as indic ated belo w.
5 - 25 5. OPERATION ON OFF ON OFF ON Speed data 2 Speed data 1 Position data 2 Position data 1 OFF ON OFF ON 6ms or more ON OFF ON OFF ON OFF ON OFF ON OFF 3ms or less Incre ment al value data 1 Incre.
5 - 26 5. OPERATION (3) Pos ition ing i n incr em ental va lue com m and s ystem Execu te posi tioni ng in the i ncrem ental va lue c omm and system . Set the input s igna ls and par am eters as indic ated be lo w. Item Us ed device/paramet er Descripti on Automatic operat ion mode A utomatic/manual selecti on (RYn6) Turn RY n6 ON.
5 - 27 5. OPERATION Forwar d rotati on 0r/min Reverse rotati on ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Reverse rotation start (RYn2) ON OFF ON OFF ON OFF ON ON OFF ON OFF ON OFF ON OFF ON OFF Speed.
5 - 28 5. OPERATION 5.5 Manual operati on m ode For m achin e adj ustm ent, hom e pos ition m atch ing, etc., j og op erati on or a m anual p ulse gener ator m ay be used t o m ake a m otion t o an y posi tion. 5.5.1 JO G operat ion (1) Setting Set the i nput device and p aram eters as follo ws acc ordi ng to th e purpos e of us e.
5 - 29 5. OPERATION (4) T iming ch art 100m s ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r/min ON OFF ON OFF Servo-on (RYn0) Ready (RD) Trouble (ALM) Automatic/manual selection (RYn6) Rough match (RXn.
5 - 30 5. OPERATION (3) Ma nual pulse ge nerato r multi plication (a) Using the parameter for setting Use par ameter No.P A05 to set t he m ultip licat ion ra tio of the s ervo m otor r otat ion to t he m anual pulse genera tor rot atio n. Parameter No.
5 - 31 5. OPERATION 5.6 Manual hom e position return m ode 5.6.1 Outl ine of hom e pos ition retur n Home pos it ion ret urn is per form ed to matc h th e comm and coor din ates wi th the m achin e co ordinates . I n the increm enta l syst em , home pos itio n ret urn is requ ired ever y tim e input po wer is switc hed o n.
5 - 32 5. OPERATION (1) Home position return types Choose the optim um home pos it ion re turn ac cord ing t o the mac hine t ype, etc. Type Home position return method Features Dog type home position.
5 - 33 5. OPERATION (2) Home position return parameter W hen perfor ming hom e posit ion re turn, s et eac h par ameter as f ollo ws. (a) C hoose the hom e pos iti on ret urn m ethod with p aram eter No. PC02 ( Hom e pos ition r eturn t ype). 0 Pa ram et e r No.
5 - 34 5. OPERATION 5.6.2 Dog t ype hom e position r eturn A home pos it ion ret urn m ethod us ing a prox im ity dog. W ith deceler ation s tarte d at the f ront en d of the pr oxim ity dog, t he pos.
5 - 35 5. OPERATION (3) T iming ch art ON OFF ON OFF ON OFF td ON OFF ON OFF ON OFF ON OFF ON OFF 0 Selected point table No. Rough match (RXn2) Servo motor s peed Z-phase Proximity dog (DOG) Forward r.
5 - 36 5. OPERATION 5.6.3 Count t ype hom e position return In coun t t ype hom e posit ion ret urn , a moti on is m ade over t he dis tance s et in param eter N o.PC 08 (m ovin g distanc e after prox imit y dog) af ter detec tion of th e prox im ity dog f ront end.
5 - 37 5. OPERATION (2) T iming ch art 0r/min Forward rotation ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 ON OFF ON OFF Rough m atch (RXn2) Servo motor speed Z-pha se Proximity dog (DOG) Forward rotation start (RYn1) 6ms or more 3ms or les s Home position Reverse rotation start (RYn2) Sele cted po int tab le No.
5 - 38 5. OPERATION 5.6.4 Dat a setting type hom e positio n retur n Data set ting t ype hom e positi on retur n is used when it is des ire d to deter mine an y posit ion as a hom e pos ition. JOG op erati on can be used for m ovem ent. (1) Devices, para meters Set th e input device s and paramet ers a s follows.
5 - 39 5. OPERATION 5.6.5 St opper t ype hom e position ret urn In stopp er type hom e position r eturn , a m achine part is pres sed ag ainst a st opper or the lik e by jo g operat ion to mak e a hom e pos ition r etur n and that p ositi on is define d as a hom e posi tion.
5 - 40 5. OPERATION (2) T iming ch art 6ms or mo re Parameter No.PC35 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF (Note 3 ) Parameter No.PC 10 Pa rameter No .
5 - 41 5. OPERATION 5.6.6 Hom e posit ion ignor ance ( servo-o n positi on def ined as hom e posit ion) The pos ition wh ere ser vo is sw itche d on is defi ned as a hom e posit ion. POINT W hen executing th is hom e posit ion return, c hang ing to the hom e position return m ode is n ot necess ary.
5 - 42 5. OPERATION 5.6.7 Dog t ype rear end ref erence hom e positi on return POINT This home pos ition retur n m ethod depends o n the t iming of reading Proxim ity dog (DOG) that has detected th e rear end of a pr oxim ity dog.
5 - 43 5. OPERATION (2) T iming ch art ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Automatic/manual selection (RYn6) Rough match (RXn2) Servo moto r speed Proximity dog (DOG) Forward rotation sta.
5 - 44 5. OPERATION 5.6.8 Count t ype f ront end r eferenc e hom e position return POINT This home pos ition retur n m ethod depends o n the t iming of reading Proxim ity dog (DOG) that has detected th e front en d of a pr oxim ity dog.
5 - 45 5. OPERATION (2) T iming ch art ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Automati c/manual selection (RYn6) Roug h m atc h (R Xn 2) Servo motor speed Proximity dog (DOG) For war d ro ta.
5 - 46 5. OPERATION 5.6.9 Dog c radle t ype home pos ition r eturn The pos itio n wher e the f irst Z -phas e sign al is is sued after d etec tion of the pr oxim it y dog f ron t end c an be define d as a hom e posi tion. (1) Devices, para meters Set t he inp ut dev ices a nd p aram eters as indic ated belo w.
5 - 47 5. OPERATION (2) T iming ch art ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Automatic /manual selection (RYn6) Rough match (RXn2) Servo moto r speed Proximity dog (DOG) Forward rotation st.
5 - 48 5. OPERATION 5.6.10 Dog t ype f irst Z-pha se ref erence hom e posit ion return After t he prox im ity dog f ront e nd is det ected, t he cu rrent posit ion m oves in the rever se dir ecti on at cre ep speed.
5 - 49 5. OPERATION (2) T iming ch art Forward rotation 0r/min Reverse rotation ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Automatic/manual selection (RYn6) Rough match (RXn2) Servo motor speed .
5 - 50 5. OPERATION 5.6.11 Dog t ype f ront end ref erence hom e posit ion ret urn m ethod The hom e p osition is d eter mined t o be the pos it ion of the f ront end of the pr oxim it y dog. (1) Devices, para meters Set t he inp ut dev ices a nd p aram eters as indic ated belo w.
5 - 51 5. OPERATION (2) T iming ch art Forward rotati on 0r /min Reverse rotati on ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Automatic /manual selection (RYn6) Rough match (RXn2) Servo moto r s.
5 - 52 5. OPERATION 5.6.12 Dogl ess Z- phase refer ence hom e positi on return m ethod The hom e p osition is de ter mined t o be where the f irst Z-ph ase pu lse is iss ued af ter the hom e pos itio n retur n is starte d. (1) Devices, para meters Set t he inp ut dev ices a nd p aram eters as indic ated belo w.
5 - 53 5. OPERATION (2) T iming ch art Forward rotati on 0r /min Reverse rotati on ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Automatic /manual selection (RYn6) Rough match (RXn2) Servo moto r s.
5 - 54 5. OPERATION 5.6.13 Hom e posit ion retur n autom atic r eturn func tion If the cur rent pos it ion is a t or be yond the pr oxim it y dog in th e hom e positio n retur n us ing the pr oxim it y dog, this functi on star ts hom e p ositio n ret urn af ter m aking a retur n to th e pos itio n wher e the hom e pos itio n retur n ca n be made.
5 - 55 5. OPERATION 5.6.14 Autom atic pos itioni ng f unction to t he hom e posit ion POINT You cann ot perf orm autom atic pos itioning f rom outside the positio n data setting r ange to th e hom e position. I n this case, m ake a hom e posit ion return again us ing a m anual hom e posi tion ret urn.
5 - 56 5. OPERATION 5.7 Roll f eed displ ay func tion in r oll feed m ode W ith the roll f eed dis pla y functi on, th e servo am plifier can oper ate in the ro ll fee d mode. T he ro ll feed m ode uses t he inc rem ental s ystem . (1) Paramete r settings No.
5 - 57 5. OPERATION 5.8 Absolute pos ition detec tion s ystem CAUTION If an absol ute pos itio n er ase a larm (A25) or an a bso lute posit ion c ounter war ning (AE3) has oc curre d, a lways perf orm home pos itio n se tting again. Not doin g so ma y cause u nexpec ted o perati on.
5 - 58 5. OPERATION (3) Structure Component Descri ption Servo amplifi er Servo motor Use stand ard models. Battery MR-J3BAT Encoder cable Use a stan dard model.
5 - 59 5. OPERATION (a) For MR-J 3-350T or l ess MR-J 3-20 0T4 or less POINT For the ser vo am plifier with a ba ttery hold er on t he bottom , it is not possib le to wire for the earth wit h the b attery inst alled . Insert the batter y after execut ing the earth wiring of the ser vo am plifier.
5 - 60 5. OPERATION MEMO.
6 - 1 6. PARAMETERS 6. PARAME TERS CAUTION Ne ver adj ust or chan ge th e param eter valu es extr em ely as it wil l mak e oper ation instab le. POINT For an y parameter whose s y m bol is preceded by *, set the par ameter value and switc h power of f once, then sw itch it o n again to m ak e that param eter setting v alid.
6 - 2 6. PARAMETERS 6.1.2 Par am eter write inhi bit Para m eter No. Symbol Nam e Initial value Unit Setting range PA19 *BLK Param eter write inhibit 000Ch Refer to the text. POINT This param eter is m ade valid when po wer is s witched o ff, then o n after setting.
6 - 3 6. PARAMETERS 6.1.3 Selec tion of com mand s ystem Parameter No. Symbol Nam e Initial value Unit Setting range PA01 *S TY Control m ode 0000h Refer t o the text. POINT This param eter is m ade valid when po wer is s witched o ff, then o n after setting.
6 - 4 6. PARAMETERS 6.1.5 Usin g absolut e position d etection s ystem Para m eter No. Symbol Nam e Initial value Unit Setting range PA03 *ABS Absolute positi on detection system 0000h Refer to the text. POINT This param eter is m ade valid when po wer is s witched o ff, then o n after setting.
6 - 5 6. PARAMETERS 6.1.7 Feed ing f unction s elec tion Para m eter No. Symbol Nam e Initial value Unit Setting range PA05 *FTY Feeding functi on selection 0000h Ref er to the text. POINT This param eter is m ade valid when po wer is s witched o ff, then o n after setting.
6 - 6 6. PARAMETERS 6.1.8 Elec tronic ge ar Para m eter No. Symbol Nam e Initial value Unit Setting range PA06 *CMX El ectronic gear numerator 1 0 to 65535 PA07 *CDV Electroni c gear denominator 1 1 to 65535 CAUTION Fals e se tting will r esult in un expec ted f ast ro tation , caus ing i njury.
6 - 7 6. PARAMETERS (b) C onve yor sett ing ex am ple Machi ne spec if icati ons Pulle y diam eter: r 160 [m m] Reduct ion ra tio: n 1/3 Servo motor re solution: Pt 262144 [puls e/rev] Servo m otor 262 144 [p ul se/ re v] r=160[mm] n NM NL n=NL/NM=1/3 CMX CDV p t S 32768 20944 167551.
6 - 8 6. PARAMETERS (2) Aut o tun ing r espons e (p aram eter No. PA09) If the mac hine hu nts or gen erat es lar ge g ear s ound, d ecr ease th e set value .
6 - 9 6. PARAMETERS 6.1.11 T orque lim it Parameter No. Symbol Nam e Initial value Unit Setting range PA11 TLP Forward rotation torque limit 100.0 % 0 t o 100.0 PA12 TLN Reverse rotation torque limit 100.0 % 0 t o 100.0 The torqu e genera ted b y the servo motor can be l imited .
6 - 10 6. PARAMETERS 6.1.12 Sel ection of servo m otor rota tion d irectio n Parameter No. Symbol Nam e Initial value Unit Setting range PA14 *POL Rotation direct ion selection 0 0 1 POINT This param eter is m ade valid when po wer is s witched o ff, then o n after setting.
6 - 11 6. PARAMETERS (1) F or outpu t pul se designat ion Set " 0 " (ini tial valu e) in pa ramet er No.P C19. Set t he num ber of puls es p er ser vo m otor r evolu tion. Output puls e set value [pulse s/rev ] For ins tanc e, s et "560 0" t o Par ameter No.
6 - 12 6. PARAMETERS 6.2 Gain/f ilter par am eters (No.PB ) 6.2.1 Par am eter list No. Sy m bol Name Initial value Unit PB01 FI LT A daptive tuning m ode (Adapti ve filter ) 0000h PB02 VRFT V ibration.
6 - 13 6. PARAMETERS 6.2.2 Detai l list No. Symbol Name and function I nitial value Unit Setting range PB01 FILT Adaptive tuning m ode (Adapti ve filter ) Select t he setting m ethod for f ilter tuning. Setting this parameter to " 1" (filt er tuning mode 1) automatically changes the machine resonance suppression f ilter 1 (parameter No.
6 - 14 6. PARAMETERS No. Symbol Name and function Ini tial value Unit S etting range PB02 VRFT Vibration s uppression cont rol tuning mode (Advanced vi bration suppress ion control) The vibration suppressi on is valid w hen the param eter No.PA08 (auto tuning) setting is " 2" or " 3" .
6 - 15 6. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB05 For manuf acturer setting Do not change this value by any means. 500 PB06 GD2 Rat io of load inertia moment to servo motor inertia moment Used t o set the ratio of the l oad inertia m oment to the s ervo mot or shaft inertia moment.
6 - 16 6. PARAMETERS No. Symbol Nam e and function Initial value Unit Setting range PB14 NHQ1 Notch s hape selecti on 1 Used to selection the machi ne resonance suppression filter 1.
6 - 17 6. PARAMETERS No. Symbol Name and function Initial value Unit Set ting range PB18 LPF Low -pass filter Set the low-pass filt er. Setting paramet er No.PB23 (low-pass filter selecti on) to " 0 " automatical ly changes this parameter. When parameter No.
6 - 18 6. PARAMETERS No. Symbol Nam e and function I nitial value Unit S etting range PB25 For manuf acturer setting Do not change this value by any means. 0000h PB26 *CDP Gai n changing selection Select t he gain c hanging condition. (Ref er to sect ion 10.
6 - 19 6. PARAMETERS No. Symbol Nam e and function I nitial value Unit S etting range PB33 V RF1B Gain changi ng vibration suppression control vibrat ion frequency setting Set the vibratio n frequency for vibration suppres sion control when the gain changing is vali d.
6 - 20 6. PARAMETERS 6.3 Extens ion sett ing par am eters (N o.PC ) 6.3.1 Par am eter list No. Sym bol Nam e and function I nitial value Unit PC01 For manuf acturer setting 0000h PC02 *ZTY Home po sit.
6 - 21 6. PARAMETERS No. Symbol Name and function Initial value Unit PC49 0000h PC50 For manuf acturer setting 0000h 6.3.2 Detai l list No. S ymbol Nam e and function I nitial value Unit Setting range PC01 For manufacturer s etting Do not change this value by any means.
6 - 22 6. PARAMETERS No. Sym bol Name and function Initia l value Unit Set ting range PC10 ZTT Stopper type hom e posit ion return torque li mit value Used to s et the torque lim it value re lative to t he max. torque in [ %] in stopper type home pos ition ret urn.
6 - 23 6. PARAMETERS No. Sym bol Name and function Initia l value Unit Set ting range PC19 *ENRS Encoder output pulse select ion Use to select the, encoder out put pulse direction and encoder output pulse sett ing.
6 - 24 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit Setting range PC23 For m anufacturer s etting Do not change this value by any means.
6 - 25 6. PARAMETERS No. Sym bol Nam e and function In itial value Unit Setting range PC29 For m anufacturer s etting Do not change this value by any means 0000h PC 30 * DS S Rem ote regis ter-based p.
6 - 26 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit Setting range PC37 * LPPL PC38 * LPPH Posit ion range output addr ess Used to s et the address inc rement side position range out put addres s. Set the same s ign to paramet ers No.
6 - 27 6. PARAMETERS 6.3.3 S-p attern ac celera tion/dece leration In ser vo op erati on, li near ac celer ation/ dec elerati on is us uall y made. By s etting the S-pat tern acc eler ation/ decel eratio n tim e cons tant ( param eter No .PC13) , a sm ooth start/s top c an b e made.
6 - 28 6. PARAMETERS 6.3.6 Soft ware lim it A lim it stop us ing a s oft ware lim it (par am eter No. PC31 to PC34) is m ade as in s trok e end op erati on. W hen a motion goes be yond the s etting range , the m otor is s topp ed and s erv o-lock ed. T his f unction is m ade va lid a t power- on bu t m ade in valid dur ing hom e posi tion re turn .
6 - 29 6. PARAMETERS 6.4 I/O setti ng param eters (No.PD ) 6.4.1 Par am eter list No. Sy m bol Name Initial value Unit PD 01 *D I A1 Input signal autom atic ON selec tion 1 0000h PD02 For manuf acture.
6 - 30 6. PARAMETERS 6.4.2 Detai l list No. Symbol Name and function Initial value Unit Setting range PD01 *DIA1 I nput signal automatic ON s election 1 Select the input devic es to be automatically turned ON. part is for manufacturer s etting. Do not set the value by any means.
6 - 31 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit Set ting range PD03 *DIA3 Input signal autom atic ON selecti on 3 Select t he input devi ces to be automatically turned ON. part is for manufacturer s etting. Do not set the value by any means.
6 - 32 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit Set ting range PD06 *DI2 Output signal devic e selection 2 (CN6-2) Any input device can be assigned to t he CN6-2 pin. 0 Select the input device o f the CN6-2 pin 0 The devic es that can be assigned are indicated i n the following table.
6 - 33 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit Setting range PD09 *DO1 Output signal device selection 1 (CN6-14) Any output signal can be assigned to the CN6-14 pin. 0 Select the output device of the CN6-14 pin 0 The devic es that can be assigned are indicated i n the following table.
6 - 34 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit S etting range PD11 *DO3 Output signal device selection 3 (CN6-16) Any output signal can be assigned to the CN6-16 pin. The devic es that can be assigned and the setting m ethod are the s ame as i n paramet er No.
6 - 35 6. PARAMETERS No. Sym bol Nam e and function Initial value Unit Setti ng range PD14 DIN3 External DI f unction selection 3 This function sets any signal import ed from the CN6 connector. part is for manufacturer s etting. Do not set the value by any means.
6 - 36 6. PARAMETERS No. Sym bol Name and function Initial value Unit S etting range PD20 *DOP1 Functi on selection D-1 Select t he stop processing at f orward rotat ion stroke end (LSN)/reverse rotation stroke end (LSN) OFF and the base circuit stat us at reset (RY(N 1)A or RY(n 3)A) ON .
6 - 37 6. PARAMETERS No. Sym bol Name and function Initial value Uni t S etting range PD24 *DOP5 Functi on selection D-5 Select the out put status of the warning (WNG). 00 0 Selection of output device at warning occurrence Select the warning (RXnA) and t rouble (RX(n+1)A or RX(n+3)A) output status at warning occurrence.
6 - 38 6. PARAMETERS 6.4.3 St opping m ethod when the forward strok e end (L SP) or re verse str oke end (LSN) is vali d The s etting of t he f irst digit of par am eter No. PD20 enab les t o s elect a sto pping m ethod of the serv o motor when th e for ward r otation str oke end ( LSP) or re verse r otation strok e end (LSN) turns off.
6 - 39 6. PARAMETERS 6.4.4 St opping m ethod when a sof tware limit is detect ed A stop ping m etho d of th e ser vo m otor wh en a soft ware l imit (p aram eter No .PC31 t o PC 34) is detec ted can b e selec ted. T he s oft ware l imit im poses a lim it o n the com m and posit ion, which is c ont rolle d in the ser vo amplif ier .
6 - 40 6. PARAMETERS MEMO.
7 - 1 7. MR Confi g urato r 7. MR Con figurator The MR Conf igurator uses the c omm unication functio n of the servo am plif ier to pe rform parameter setting changes, graph d ispla y, test opera tion, e tc.
7 - 2 7. MR Config urator 7.2 System configurat ion (1) C ompone nts To us e this sof twar e, the f ollo wing c ompone nts are req uired in ad dition to the s ervo am plif ier an d ser vo mot or .
7 - 3 7. MR Config urator (2) C onnect ion wi th ser vo a m plifier (a) For use of USB To US B connector USB cable MR-J3USBCBL3M (Option) Personal computer Servo amplifier CN5 (b) For use of RS- 422 T.
7 - 4 7. MR Config urator 7.3 Station selectio n Click "Set up" on the m enu bar a nd cl ick "Syst em s ettings " on th e m enu. W hen the ab ove c hoices are m ade, the fo llow ing wi ndow a ppears . a) (1) St ation nu mber sel ecti on Choose the st atio n num ber i n the com bo box ( a) ).
7 - 5 7. MR Config urator 7.4 Param eters Click "Param eter s" on the m en u bar and c lick "Param ete r list " on t he m enu. W hen the ab ove c hoices are m ade, the fo llow ing wi ndow a ppears .
7 - 6 7. MR Config urator (4) Parameter value bat ch-write ( d) ) Click the "W r ite All" b utto n to write a ll param eter valu es to t he ser vo am plif ier . (5) Parameter default value indication ( e) ) Click the " Set to defa ult" b utton to s how the in itia l val ue of eac h param eter .
7 - 7 7. MR Config urator 7.5 Point table POINT The valu e of the par am eter No. PA05 set o n the para m eter setting sc reen is not engage d with the ST M (feed lengt h multip licatio n) value on the point tab le list sc reen. Set t he ST M (feed len gth m ultiplica tion) value to t he sam e as s et in the par ameter No.
7 - 8 7. MR Config urator (5) Poi nt table da ta in sertion ( e) ) Click the " Insert " but ton t o inser t o ne block of data into the pos it ion bef ore t he p oint ta ble No. ch osen. T he block s af ter the ch osen poin t table No. ar e shif ted down one b y one.
7 - 9 7. MR Config urator 7.6 Devic e assignm ent m ethod POINT To us e a devic e as an ext ernal I/O s ignal, the s etting s for the param eter No. PD12 and PD14 are requi red after the dev ice is assigned accordin g to th e device s etting des crib ed be low.
7 - 10 7. MR Config urator (2) Scr een exp lanati on (a) DIDO dev ice sett ing windo w scree n This is the de vice ass ignm ent scr een of the serv o am plifier disp la y s the p in ass ignm ent sta tus of the serv o ampl ifier .
7 - 11 7. MR Config urator (b) DIDO func tion d ispla y windo w scre en This scree n is us ed to selec t th e dev ice ass igned to t he pi ns. The f unctio ns dis pla yed b elow * and * are assign able . a) b) Move t he p ointer to th e pl ace of the f unct ion to be as sign ed.
7 - 12 7. MR Config urator (c) F unctio n dev ice ass ignm ent ch eck ing auto O N se ttin g disp lay Click the "Ass ignm ent chec k / auto O N setti ng" butt on in the D IDO func tion dis pla y win dow disp la y s th e fol lowi ng wi ndow .
7 - 13 7. MR Config urator 7.7 Tes t operatio n CAUTION W hen conf irm ing the m achine opera tion in the tes t oper ation m od e, use the mac hine af ter chec kin g th at the s afet y m echanis m s uch as the for ced s top ( EMG) operat es. If an y operat ional fau lt has occur red, s top op erati on us ing t he for ced s top ( EMG).
7 - 14 7. MR Config urator a) b) g) c) d) e) h) f) (1) Ser vo m otor sp eed se tti ng ( a) ) Enter a ne w valu e into the " Motor s peed" in put fi eld and press the ent er ke y.
7 - 15 7. MR Config urator 7.7.2 Pos itioning operati on POINT The s ervo motor will not oper ate if the for ced stop (EMG), f orward rotat ion strok e end (LSP) a nd rever se rota tion str oke end (LSN) are of f.
7 - 16 7. MR Config urator d) e) f) g) h) l) m) a) b) i) j) k) c) (1) Ser vo m otor sp eed se tti ng ( a) ) Enter a ne w valu e into the " Motor s peed" in put fi eld and press the ent er ke y.
7 - 17 7. MR Config urator (10 ) Pulse mov e distan ce unit sel ection (k) Selec t wit h the o ption butto ns whet her the m ov ing dis tanc e set is in t he co mm and inpu t puls e unit or in th e encoder puls e un it.
7 - 18 7. MR Config urator 7.7.3 Motor -less op eration POINT W hen this operation is us ed in an absol ute positi on detectio n system , the home pos ition can not be re stored pro perl y.
7 - 19 7. MR Config urator 7.7.4 Outp ut signal (D O) for ced output POINT W hen an alarm occurs , the DO forc ed output is a utom atically canc eled. Each s ervo amplif ier ou tput signa l is forc ibl y switc hed o n/off in depe nden tly of t he output c ond ition of the output signal .
7 - 20 7. MR Config urator (1) Si gnal ON /OFF s etting ( a) , b) ) Choose t he s ignal name or pin num ber an d clic k the "O N" or "OFF " but ton to wr ite the c orr espon ding s igna l status to t he ser vo am plifi er.
7 - 21 7. MR Config urator Click the "O K" b utto n to dis pla y th e sett ing sc reen of th e Sing le-ste p fee d. During the ser vo on, the conf irm ation wi ndow ind icati ng that th e next opera tio n is in the sto p status is displ ayed.
7 - 22 7. MR Config urator (7) Servo motor software forced stop ( f) ) Click the "S oftware f orce d stop " but ton to st op th e ser vo motor r otati on im media tel y. W hen the "S oft ware forc ed stop " bu tton is e nabled, the "Start " bu tton c ann ot be us ed.
7 - 23 7. MR Config urator 7.8 Alarm 7.8.1 Alar m dis pla y POINT If a m enu is clic ked or any other o peratio n is p erform ed during alarm occurr ence, the f ollowing m essage windo w appears . The exam ple gi ven here is the win dow that indica tes an oc currenc e of Encoder error 1 (A16).
7 - 24 7. MR Config urator (1) Current alarm display The window s ho ws the a larm num ber, nam e, caus e and oc cur rence t im e. The f ollowi ng exam pl e is t he window t hat indic ates an oc curr ence of Enc oder error 1 (A1 6).
7 - 25 7. MR Config urator Click the "R ead " button to r ead t he mon itor d ata a t erro r occ urrenc e from the s ervo am plifier. Read r esu lts are displ ayed as fol lows.
7 - 26 7. MR Config urator 7.8.3 Alarm his tory Click "Alar m" o n th e m enu bar and click "H istor y" on the m enu. W hen the ab ove c hoices are m ade, the fo llow ing wi ndow a ppears . b) a) (1) A larm histor y d ispla y The m ost r ecent s ix alar ms are dis pla yed.
8 - 1 8. PARAMETER UNIT ( MR-PRU03 ) 8. PARAMET ER UNIT (MR- PRU03) POINT Do not use MR-PRU03 param eter unit a nd MR C onfigur ator toget her. Perfor m s imple d ata se ttin g, tes t oper atio n, par ameter sett ing, etc. wi thout MR Co nfigur ator b y con necti ng the MR-PRU 03 p aram eter un it to t he s ervo am plif ier.
8 - 2 8. PARAMETER UNI T (MR-PRU 03) 8.1 Exter nal appe arance a nd k ey explanati ons This sect ion gi ves t he ext ernal appe aranc e and expla nat ions of the ke ys.
8 - 3 8. PARAMETER UNI T (MR-PRU 03) 8.2 Specific atio ns Item De scriptio n Model MR-PRU03 Power supply Supplied from the servo amplifier Parameter m ode Basic setti ng parameters, Gain/filter param .
8 - 4 8. PARAMETER UNI T (MR-PRU 03) 8.4 Conn ection with ser vo am plifier 8.4.1 Sing le axis (1) C onfigur atio n di agram Opera te the s ing le-ax is ser vo am plif ier. I t is r ecom m ended to us e t he fol lowing c ab le. Servo amplifier CN3 Pa ra met e r uni t (MR-PRU03) 10BASE-T cable, etc.
8 - 5 8. PARAMETER UNI T (MR-PRU 03) 8.4.2 Multi drop co nnectio n (1) C onfigur atio n di agram Up to 32 ax es of ser vo am plif iers f rom stat ions 0 to 31 c an be oper ated on t he sam e bus .
8 - 6 8. PARAMETER UNI T (MR-PRU 03) (2) Cable internal wiring diagram W ire the ca bles as sho wn belo w. Pa ram et e r unit 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 (Note 4, 5) LG P5.
8 - 7 8. PARAMETER UNI T (MR-PRU 03) 8.5 Displ ay Connec t the MR-PR U03 param eter u nit to t he ser vo a m plifier, and tur n ON the power of the s ervo ampl ifier. In this s ection , the sc reen tra nsiti on of the MR- PRU 03 par ameter unit is ex plai ned, together with th e opera tio n proce dure in eac h mode .
8 - 8 8. PARAMETER UNI T (MR-PRU 03) 8.5.2 MR-P RU03 param eter unit s etting Set and enter the st ation number. (e.g. To enter 31th axis) Station number Cont ra st adj us tme nt Buzzer Baud rate selection 3 1 ESC MR-PRU03 paramet er unit setting Press the " " keys to sele ct, and press the " " key t o set.
8 - 9 8. PARAMETER UNI T (MR-PRU 03) 8.5.3 Monit or m ode (status displa y) (1) Monitor display The s ervo s tatus dur ing op erati on is show n on t he d ispl ay. Ref er t o (2) i n this sect ion f or d etails . 1. Current position 2. Command position 3.
8 - 10 8. PARAMETER UNI T (MR-PRU 03) (2) M onitor display list The f ollowi ng ta ble l ists t he item s and descr ipti ons of m onitor disp lay. St at us dis pl ay Display on paramet er unit Unit Desc ription Di splay range Current position Cur posi t 10 STM mm The current position from the machine home posit ion of 0 is displayed.
8 - 11 8. PARAMETER UNI T (MR-PRU 03) 8.5.4 Alar m/diagn ostic m ode (1) Alarm display The f lowchar t belo w sho ws the pr ocedur e of s ettings invo lving a larm s, alar m his tory, ext ern al I/O s ignal (DIDO) dis pla y, devic e and diag nosis . ALM/ DGN Alarm Current alarm (When undervoltage (A10) occurred.
8 - 12 8. PARAMETER UNI T (MR-PRU 03) (2) Al arm histor y cle ar The s ervo am plif ier st ores o ne curr ent a larm and fi ve pas t alarm s f rom when its p ower is switc he d on fir st. To c ontrol a larm s whic h wil l occ ur dur ing oper atio n, c lear the al arm histor y befor e st arting oper ation.
8 - 13 8. PARAMETER UNI T (MR-PRU 03) 8.5.5 Par ameter mode The f lowchart bel ow sho ws the proc edure for s ettin g par am eters. DATA PARAM Select a parameter gr oup. First parameter number is displayed. e.g. To selec t the gain/filter parameter, press: Write Write is com pleted.
8 - 14 8. PARAMETER UNI T (MR-PRU 03) 8.5.6 Point table m ode The f lowchart bel ow sho ws the proc edure for s ettin g po int ta ble dat a. DATA PARAM e.
8 - 15 8. PARAMETER UNI T (MR-PRU 03) 8.5.7 T est operat ion mode CAUTION W hen conf irm ing the m achine opera tion in the tes t oper ation m od e, use the mac hine af ter chec kin g th at the s afet y m echanis m s uch as the for ced s top ( EMG) operat es.
8 - 16 8. PARAMETER UNI T (MR-PRU 03) (1) Jo g oper atio n Jog op erati on can be perfor m ed when th ere is no c omm and fr om the ex tern al com m and devic e. Connec t EMG-DO COM to s tart j og oper ation . (a) Op erati on/canc el You ca n chan ge th e oper ati on con ditions with t he p aram eter un it.
8 - 17 8. PARAMETER UNI T (MR-PRU 03) (2) Pos ition ing o perat ion Posit ionin g oper atio n can be perf orm ed once when there is no c omm and f rom the ext ernal c omm and device. Connec t EMG-DO COM to s tart pos ition ing oper ation. (a) Op erati on/canc el You ca n chan ge th e oper ati on con ditions with t he p aram eter un it.
8 - 18 8. PARAMETER UNI T (MR-PRU 03) If the com m unicatio n cable is disc onnect ed dur ing pos iti oning op erat ion, th e servo m otor wil l com e to a sudden stop. (b) Status di splay You can m oni tor the st atus displa y even durin g posit io ning oper atio n.
8 - 19 8. PARAMETER UNI T (MR-PRU 03) (5) Single -step feed Operation is perf orm ed in acc ordance with t he pres et point table No. Connec t EMG-DO COM to s tart s ingle-st ep f eed. The fo llowin g shows th e operation conditio n settings and th e ope ration proced ures.
8 - 20 8. PARAMETER UNI T (MR-PRU 03) (2) Messa ges Message Desc ription Valid parameters were w ritten when power is of f. The MR-PRU03 paramet er unit was used to set a station number and perform trans ition during the test operation m ode. Operation m ode is the t est operation mode.
9 - 1 9 GENERAL GAIN ADJUSTMENT 9. GENERAL GAIN A DJUSTMENT 9.1 Diff erent adjus tment metho ds 9.1.1 Adjus tm ent on a sin gle servo amplif ier The g ain adj ustm ent i n this sec tion c an be m ade on a sin gle s ervo am plif ier. F or ga in a djustm ent, first execu te auto tu ning m ode 1.
9 - 2 9. GENERAL GAIN ADJUSTMENT (2) Adj ustm ent seq uence an d mode usage Usage Used when you want to match the position gai n (PG1) between 2 or more axes. Normall y not used for other purposes. Allows adjustm ent by merely changing the respons e level setting.
9 - 3 9. GENERAL GAIN ADJUSTMENT 9.2 Auto tuning 9.2.1 Auto t uning m ode The s ervo ampl ifier h as a rea l-tim e auto tu ning f unction which es tim ates th e mach ine char acter istic ( load inert ia m oment r atio) in re al tim e and a utom atica lly sets the op timum gains ac cor ding to that va lue.
9 - 4 9. GENERAL GAIN ADJUSTMENT 9.2.2 Auto t uning m ode op eration The b lock di agram of real-ti m e auto tun ing is sho wn be low. Servo motor Command Automa tic sett ing Loop gains PG1,VG1 PG2,VG.
9 - 5 9. GENERAL GAIN ADJUSTMENT 9.2.3 Adjus tment pr ocedure b y auto t uning Since auto tun ing is m ade v alid bef ore sh ipm ent from the factor y, sim pl y run ning th e serv o motor autom atica ll y sets th e opt imum gains tha t m atch the m achin e.
9 - 6 9. GENERAL GAIN ADJUSTMENT 9.2.4 Respo nse lev el settin g in aut o tuning m ode Set t he resp ons e (The f irs t d igit of param eter No.PA0 9) of the whole ser vo s ystem .
9 - 7 9. GENERAL GAIN ADJUSTMENT 9.3 Manual m ode 1 (sim ple m anual adjustm ent) If you are not s atisf ied wi th the adj ustm ent of auto t unin g, you ca n m ake s imple m anual adj ustm ent with thr ee param eters. POINT If m achine res onanc e occ urs , filter t uni ng mode ( par ameter No.
9 - 8 9. GENERAL GAIN ADJUSTMENT (c) Adju stm ent description 1) Spee d loop ga in (param eter No. PB0 9) This param eter determ ines the r esp onse leve l of t he s peed c ontro l loo p. Inc re asing this value enha nces res pons e bu t a too h igh value will m ake the m ec hanic al s ystem liab le to v ibrat e.
9 - 9 9. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The f ollowi ng par ameter s are us ed f or gai n adjus tm ent. Parameter No. Abbreviation Name PB06 GD2 Ratio of load i nertia.
9 - 10 9. GENERAL GAIN ADJUSTMENT (c) Adju stm ent description 1) Spee d loop ga in (VG2: param eter No. PB0 9) This param eter deter mines th e resp onse leve l of the s peed c ontr ol loop. I ncr easin g this va lue enhanc es res pons e but a to o hig h valu e will m ak e the m echanic al s ystem li able to vibrat e.
9 - 11 9. GENERAL GAIN ADJUSTMENT 9.4 Interpo latio n mode The inter polat ion m ode is us ed to match th e pos ition lo op gains of the axes wh en perf orm ing the int erpo lation operat ion of servo m otors of two or m ore axes f or an X-Y tabl e or the l ike.
9 - 12 9. GENERAL GAIN ADJUSTMENT 9.5 Dif ferenc es between M ELSER VO-J2- Super an d MEL SERVO- J3 in au to tunin g To m eet h igher r espons e d em ands, th e MEL SER VO-J3 s eries has been chang ed in res pons e le vel se ttin g range f rom the M R-J2- Supe r.
10 - 1 10. SPECIAL AD JUSTMENT FUNCTIONS 10. SPE CIAL ADJUSTMENT FUNCTIONS POINT The f unctions gi ven in th is c hapter need not be us ed gener all y. Use them if you are n ot satisf ied with t he m achine status after m aking a djustm ent in the methods in chapter 9.
10 - 2 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The op erati on of a dapt ive tu ning m ode (p aram eter No .PB0 1). Filter tunin g mode s election 000 Pa ra met er N o. PB 01 Setting Filter adjustment mode Aut omatically set parameter 0 Filter OFF (Note) 1 Filt er tuning mode Para meter N o.
10 - 3 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Ada pti ve tun ing m ode pr oced ure The response has increased to the machin e limit . The machine is too complicated to provide the optimum filter. Facto r Adaptive tuning adjustment Operation Is the target response reached? Tuning ends automatically after t he predetermined period of time.
10 - 4 10. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter O FF" ena bles a re turn to t he factor y-set in itial value. W hen adaptive tuni ng is ex ecuted, vibrat ion soun d increas es as an excitatio n signal is forc ibl y applied f or sever al sec onds .
10 - 5 10. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) M achin e res onanc e sup pressi on f ilter 1 ( par ameter No. PB13, PB14) Set the n otc h frequ enc y, notch depth a nd notc h wid th of the mac hine r esona nce s uppress ion fi lter 1 (param eter No .
10 - 6 10. SPECIAL ADJUSTMENT FUNCTIONS 10.4 Adva nced vibrati on suppress ion contro l (1) Op erati on Vibra tion s uppres sio n contr ol is used to fur ther s uppr ess machin e sid e vibr ation, suc h as wor kpi ece end vibrat ion an d base s hak e.
10 - 7 10. SPECIAL ADJUSTMENT FUNCTIONS (3) Vi brati on sup pressi on co ntrol tuning m ode proc edur e No Estimation cannot be made as machine side vibration has not been tran smitte d to th e motor s ide. The response of the model loop gain has increased to the ma chine side vibration frequency (vibration suppression control limi t).
10 - 8 10. SPECIAL ADJUSTMENT FUNCTIONS (4) Vi brati on sup pressi on co ntrol m anu al m ode Measur e work side vibrat ion and devic e shake wit h the m achine an al yzer or ext ernal measur ing instr um ent, and se t the vibrat ion s uppr ess ion co ntrol vibrat ion f requ enc y (param eter No.
10 - 9 10. SPECIAL ADJUSTMENT FUNCTIONS POINT W hen machine sid e vibr ation does not sho w up in m otor s ide vibrat ion, the setting of the m otor side v ibration f requenc y does not produce a n eff ect.
10 - 10 10. SPECIAL ADJUSTMENT FUNCTIONS 10.5 Low-pas s filter (1) Function W hen a ba ll scr ew or the like is us ed, r esona nce of hi gh f reque ncy m ay occ ur as the resp onse lev el of the servo s ystem is inc reas ed. T o pr even t th is, t he l ow-pas s fi lter is f actor y-se t to b e v alid f or a torq ue comm and.
10 - 11 10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.2 Func tion bl ock diagr am The v alid loop ga ins PG2, V G2, VI C and GD2 of the actua l lo op are chan ged acc or ding to the c ondi tions selec ted b y gain c hang ing s elect ion C DP (p aram eter No. PB26) and gain c hangi ng c ondit ion CD S (par ameter No.
10 - 12 10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.3 Par ameter s W hen using the gain chan ging f unct ion, alwa ys set " 3 " in pa ramet er No.PA 08 (aut o tuni ng) to cho ose the manual m ode of the gain a djustm ent m odes. T he gain changi ng fu nctio n canno t be us ed in the aut o tun ing mode.
10 - 13 10. SPECIAL ADJUSTMENT FUNCTIONS (1) Pa rameters No.PB06 t o PB10 Thes e param eters are th e sam e as i n ord inar y manu al adj ustm ent. Ga in ch angin g allo ws the va lues of ratio of load inert ia m om ent to ser vo m otor in ertia m om ent, pos ition loop g ain, spe ed loop gai n and s peed integr al com pens atio n to be cha nged .
10 - 14 10. SPECIAL ADJUSTMENT FUNCTIONS 10.6.4 Ga in chang ing oper ation This op erat ion will be descr ibed b y wa y of set ting ex am ples. (1) W hen you choos e chang ing by input device (a) Setting Para m eter No.
10 - 15 10. SPECIAL ADJUSTMENT FUNCTIONS (2) W hen you choos e chang ing by droo p pulses (a) Setting Para m eter No. Abbrevi ation Nam e Setting Unit PB 07 P G1 Model l oop gain 100 rad/s PB06 GD2 Ratio of l oad inerti a mom ent to servo m otor inertia m oment 4.
10 - 16 10. SPECIAL ADJUSTMENT FUNCTIONS MEMO.
11 - 1 11. TROUBLESHOOTING 11. TROUBLESHOOTING 11.1 Troub le at s tart-up CAUTION Exc essiv e adjus tment or c hange of p aram eter s etting m ust not b e m ade as it wil l mak e operat ion instab le. POINT Using t he M R Conf igurator , you can r efer t o unro tated s ervo m otor r easons , etc.
11 - 2 11. TROUBLESHOOTI NG 11.2 Oper ation at error oc currenc e An err or occ urr ing dur in g oper ation will r esul t in an y of the s tatus es i ndicat ed in the foll owing t abl e.
11 - 3 11. TROUBLESHOOTI NG 11.4 W hen alarm or warnin g has occ urred POINT Configur e up a c ircu it whic h will detect the tr oubl e (ALM ) signa l and tur n off the servo- on (RYn 0) at occur renc e of an alarm . 11.4.1 Alar ms and warning list W hen a fault occ urs dur ing operat ion, t he corr espon ding al arm or warni ng is disp la yed.
11 - 4 11. TROUBLESHOOTI NG 11.4.2 Rem edies f or alarm s CAUTION W hen an y alarm has occ urred, el iminat e its c ause , ens ure s afet y, then r ese t the alarm , and r estar t oper ation . Oth erwis e, inj ur y may occ ur. If an absolut e pos itio n eras e (A 25) oc curre d, a lways m ak e hom e posit ion s ettin g again.
11 - 5 11. TROUBLESHOOTI NG Display Nam e Def initi on Caus e Action 1. Faulty parts in the servo amplifier Checking method Alarm (A15) occurs if power i s switched on after disc onnection of all cables but the c ontrol circuit power supply cables. A15 Memory error 2 (EEP-ROM) EEP-ROM fault 2.
11 - 6 11. TROUBLESHOOTI NG Display Nam e Def initi on Cause A ction 1. Wrong setting of parameter No. PA02 Set c orrectly. 2. Built-i n regenerative resistor or regenerative option is not connect ed.
11 - 7 11. TROUBLESHOOTI NG Displa y Name Definition Caus e A ction 1. Short occurred in servo m otor pow er (U, V , W). Correct t he w iring. A32 Overcurrent 2. Transistor (IPM, IGBT) of t he servo amplifi er faulty. Checking method Alarm (A32) occurs if p ower is switched on after U,V and W ar e disconnected.
11 - 8 11. TROUBLESHOOTI NG Displa y Name Definition Caus e A ction A37 Paramete r error P arameter s etting is wrong. 1. Servo amplifier f ault caused the paramet er setting to be rew ritten. Change the servo amplifier. 2. Regenerative opti on not used with servo amplifi er was selected in paramet er No.
11 - 9 11. TROUBLESHOOTI NG Display Nam e Definiti on Cause Action A50 Overload 1 Load exceeded overload protect ion charact eristic of servo amplifi er. 1. Servo amplifier is used i n ex cess of its conti nuous output current. 1. Reduce load. 2. Check operation pattern.
11 - 10 11. TROUBLESHOOTI NG Display Nam e Definition Cause A ction A52 Error excessi ve 1. Acceleration/decelerat ion time constant is too small. Increas e the acceleration/deceleration tim e constant . 2. Forward rotation torque limit (paramet er No.
11 - 11 11. TROUBLESHOOTI NG Display Nam e Def inition Cause Action (Note) 888 Watchdog CPU, parts faulty. Fault of parts in s ervo ampl ifier. Checking method Alarm (888) occurs if power is switched on after d isconnection of all cables but the control circuit power su pply cable.
11 - 12 11. TROUBLESHOOTI NG Display Nam e Definit ion Caus e Acti on 1. Battery cable is open. Repair cable or changed. A92 Open battery cable warning Absolu te po sition detection s ystem battery voltage is low. 2. Battery vol tage supplied from the servo amplifi er to the encoder fell to abo ut 3V or less.
11 - 13 11. TROUBLESHOOTI NG Display Nam e Definit ion Caus e Acti on Cooling fan life expirati on (Refer to section 2.5.) Change the cooling fan of the servo amplifi er. AE8 Cooling fan speed reduction warning The speed of the servo amplifi er decreased to or below the warning level.
11 - 14 11. TROUBLESHOOTI NG MEMO.
12 - 1 12. OUTLINE DRAWINGS 12. OUTLINE DRA W INGS 12.1 Servo am plif ier (1) MR-J3-10T MR-J 3-20T MR-J3- 10T1 MR-J 3-20T 1 [Unit: mm] Approx. 80 Approx. 68 Approx. 25.5 6 CNP3 4 40 (Note) CNP2 CNP1 6 135 With MR-J3BAT 6 mounting hole Rating plate CN1 Note.
12 - 2 12. OUTLINE DRAW INGS (2) MR-J3-40T MR-J 3-60T MR-J3- 40T1 [Unit: mm] 40 CNP1 Approx. 68 6 Approx. 25.5 (Note) CNP2 5 6 Approx. 80 170 CNP3 CN1 Rating plate 6 mounting hole With MR-J3BAT Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
12 - 3 12. OUTLINE DRAW INGS (3) MR-J3-70T MR-J 3-10 0T [Unit: mm] Approx. 68 Approx. 25.5 6 42 12 CNP3 6 60 CNP2 CNP1 12 Approx. 80 Cooling fan wind direction 185 CN1 6 mounting hole With MR-J3BAT Rating plate Mass: 1.
12 - 4 12. OUTLINE DRAW INGS (4) MR-J3-60T4 MR-J3- 100T4 [Unit: mm] 60 42 Approx. 25.5 Approx. 68 6 12 12 Approx. 80 195 CNP1 CNP2 CNP3 CN1 6 With MR-J3BAT Rating plate 6 mounting hole Mass: 1.4 [kg] (3.09 [lb]) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Screw size: M4 Tightening torque: 1.
12 - 5 12. OUTLINE DRAW INGS (5) MR-J3-200T(4) POINT Connectors (CNP1, CN P2, and C NP3) and appeara nce of MR-J 3-200T s ervo amplif ier have b een c hanged f rom January 200 8 prod uction. Mo del n am e of the exis ting ser vo am plifier is chang ed to M R-J3-200T -RT .
12 - 6 12. OUTLINE DRAW INGS (6) MR-J3-350T [Unit: mm] 85 6 78 Approx. 25.5 90 Approx. 68 6 6 45 Approx. 80 195 21.4 6 CNP1 CNP3 CNP2 CN1 6 mounting hole With MR-J3BAT Rating plate Cooling fan wind direction Mass: 2.
12 - 7 12. OUTLINE DRAW INGS (7) MR-J3-350T4 MR-J3- 500T (4) [Unit: mm] 3 p lac es fo r ground (M4 ) With MR-J3BAT Terminal layout (Terminal cover open) 2- 6 mo unting hole Built-in r egenerative resistor lead terminal fixing screw 130 118 6 Ap pro x.
12 - 8 12. OUTLINE DRAW INGS (8) MR-J3-700T(4) [Unit: mm] 149.2 102.6 99.8 75 200 Cooling fan wind direction 6 160 172 6 Approx. 80 6 13 13 31 10 14.5 7 13 91 13 24.5 13 13 34 CN1 TE2 TE1 TE3 2- 6 mounting hole With MR-J3BAT Rating plate Built-in regenerative resistor lead terminal fixing screw Mass: 6.
12 - 9 12. OUTLINE DRAW INGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] 12 236 12 260 12 260 Approx. 80 Cooling fan wind direction With MR-J3BAT TE 26 6 26 156 13 123 183 227 52 CN1 2-12 mounting hole Rating plate Servo amplifi er Mas s[kg]([lb] ) MR-J3-11KT(4) 18.
12 - 10 12. OUTLINE DRAW INGS 12.2 Connector (1) Min iatur e delt a rib bon ( MDR) s ystem (3M) (a) One-touch lock ty pe [Unit: mm] E B A 23. 8 39.0 12.7 C Logo etc, are indicated here. D Each type of dimension Connector S hell kit A B C D E 10150-3000PE 10350-52F0-008 41.
12 - 11 12. OUTLINE DRAW INGS (2) SCR connector s y stem (3M) Recept acle : 36210- 0100 PL Shell k it : 363 10-32 00-00 8 34.8 39.5 22.4 11.0.
12 - 12 12. OUTLINE DRAW INGS MEMO.
13 - 1 13. CHARACTERISTICS 13. CHARA CTERISTICS 13.1 Overl oad prot ection c haracterist ics An elec tronic therm al re la y is built in the s ervo am plif ier to pr otect t he ser vo m otor an d servo am plif ier f rom overl oads.
13 - 2 13 CHARACT ERIST ICS 10000 100 0 100 10 1 0 10 0 200 300 During operation Durin g s ervo lock O p e r a t i o n t i m e [ s ] (Note) Lo ad ratio [ %] MR-J3-11KT (4) to M R-J3-22KT (4) Note.
13 - 3 13 CHARACT ERIST ICS 13.2 Power suppl y equipm ent capacit y and gener ated los s (1) Am ount of he at gen erat ed b y the s ervo amplif ier Table 13.1 i ndicat es ser vo am plifiers' power s up ply ca pac ities a nd los ses g enera ted under r ated load.
13 - 4 13 CHARACT ERIST ICS (Note 2) Servo amplifier-generat ed heat[W] Area required for heat dissi pation Servo ampli fier Servo mot or (Note 1) Power supply capacity [kV A] At rated torque With servo off [m 2 ] HF-SP702 (4) 10.0 300 25 6.0 HA-LP702 10.
13 - 5 13 CHARACT ERIST ICS (2) H eat dis sipa tion ar ea for enc losed ser vo am plifi er The enc lose d contr ol box (her eafte r call ed the c ontr ol box ) whic h will c ont ain the s erv o ampl ifier s hou ld be desig ned t o ensur e that its temper ature rise is with in 10 ( 50 ) at the am bient tem peratur e of 4 0 (104 ).
13 - 6 13 CHARACT ERIST ICS 13.3 D ynamic br ake c haracteristic s 13.3.1 D ynamic brake oper ation (1) C alcul atio n of c oast ing d istanc e Fig. 1 3.3 sh ows th e pat tern in whic h the ser vo m otor co mes to a stop whe n the d ynam ic br ake is oper ated.
13 - 7 13 CHARACT ERIST ICS Speed [r/min] T i m e c o n s t a n t [ m s ] 500 1000 1500 2000 10 20 30 40 50 60 0 0 81 201 121 51 421 301 Speed [r/min] Time constant [ms] 52 500 1000 150 0 2000 25 00 3.
13 - 8 13 CHARACT ERIST ICS 0 Speed[r /min] 20 40 60 80 100 120 0 500 1000 1500 2000 11K1M 15K1M 22K1M 701M T i m e c o n s t a n t [ m s ] Speed[r/ min] 0 0 500 1000 1500 2000 80 60 40 20 11K2 15K2 2.
13 - 9 13 CHARACT ERIST ICS 13.3.2 T he d ynamic brak e at the l oad iner tia m oment Use the d ynamic brake und er the lo ad inert ia m oment rati o indica ted in t he follo wing tab le. If the lo ad iner tia mom ent is h igher than th is val ue, th e built- in d ynam ic brak e ma y burn.
13 - 10 13 CHARACT ERIST ICS 13.4 Cable flexing lif e The f lexing life of th e cab les is sho wn b elow. This gr aph ca lcula ted values . Si nce t hey are not guara ntee d values , pro vide a l ittle a llo wance f or thes e values .
14 - 1 14. OPTIONS AND AUXI LIARY EQUIPMENT 14. OPTIONS AND AUX ILIARY EQU IPMENT W ARNING Befor e conn ectin g an y optio n or p eriph eral equipm ent, t urn off the power and wait for 15 m inut es or m ore until the c harge lam p turns of f. T hen, c onfir m that the volt age be tween P( ) and N( ) is s af e with a vo ltag e tester an d other s.
14 - 2 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.1.1 Com binatio ns of c able/connec tor sets Serv o moto r HF-MP HF-KP 15) 16) 17) 18) 19) 20) 3) 4) 5) 6) 7) 8 ) 13) 14) 9) 10) 11) 12) CN5 CN1 CN6 CN2.
14 - 3 14. OPTIONS AND AUX ILIARY EQUIPM ENT Serv o motor HA-LP Servo mot or HC-RP HC-UP HC-LP Servo motor HF-SP Encoder connector Brake connector Power supply connector Encoder connector Brake connec.
14 - 4 14. OPTIONS AND AUX ILIARY EQUIPM ENT No. Product Model Des cription A pplication 1) Servo amplifier power supply connector CNP1 connect or: 54 928-067 0 (Molex) CNP2 connect or: 54 928-052 0 (.
14 - 5 14. OPTIONS AND AUX ILIARY EQUIPM ENT No. Product Model Des cription A pplication 7) Motor power supply c able MR-PWS2CBL03M-A1-L Cable length: 0.3m Power supply connector HF-MP series HF-KP s eries Refer to sectio n 14.1.3 for details. IP55 Load side lead 8) Motor power supply c able MR-PWS2CBL03M-A2-L Cable length: 0.
14 - 6 14. OPTIONS AND AUX ILIARY EQUIPM ENT No. Product Model Description Applic ation 19) Encoder cable MR-J3JCBL03M-A1-L Cable length: 0.3m En coder connector HF-MP series HF-KP s eries Refer to se ction 14.1 .2 (3 ) for deta ils. IP20 Load side lead 20) Encoder cable MR-J3JCBL03M-A2-L Cable length: 0.
14 - 7 14. OPTIONS AND AUX ILIARY EQUIPM ENT No. Product Model Desc ription A pplication 30) Pow er supply connector set MR-PWCNS3 P lug: CE05-6A32-17SD-D-B SS Cable clamp: CE3057-20A-1-D (D265) (DDK) Example of applicable cable Applic able wire size: 14mm 2 (A WG6) to 22mm 2 (AWG4) Cable finish D: 22 to 23.
14 - 8 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.1.2 Enc oder cabl e/connec tor sets (1) MR-J3ENCBL M- A1-L /H MR-J3E NCBL M- A2-L/ H These ca bles are enc od er cables f or the HF-M P HF-KP s eri es ser vo m otors. T he num erals in th e Ca ble Lengt h fiel d of th e ta ble ar e the s ymbo ls ent ered in the part of t he cab le m odel.
14 - 9 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Cable internal wiring diagram Servo amplifier side connector Encoder side connector Plat e MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR- J3E NC BL1 0M-L /- H P5 LG 1 2 MR MRR 3 4 2 3 9 SD 5 4 6 9 LG MR MRR SHD P5 BAT BAT (2) MR-EKCBL M-L/H POINT The f ollowing e ncoder ca bles are of four -wire t ype.
14 - 10 14. OPTIONS AND AUX ILIARY EQUIPM ENT (a) C onnect ion of ser vo am plifier and ser vo motor Servo mot or HF-MP HF-KP 1) MR-E KCBL M-L MR-E KCBL M-H MR-J3JCBL03M-L Cable length: 0.
14 - 11 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Int ernal wiring diag ram MR-EKCBL20M-L Servo amplifier side Encoder side P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 P5G MR MRR SHD P5E BAT BAT (Note.
14 - 12 14. OPTIONS AND AUX ILIARY EQUIPM ENT (c) W hen fabric ating th e encod er cabl e W hen fabric ating the c able, prep are t he fo llowi ng p arts and too l, a nd fabr icat e it accord ing t o the wiring diagr am in ( b). R efer t o s ectio n 14.
14 - 13 14. OPTIONS AND AUX ILIARY EQUIPM ENT (a) C onnect ion of ser vo am plifier and ser vo motor Servo motor HF-MP HF-KP MR-J3JCBL03M-A2-L MR-E KCBL M-L /-H 1) Servo amplifier 2) Servo motor HF-MP.
14 - 14 14. OPTIONS AND AUX ILIARY EQUIPM ENT (4) MR-J3ENSCBL M- L MR-J3E NSCBL M-H These c ables are detect or c ables for HF- SP HA-LP HC-RP HC-U P HC-LP ser ies s ervo m otors. T he numbe r in the cable leng th colu mn of the ta ble in dicat es the sy m bol fil ling the square in the c ab le m odel.
14 - 15 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Int ernal wiring diag ram P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT Servo amplifier side connector Encoder side connector Plate .
14 - 16 14. OPTIONS AND AUX ILIARY EQUIPM ENT (5) MR-J3BTCBL03M This ca ble is a batte ry conne ction c able. Use this cable t o retai n the cur rent po sition even if th e dete c tor cable is dis con nect ed fr om the serv o am plifi er. Cable model Cable lengt h A pplication MR-J3BTCBL03M 0.
14 - 17 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.1.3 M otor po wer suppl y cables These c ables are motor power sup ply cab les f or th e HF- MP HF-KP se r ies servo mot ors. Th e numera ls in th e Cable Leng th fie ld of the tab le ar e th e s y mbo ls e ntered in th e part of th e cab le m odel.
14 - 18 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.1.4 M otor brak e cables Thes e cables are m otor br ak e cables f or the HF-MP HF -KP s eries s ervo m otors . T he num erals in the C able Length f ield of the ta ble ar e the s y m bols e ntered in th e part of th e cabl e model .
14 - 19 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.2 Regenerat ive options CAUTION The s pecif ied com bi nations of regen erat ive o ptio ns and s ervo am plif iers m a y onl y be use d.
14 - 20 14. OPTIONS AND AUX ILIARY EQUIPM ENT (2) Se lect ion of the r egen erat ive op tion Use the fol lowi ng metho d when rege ner ation oc curs co ntin uousl y in vert ical m otion ap plica tions or when it is des ired to m ake an in-de pth se lecti on of the r egener ativ e opti on.
14 - 21 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) L osses of s ervo m otor and s ervo amplif ier in reg ene rative m ode The f ollowi ng tab le lis ts the ef ficienc ies a nd ot her d ata o f the s ervo m otor and s ervo amplif ier i n the regener ati ve m ode.
14 - 22 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Paramete r setting Set par ameter No.P A02 ac cor ding t o the opt ion to be us ed. Selection of regenerative option 00: Regenerative option i s not used For servo amplifier of 100W, regenerative resistor is not used.
14 - 23 14. OPTIONS AND AUX ILIARY EQUIPM ENT (a) MR -J3-3 50T or less MR- J3-20 0T4 or less Alwa ys rem ove th e wir ing fr om ac ross P- D a nd fit t he re genera tive option acros s P- C. The G3 and G 4 ter mina ls ac t as a t herm al sens or. G 3- G4 is d isco nnecte d whe n the r egener ati ve opti on ove rheats ab normally.
14 - 24 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) MR-J3-350T4 MR-J 3-50 0T(4) MR-J 3-70 0T(4) Alwa ys rem ove th e wir ing ( acros s P-C) of t he ser vo am plifi er bu ilt-in r egen erati ve res istor and f it the regener ati ve optio n across P-C. The G 3 and G 4 ter mina ls ac t as a t herm al s ensor .
14 - 25 14. OPTIONS AND AUX ILIARY EQUIPM ENT The dra wing belo w sho ws the MR- J3-3 50T4 a nd M R-J3-50 0T( 4). Ref er to sec tion 12. 1 (6) O utli ne drawin gs for the p ositi on of t he fix ing sc rew f or MR- J3-7 00T( 4).
14 - 26 14. OPTIONS AND AUX ILIARY EQUIPM ENT (c) MR- J3-11 KT( 4) to M R-J 3-22KT (4) ( when using the suppl ied r egener ative res istor) W hen using t he r egener ati ve res istors sup plied to t he ser vo am plifi er, t he sp ecifi ed num ber of res istor s (4 or 5 r esist ors) mus t be co nnecte d in s eries.
14 - 27 14. OPTIONS AND AUX ILIARY EQUIPM ENT (d) MR-J3-11KT(4)-PX to MR-J3 -22KT(4)-PX (when using the regenerative option) The MR-J 3-11KT (4)- PX to MR- J3-22 KT( 4)-PX ser vo a mplif iers ar e not supp lied wi th regen erati ve resist ors.
14 - 28 14. OPTIONS AND AUX ILIARY EQUIPM ENT (5) Ou tlin e dim ension dra wings (a) MR-RB032 MR-R B12 [Unit: mm (in)] LA 5 LB TE1 6 6 1 5 6 1 6 8 1 4 4 1 2 A p p r o x . 6 A p p r o x . 1 2 Ap pro x. 20 LD 1.6 LC G3 G4 P C 6 mounting hole MR-RB TE1 Terminal block G3 G4 P C Terminal screw: M3 Tightening torque: 0.
14 - 29 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) MR-RB30 MR- RB3 1 MR-RB32 MR- RB34- 4 MR-R B3M -4 MR-RB 3G-4 TE1 Terminal block G3 G4 P C Terminal sc rew: M4 Tightening torque: 1.2 [ N m ] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.
14 - 30 14. OPTIONS AND AUX ILIARY EQUIPM ENT (d) MR-RB5E MR- RB9P MR- RB9F MR- RB6 B-4 MR- RB60-4 MR- RB6 K-4 Terminal block G3 G4 P C Terminal sc rew: M5 Tightening torque: 2.0 [ N m ] (17.70 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.
14 - 31 14. OPTIONS AND AUX ILIARY EQUIPM ENT (f) MR-RB1H-4 Terminal screw: M3 Tightening torque: 0. 5 to 0.6 [N m] (4.43 to 5.31 [lb in]) G3 G4 P C Mounting screw Screw size: M5 Tightening torque: 3. 2 [N m] (28.32 [lb in]) Regenerative option Mass [kg] ([ lb]) MR-RB1H-4 1.
14 - 32 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.3 FR- BU2-(H) brak e un it POINT Use a 200V class brak e unit and a resistor unit with a 2 00V class servo amplif ier, and a 400V c lass brak e unit and a resistor unit with a 4 00V class servo am plifier .
14 - 33 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.3.1 Sel ectio n Use a com binati on of ser vo amplif ier, br ake uni t and resi stor un it listed be low. Brake unit Resist or unit Number of connected units Per missib le continuous power [kW] Total resistanc e [ ] Applic able servo amplifier FR-BU2-15K FR-BR-15K 1 0.
14 - 34 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.3.3 Connec tion ex am ple POINT Connectin g PR term inal of the brak e un it to P ter minal of the se rvo am plifier results in brak e unit m alfunction. Alwa ys connect the PR ter minal of the br ake unit to t he PR ter minal of the res istor unit.
14 - 35 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) W hen c onnect ing t wo brak e un its to a ser vo am plifi er POINT To us e brake units with a p arallel c onnect ion, use t wo sets of FR-BU2 br ake unit. Com bination with ot her br ake unit res ults in alarm occur rence or malfunc tion.
14 - 36 14. OPTIONS AND AUX ILIARY EQUIPM ENT 17 5 EMG DOCOM DICOM ALM 1 NFB (Note 12) ALM RA1 MC SK MC ON OFF EMG Ser vo moto r thermal relay RA2 (Note 7) (Note 1) Power supply N/ P/ BUE SD PR B C A .
14 - 37 14. OPTIONS AND AUX ILIARY EQUIPM ENT (2) Combination with MT-BR5-(H) resisto r unit NFB (Note 9) ALM RA1 MC SK MC ON OFF EM G Serv o motor thermal relay RA2 (Note 1) Power supply N/ P/ BUE SD.
14 - 38 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Precautions for wiring The c ables betwee n the s er vo am plif ier an d the br ake u nit, an d bet ween t he res isto r unit and t he brak e un it shoul d be as shor t as pos sible . Alwa ys twis t the c ab le longer than 5m (twist five t imes or m ore per on e meter ).
14 - 39 14. OPTIONS AND AUX ILIARY EQUIPM ENT 2) Contr ol c irc uit term ina l POINT Undertight ening ca n cause a cable d isconnect ion or m alfunctio n. Overtighte ning can cause a s hort circ uit or m alfunc tion due to d am age to the screw or t he brak e unit.
14 - 40 14. OPTIONS AND AUX ILIARY EQUIPM ENT (5) Cr im ping t erm inals f or P and N term inals of s ervo ampl ifier (a) R ecomm ende d crim ping term inals POINT Always use recom mended c rimping t erm inals or equ ivale nt since s om e crimping t erm inals c annot be ins talled depend ing on th e size.
14 - 41 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.3.4 Out line dim ension dr awin gs (1) FR-BU2- (H) brake un it [Unit: mm] FR-BU2-15K Rating plate 5 hole (Screw size: M4) 68 6 56 6 5 18.5 52 62 4 132.5 FR-BU2-30K FR-BU2-H30K 129.5 5 59 18.5 Rating plate 52 2- 5 hole (Screw size: M4) 5 108 6 6 96 FR-BU2-55K FR-BU2-H55K, H75K 18.
14 - 42 14. OPTIONS AND AUX ILIARY EQUIPM ENT (2) FR-BR- (H) resistor unit [Unit: mm] 2 C Control circuit terminal Main circuit terminal W1 1 Approx. 35 Approx. 35 204 Hanging bolt C C W 5 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below).
14 - 43 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.4 Power regener ation c onverter W hen using the po wer rege neration co nverter , set " 01" in par am eter No.PA02. (1) Selecti on The c onverter s c an co ntinu ousl y retur n 75% of th e nom inal r egener at ive po wer.
14 - 44 14. OPTIONS AND AUX ILIARY EQUIPM ENT (2) C onnect ion ex am ple (Note 7) Power supply NFB MC Servo amplifier L 11 L 21 L 1 L 2 L 3 SK ON MC BC NP C RDY SE Alarm output RDY output A B C 5m or .
14 - 45 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Outs ide dim ensio ns of t he p ower re gener atio n con verter s [Unit : mm] AA A C F K EE BA B E D 2- D hole Rating plate Front co ver Display panel.
14 - 46 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.5 Power regener ation c omm on converter POINT Use the FR-C V for the ser vo am plifier of 200V clas s and th e FR-CV-H for that of 400V c lass. For deta ils of the power r egenerat ion com m on convert er FR-CV- (H), ref er to the FR-C V-(H) Ins tallat ion Gu ide (IB(N A)060007 5).
14 - 47 14. OPTIONS AND AUX ILIARY EQUIPM ENT The foll owing table lists the rest rictio ns. FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo am plifiers 6 Total of c onnectable servo amplifier c apacities [kW ] 3.75 5.5 7.5 11 15 18.
14 - 48 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Connection diagram (a) 200V class S2/L 22 T2/L 32 DOCO M RA1 EMG C B R/L 11 S/L 21 T/L 31 R2/L 1 R2/L 12 S2/L 2 N/L P24 SD RDYB RDYA RSO SE A P/L T2/L.
14 - 49 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) 400V class P( ) P 1 (Note 8) Stepdow n transfor mer DOCOM RA1 EMG C B R/L 11 3-phase 380 to 480VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2.
14 - 50 14. OPTIONS AND AUX ILIARY EQUIPM ENT (4) Se lect ion ex am ple of wire s used f or wiri ng POINT Selectio n con dition of wire si ze is as f ollows.
14 - 51 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Exam ple of select ing th e wire s izes W hen conn ecting mult iple servo am plifier s, al ways use j unctio n term ina ls for wirin g the s ervo am plifie r term inals P, N. A lso, co nnect the s ervo am plifi ers in the or der of lar ger to sm aller c apac ities .
14 - 52 14. OPTIONS AND AUX ILIARY EQUIPM ENT 2) 400V c lass P R2/L 1 S2/L 2 T2/L 3 R/L 11 S/L 21 T/MC1 P/L+ N/L- P N 22mm 2 P N N P N 14mm 2 5.5mm 2 2mm 2 14mm 2 5.
14 - 53 14. OPTIONS AND AUX ILIARY EQUIPM ENT (6) S pecif ica tions Power regeneration comm on converter FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of c onnectable servo amplifier c apacities [kW] 3.75 5. 5 7.5 11 15 18.5 27.5 Maximum s ervo amplifi er capacity [kW] 3.
14 - 54 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.6 Extern al dynam ic brake POINT Configure up a sequ ence whic h switc hes off the contac t of the brak e unit af ter (or as s oon as) it has turne d off the servo on s ignal at a po wer failur e or failure.
14 - 55 14. OPTIONS AND AUX ILIARY EQUIPM ENT (2) C onnect ion ex am ple NFB L 11 L 21 U V W U V W M Servo amplifier Serv o motor RA2 MC SK MC ON OFF ALM RA1 Operation-ready EMG L 3 L 2 L 1 (Note 5) P.
14 - 56 14. OPTIONS AND AUX ILIARY EQUIPM ENT Servo moto r rotation Coasting ALM RA1 ON OFF Forced stop (EM G) Absent Invalid Valid Sho rt Open a. Timing chart at alarm occurrence b.
14 - 57 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Out lin e dim ens ion dr awi ng (a) DBU-11K DBU-15 K DBU- 22K UV W D 100 D 5 C E G F 2.3 Terminal block Scr ew : M3.5 Screw : M4 B A 5 E 13 14 E (GND) ab [Un it: mm] Tightening torque: 1.2 [N m](10.6 [lb in]) Ti g htenin g torque: 0.
14 - 58 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) DBU-11K-4 DBU-22K- 4 [Unit: mm] 15 51 25 15 73. 75 7 25 150 10 200 170 178.5 179.5 15 260 280 43 10 2- 7mounting hole 195 228 26 26 210 2.3 Mass: 6.7[kg] (14.8 [lb]) a TE1 Tightening torque: 0.8[N m](7[lb in]) Scre w: M3 .
14 - 59 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.7 Batter y MR-J3BAT POINT The revis ion (E dition 44) of the D angerous Goods Rule of the Internat ional A ir Trans port Assoc iation (I ATA) went i nto ef fect on J anuar y 1, 2003 and was enforc ed imm ediatel y.
14 - 60 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.8 Heat s ink outsid e m ounting attac hment ( MR-J3ACN) Use the hea t sink outsid e mou ntin g attac hment to m ount the heat gener ation area of the s.
14 - 61 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Fi tting m eth od Attachment Fit usi ng the assembling screws. Servo amplifier Attachment Servo amplifier Punched hole Control box a. Assembling the heat sink outside mounti ng attachment b. Installation to the control box (4) Out lin e dim ens ion dr awi ng [Unit: mm] 236 280 Approx.
14 - 62 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.9 Selecti on exam ple of wires POINT W ires indicated i n this s ection ar e separat ed wires . W hen using a c able fo r power lin e (U, V, and W ) between th e serv o amplif ier and s ervo m otor, us e a 600V gra de EP ru bber ins ulated c hloropre ne sheath c ab-tir e cabl e (2PNCT ).
14 - 63 14. OPTIONS AND AUX ILIARY EQUIPM ENT (a) W hen using the 60 0V P olyvin yl chlor ide ins ulated wire (I V wire) Selec tion exam ple of wire size when usin g IV wires is indic ated be low.
14 - 64 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) W hen using the 60 0V Gr ade heat- resis tant pol yvin yl chlor ide insu late d wire (HI V wire) Selec tion exam ple of wir e si ze whe n usin g HI V wires is indic ated b elo w.
14 - 65 14. OPTIONS AND AUX ILIARY EQUIPM ENT (c) Se lec tion ex am ple of cri mping t erm inals Selec tion exam ple of crim pi ng term inals for the se rvo a m plifier term inal box wh en u sing t he wires mentioned in (1) (a) and (b) in thi s section is indicated below .
14 - 66 14. OPTIONS AND AUX ILIARY EQUIPM ENT (2) W ires for cables W hen fabric ating a c able, u se the wir e mode ls gi ven i n the follo wing t able or eq uiva lent.
14 - 67 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) CC- Link twiste d cab le POINT For the ca bles other than th e one indic ated here, ref er to the op en field network CC-Link catalog (L (NA)741 08143). The s pecif icati ons of the t wis ted cab le us able i n CC-L ink and t he recom m ended c able are in dicat ed b elow.
14 - 68 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.10 No-f use break ers, f uses, m agnetic co ntactors Alwa ys use one no- fuse bre aker and on e m agnetic cont actor with o ne ser vo am plif ier. W hen us ing a fuse instea d of the no-fuse bre aker, use the one ha ving t he spec if icatio ns gi ven i n th is se ction.
14 - 69 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.11 Po wer factor impr oving DC reac tor POINT For the 100 V po wer suppl y type (MR-J 3- T 1), the po wer f actor im proving DC reactor c annot be us ed.
14 - 70 14. OPTIONS AND AUX ILIARY EQUIPM ENT Dim ensions [mm] Servo am plifi er Power factor improving DC reacto r Outline drawing A B C D E F L G H Moun ting screw size Mass [kg(lb)] Wi re [mm 2 ] (Note ) MR-J3- 10T 20T FR-BE L-0.4K 110 50 94 1.6 95 6 12 M3.
14 - 71 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.12 Po wer fact or im proving reac tors The po wer f actor im proving react ors im pro ve the phase fac tor b y increas ing the f orm factor of ser vo am plif ier's input c urr ent. It can reduce the power capacity .
14 - 72 14. OPTIONS AND AUX ILIARY EQUIPM ENT Dimensions [mm] Servo am plifi er Model W W 1 H D D1 C Moun ting screw size Termi nal screw size Mass [kg (lb)] MR-J3- 10T 20T 10T1 FR- BAL-0.4K 135 120 115 59 45 0 -2.5 7.5 M4 M3.5 2.0 (4.41 ) MR-J3- 40T 20T1 FR-BAL-0.
14 - 73 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.13 Rela ys (rec omm ended) The fol lowing rela ys shoul d be used wit h the int erfac es. Interf ace Selection example Relay used for digit al input command signals (interfac e DI-1) To prevent defective contacts , use a relay for small signal (twin contact s).
14 - 74 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.15 No ise reduc tion tech niques Noises are class ifie d into ex ternal noises which en ter the ser vo am plifier to cause it to malf unct ion and th ose radiat ed b y the s ervo am plifier to ca use peri phera l dev ices t o m alfunct ion.
14 - 75 14. OPTIONS AND AUX ILIARY EQUIPM ENT (c) T echni ques f or no ises r adiat ed b y the s ervo ampl ifier that c aus e perip heral devic es t o m alfunct ion Noises pro duced by the ser vo am p.
14 - 76 14. OPTIONS AND AUX ILIARY EQUIPM ENT Noise transmiss ion route Suppression techniques 1) 2) 3) When meas uring instrum ents, rec eivers, sens ors, etc.
14 - 77 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Surge suppresso r The rec omm ended s urg e suppr ess or for inst allat ion to an AC rela y, AC va lve, or the like ne ar th e ser vo am plifier is s hown belo w. Us e this produc t or equ iva lent. MC Surge suppressor Relay Sur ge sup presso r This distance should be short (within 20cm).
14 - 78 14. OPTIONS AND AUX ILIARY EQUIPM ENT (c) Cab le cl amp f ittin g AER SBAN - SET Gener ally , the ear th of th e shie lded cabl e m ay only be connecte d to th e conne ctor 's SD ter minal . However , the eff ect can be i ncreas ed b y directl y connec ting the ca ble to an eart h plate as s hown bel ow.
14 - 79 14. OPTIONS AND AUX ILIARY EQUIPM ENT (d) Lin e no ise f ilter (F R-BSF 01, FR -BLF) This filter is eff ective in su ppr essing nois es rad iate d fro m the power supp l y side an d out put s ide of the servo am pl ifier and a lso i n sup pressi ng h igh-f reque ncy leak age c urre nt ( zero-ph ase c urrent) espec ial ly wi thin 0.
14 - 80 14. OPTIONS AND AUX ILIARY EQUIPM ENT (f) Varistors for input po wer supp ly (Rec omm ended) Varist ors ar e eff ecti ve to preve nt exo geno us no ise a nd l ightn ing sur ge f rom enter ing the ser vo am plif ier. W hen using a var istor , conn ect it bet ween eac h p hase o f the i nput power s uppl y of t he equ ipment.
14 - 81 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.16 Leak age cur rent break er (1) Se lect ion m ethod High-f reque ncy ch opper c ur rents c ontro lled b y puls e width m odulat ion fl ow in t he A C ser vo circu its.
14 - 82 14. OPTIONS AND AUX ILIARY EQUIPM ENT Table 14.4 Servo motor’s leak age current exampl e (Igm) Table 14. 5 Servo amplifier's leakage current exampl e (Iga) Servo motor output [k W] Leakage current [mA] Servo amplifi er capacity [kW] Leakage current [mA] 0.
14 - 83 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.17 EMC f ilter ( recom mended) For com plia nce wi th the EM C direct ive of the EN St and ard, it is rec omm ended to us e the f ollo wing fi lter.
14 - 84 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Out lin e dra wing (a) EMC filte r HF3010A- UN [Unit: mm] M4 IN 3-M4 65 4 4-5.5 7 258 4 273 2 288 4 300 5 3-M4 85 2 32 2 110 4 Approx.
14 - 85 14. OPTIONS AND AUX ILIARY EQUIPM ENT HF3100A- UN 2-6.5 8 M8 2- 6.5 145 1 165 3 M6 380 1 400 5 160 3 M8 TF3005 C-TX T X3020 C-TX TF3030C-TX [Unit: mm] 290 2 100 1 308 5 332 5 Approx.12.2 3-M4 16 16 6-R3.25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx.
14 - 86 14. OPTIONS AND AUX ILIARY EQUIPM ENT TF3040 C-TX T F306 0C-TX [Unit: mm] K 2 L J H 5 M6 C 2 D 1 B 5 A 5 Approx.17 3-M6 22 22 8-M M4 M4 G 2 3-M6 F 1 E 2 IN D 1 D 1 Dimensi ons [mm] Model A B C D E F G H J K L M TF3040C-TX TF3060C-TX 438 412 390 100 175 160 145 200 Approx.
14 - 87 14. OPTIONS AND AUX ILIARY EQUIPM ENT (b) Sur ge pr otect or RAV -781BYZ -2 4.5 0.5 1 3 2 41 1.0 28.5 1.0 28 1.0 4 .2 0.2 200 30 0 UL-1015AWG16 5.5 1 11 1 [Unit: mm] Black 1) 2) 3) Black B lack RAV -781BXZ-4 1 3 2 UL-1015AWG16 4 .2 0.2 5.5 1 11 1 28.
14 - 88 14. OPTIONS AND AUX ILIARY EQUIPM ENT 14.18 MR-HD P01 m anual puls e gener ator Use th e MR-HDP01 man ual pul se gene rato r to rota te the se rvo moto r. Using exte rnal in put si gnal s, the movi ng distanc e of the s ervo m otor can be spec ifie d in accor dance with pulses gen erated from MR- HDP01.
14 - 89 14. OPTIONS AND AUX ILIARY EQUIPM ENT (3) Terminal layout Signal Des cription 5 to 12V Power input 0V Common for power and signal A A-phase pulse output 5 to 0V A B 12V B B-phase pulse output (4) Installation 6 2 2 0 7 2 0 . 2 3- 4.8 Equally spaced Panel cut (5) Out lin e dra wing 8.
14 - 90 14. OPTIONS AND AUX ILIARY EQUIPM ENT MEMO.
15 - 1 15. COMMUNICATION FUNCTI ON 15. COMMUNICATION FUNCTION Using t he se rial c omm unic ation f unct ion of R S-422 , this serv o am plifier enab les s ervo o perat ion, param eter change , m onitor fu nctio n, et c. 15.1 Config uration (1) Single axis Opera te the s ingl e-ax is ser vo am plifier .
15 - 2 15. COMMUNI CATION FUNCT ION (b) Ca ble conne ction di agram W ire the ca bles as sho wn belo w. 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 (No te 4, 5) (Note 1 ) Axis 1 servo amp.
15 - 3 15. COMMUNI CATION FUNCT ION 15.2 Comm unication sp ecific ations 15.2.1 Com munic ation o vervie w This ser vo am plif ier is des ign ed to s end a re ply o n r ece ipt of an instr uct ion.
15 - 4 15. COMMUNI CATION FUNCT ION 15.2.2 Par ameter setting W hen the U SB/R S-422 c om munic ation f unc tion is us ed to opera te t he ser vo, s et t he c omm unica tion specif icat ions of t he ser vo a m plifier in t he cor resp ondin g par am eters.
15 - 5 15. COMMUNI CATION FUNCT ION 15.3 Protoc ol 15.3.1 T ransm ission dat a configurat ion Since up to 32 ax es m a y be c onnect ed to t he bus, add a sta tion num ber or gro up to the c omm and, d ata No., etc. to d eterm ine th e dest inat ion ser vo am plif ier of data comm unicati on.
15 - 6 15. COMMUNI CATION FUNCT ION 15.3.2 Char acter cod es (1) C ontrol c odes Code name Hexadecima l (ASCII code) Descripti on Personal comput er terminal ke y operation (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of tex t end of tran smissio n ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII c odes are use d.
15 - 7 15. COMMUNI CATION FUNCT ION 15.3.3 Err or codes Error c odes are used i n the foll owing c ases and a n err or cod e of singl e-code len gth is tr ansm itted . On rec eipt of data from the m aster statio n, th e sla ve stati on sen ds the error code c or respo nding to that data to the maste r station.
15 - 8 15. COMMUNI CATION FUNCT ION 15.3.5 T ime- out operation The m aster station transm its EO T when the sl ave st ati on does not star t rep ly oper atio n (STX is not rec eive d) 300m s af ter the m aster stat ion has en ded com muni cation oper atio n.
15 - 9 15. COMMUNI CATION FUNCT ION 15.3.7 In itiali zation After th e slav e stat ion is s witche d on, it cannot repl y to com munic ation until th e inter nal init ial izati on proc essi ng term inates. Hence, at p ower -on, or dinar y com m unicatio n shou ld be s tarte d af ter.
15 - 10 15. COMMUNI CATION FUNCT ION 15.4 Comm and and d ata No. l ist POINT If the com m and and data No. are th e sam e, the desc ription m ay be dif ferent depending on m odels of s ervo am plif iers. 15.4.1 Read c omm ands (1) Sta tus displ ay (Com m and [0][ 1]) Command Data No.
15 - 11 15. COMMUNI CATION FUNCT ION (2) Par ameter s (Com m and [0][4] [0][ 5] [0][6 ] [0][7] [0][ 8] [0][9]) Command Data No. Description Frame l ength [0] [4] [ 0] [1] Parameter group read 0000: Basic setting param eter (No.PA ) 0001: Gain filter paramet er (No.
15 - 12 15. COMMUNI CATION FUNCT ION (4) Al arm histor y (Com mand [ 3][3]) Command Dat a No. Des cription A larm occurrence sequence Frame lengt h [1] [0] most rece nt ala rm [1] [1 ] first ala rm in.
15 - 13 15. COMMUNI CATION FUNCT ION (6) Po int t able/p ositi on data (C omm and [4][ 0]) Command Data No. Description Frame length [4][0] [0][ 1] to [F][F] Positi on data read The decimal equivalent of the data No. value (hexadecimal ) corresponds to the Point table No.
15 - 14 15. COMMUNI CATION FUNCT ION (14) O thers Command Dat a No. Description Fram e length [9] [0] Servo m otor si de pulse unit absolute posit ion 8 [9] [1] Comm and unit absolute position 8 [0] [2] [7] [0] Software version 16 15.4.2 W rite c ommands (1) Sta tus displ ay (Com m and [8][ 1]) Command Dat a No.
15 - 15 15. COMMUNI CATION FUNCT ION (7) Po int t able/s peed d ata ( Comm and [ C][6]) Command Data No. Description Setting range Frame length [C][6] [ 0][1] to [F][F] Speed data write The decimal equivalent of the data No. value (hexadecim al) corresponds t o the Point table No.
15 - 16 15. COMMUNI CATION FUNCT ION (14) T est op erati on m ode data ( Com mand [9 ][2] [A] [0]) Command Dat a No. Desc ription Setting range Fram e length [0] [0] [9] [2] [0] [1] Input signal for test operat ion Refer to sect ion 15.5.7. 8 [A] [0] Forc ed output of signal pin Refer to sect ion 15.
15 - 17 15. COMMUNI CATION FUNCT ION 15.5 Detailed ex planations of comm ands 15.5.1 Data pr ocessi ng W hen the m aster s tati on tra nsm its a com mand d ata N o. or a com mand dat a No. data t o a sl ave stat ion, the ser vo am plif ier r eturns a repl y or dat a ac cordin g to the purpos e.
15 - 18 15. COMMUNI CATION FUNCT ION (2) W riting the pr ocess ed data W hen the data to be wri tten is handl ed as dec im al, the dec im al point pos ition m ust be specif ied. If it is not specif ied, the dat a can not b e writte n. W hen the d ata is hand led as h exadec im al, sp ecif y "0" as t he dec im al point p ositi on.
15 - 19 15. COMMUNI CATION FUNCT ION 15.5.2 St atus disp la y (1) Read ing the stat us dis pla y nam e and un it Rea d th e status disp la y nam e and un it. (a) T ransm ission Transm it comm and [ 0][1] and t he d ata No. c orr espon ding t o the status disp la y item to be r ead, [0][0] t o [0][E].
15 - 20 15. COMMUNI CATION FUNCT ION 15.5.3 Par ameter s (1) Spec if y the param eter grou p The gro up of the param eter s to be oper ated m ust be s pecif ied in adv ance t o rea d or write the p aram eter settin gs, e tc. W rite dat a to the ser vo am plifier as d escrib ed be low to s pecif y the param eter gr oup to b e operat ed.
15 - 21 15. COMMUNI CATION FUNCT ION (4) Readi ng the sett ing Rea d th e param eter s etti ng. Spec if y the p aram eter gr oup in ad vanc e (refer to ( 1) in this s ect ion). (a) T ransm ission Transm it com mand [ 0][5] an d the d ata No. c orres pondi ng to t he p aram eter No.
15 - 22 15. COMMUNI CATION FUNCT ION (6) Paramete r write POINT If setting va lues need t o be c hanged with a h igh freq uenc y (i.e. one tim e or mor e per one hour), wr ite the setti ng values to th e RAM, not the EEP-ROM.
15 - 23 15. COMMUNI CATION FUNCT ION 15.5.4 Ext ernal I/O signa l statuses (DIO d iagnosis ) (1) Re ading o f inpu t device sta tuses Read th e status es of the input devices . (a) T ransm ission Transm it com m and [1][2] an d the d ata N o. corr espon ding t o the input device .
15 - 24 15. COMMUNI CATION FUNCT ION (2) Ex terna l in put pi n status r ead Read th e ON /OFF st atuses of th e exter nal o utput p ins. (a) T ransm ission Transm it com m and [1][2] an d data N o. [4 ][0]. Command Data No. [1][2] [4][0] (b) Reply The ON /OFF status es of the input pins are s ent bac k.
15 - 25 15. COMMUNI CATION FUNCT ION (3) R ead of t he st atus es of input devic es s witche d on th rough c om munic ation Read th e ON /OFF st atus es of the input d evic es s witche d on throug h com munic ation. (a) T ransm ission Transm it com m and [1][2] an d the d ata N o.
15 - 26 15. COMMUNI CATION FUNCT ION (4) Ex terna l outpu t pi n stat us r ead Read th e ON /OFF st atuses of th e exter nal o utput p ins. (a) T ransm ission Transm it com m and [1][2] an d data N o. [C ][0]. Command Data No. [1][2] [C][0] (b) Reply The s lave st atio n sends bac k the ON /OFF s tat uses of the o utpu t pins .
15 - 27 15. COMMUNI CATION FUNCT ION (5) R ead of t he sta tus es of output devic es Read th e ON /OFF st atus es of the out put d evices . (a) T ransm ission Transm it com m and [1][2] an d the data N o. cor respon din g to the out put de vice. Command Data No.
15 - 28 15. COMMUNI CATION FUNCT ION 15.5.5 Dev ice ON/OFF POINT The O N/OFF s tates of all dev ices in the s ervo am plif ier are t he st ates of the data rec eived las t. Hence, when t here is a de vice whic h mus t be kept O N, send data which turns that device ON ever y time.
15 - 29 15. COMMUNI CATION FUNCT ION 15.5.6 D isable/enab le of I/O devices (DIO) Inputs can be disab led i ndep endent ly of th e I/O devic es ON/OFF . W hen inputs ar e dis abled, the in put s ignals (dev ices) are reco gnized a s follow s. Among the input devi ces, EMG, LSP and LS N canno t be disa bled.
15 - 30 15. COMMUNI CATION FUNCT ION 15.5.7 In put devic es ON/O FF (tes t operatio n) Each inpu t dev ices can be t urned on/of f for test oper atio n. when t he de vice to be s witche d of f ex ists in t he exter nal in put si gnal, also s witc h of f that i nput s ignal.
15 - 31 15. COMMUNI CATION FUNCT ION 15.5.8 T est operat ion m ode POINT The tes t operatio n m ode is used t o conf irm operation. Do not use it for actual operation . If comm unication s tops for longer tha n 0.5s dur ing tes t operation, t he servo amplif ier dece lerates to a stop, r esultin g in servo lock .
15 - 32 15. COMMUNI CATION FUNCT ION (2) JO G oper atio n Send the c omm and, data N o. and data as indic ated be low to exec ute JOG operat ion. Command : [8][B] Data No. : [0][0] Data : 0001( JOG operatio n) When LSP/LSN was turned OFF by external input signal or automatically Command : [9][2] Data No.
15 - 33 15. COMMUNI CATION FUNCT ION (3) Pos ition ing op erati on (a) Op erati on proc edur e Send the c omm and, data N o. and data as indic ated be low to exec ute pos ition ing oper ation .
15 - 34 15. COMMUNI CATION FUNCT ION (b) T empor ary sto p/rest art/r emaini ng dis tance clear Send the f oll owin g com mand, data No. an d data duri ng p ositi oning oper atio n to mak e dece lerat ion to a stop. Command Data No. Data [A][0] [4][1 ] STOP Send th e fo llowin g c omm and, da ta No.
15 - 35 15. COMMUNI CATION FUNCT ION (4) Single -step feed Set ne cessa ry items to th e point table be fore starti ng the sin g le-st ep fe ed. Send the c omm and, data No. an d data as indic ated bel ow to exec ute sing le-st ep feed. Command : [9][2] Data No.
15 - 36 15. COMMUNI CATION FUNCT ION (5) Ou tput s ignal pin ON/O FF ou tput s ignal ( DO) f orce d outpu t In the t est operat ion m ode, the ou tput s ignal pins c an be turne d on/ off ind epen dentl y of th e s ervo st atus. Using c omm and [9 ][0], d isabl e the output sign als i n adv ance.
15 - 37 15. COMMUNI CATION FUNCT ION 15.5.9 Alar m his tory (1) Alarm No. read Read th e alar m No. whic h oc curred in the past. T he a larm num bers and occurre nce tim es of No . 0 (l ast alarm ) to No . 5 (six th a larm in the past) are r ead. (a) T ransm ission Send c omm and [3][ 3] a nd data No.
15 - 38 15. COMMUNI CATION FUNCT ION 15.5.10 C urrent alar m (1) C urrent alarm read Read th e al arm No. whic h is occurr in g curr entl y. (a) T ransm ission Send c omm and [0][ 2] a nd data No. [0][0]. Command Data No. [0][2 ] [0][0 ] (b) Reply The s lave st atio n sends bac k the a larm cur rently oc curr ing.
15 - 39 15. COMMUNI CATION FUNCT ION 15.5.11 Po int table (1) Data read (a) Positio n data Read the po sition da ta of the poi nt tabl e. 1) Tr ansm ission Transm it com mand [ 4][0] an d an y of data No. [0][ 1] to [F][F] c orres pond ing to t he p oint ta ble to be rea d.
15 - 40 15. COMMUNI CATION FUNCT ION (c) A ccelera tion ti me con stant Read th e acc elerat ion tim e c onstant of t he poi nt tabl e. 1) Tr ansm ission Transm it com mand [ 5][4] an d an y of data No. [0][ 1] to [F][F] c orres pond ing to t he p oint ta ble to be rea d.
15 - 41 15. COMMUNI CATION FUNCT ION (e) Dwell Read the dwell of the poin t table. 1) Tr ansm ission Transm it com mand [ 6][0] an d an y of data No. [0][ 1] to [F][F] c orres pond ing to t he p oint ta ble to be rea d. Re fer to sectio n 15.4 .1. 2) Rep ly The s lave st atio n sends bac k the d wel l of t he re queste d po int tab le.
15 - 42 15. COMMUNI CATION FUNCT ION (2) Data write POINT If setting va lues need t o be c hanged with a h igh freq uenc y (i.e. one tim e or mor e per one hour), wr ite the setti ng values to th e RAM, not the EEP-ROM.
15 - 43 15. COMMUNI CATION FUNCT ION (c) A ccelera tion ti me con stant W rite the ac celer atio n tim e const ant of the p oint ta ble. Transm it com m and [C][7] , an y of dat a No. [0][1] to [F][ F] c orresp ondin g to the point tab le to b e writ ten to, and the dat a.
15 - 44 15. COMMUNI CATION FUNCT ION (f) Auxiliar y fu nction W rite the auxil iary func tion o f the point ta ble. Transm it com m and [C][B ], a ny of d ata No. [0][ 1] to [F ][F] corresp ond ing to t he poi nt t able to be wr itten to, and the dat a.
15 - 45 15. COMMUNI CATION FUNCT ION 15.5.12 Servo am plifier group d esignation W ith group se tting m ade t o the s lave s tations , data c an be tr ansm itted s imulta neous ly to t wo or m ore s lave statio ns se t as a group . (1) Gro up sett ing write W rite the gr oup desi gnatio n va lue to the s lave s tat ion.
15 - 46 15. COMMUNI CATION FUNCT ION 15.5.13 Ot her com mands (1) Se rvo motor side pul se unit absolut e positio n Read th e abs olute posit ion in the ser vo motor side puls e unit . Note t hat ov erflo w will occur in t he pos ition of 8 192 or more r evo lutions from the hom e pos ition.
16 - 1 16. INDEXER POSITIONING OPERATION 16. INDEXER POSI TIONING OPERATION POINT To ex ecute the in dexer pos itioning operatio n, param eter nee ds to be changed. Set the param eter No.PA01 to "1 ". This chapter pr ovid es the in dexer p ositi oning o perat ion m ethod us ing MR-J 3- T servo a mplifier.
16 - 2 16. INDEXER POSITIONING OPERATION 16.1.3 Func tion lis t The f ollowi ng tabl e lists the funct ions of this ser vo. For detai ls of t he func tions , ref er to t he ref erenc e fie ld.
16 - 3 16. INDEXER POSITIONING OPERATION Function Des cription Reference Torque limit Servo mot or-torque is limited. Section 16. 3.2 (3) Section 16. 11.1 (9) Output signal (DO) forced output Output signal can be forced on/off independently of the servo status.
16 - 4 16. INDEXER POSITIONING OPERATION (2) W hen 2 s tatio ns are occ upie d RXn/RYn : 64 points each, R W rn/R W wn: 8 points each Program mable co ntroll er Servo amplifi er (R Yn) Servo am plifi er Program ma ble cont roller (RXn) (Note) Device No.
16 - 5 16. INDEXER POSITIONING OPERATION Program mable co ntroll er Servo amplifi er (RW wn) Servo ampli fier Pro gramm able c ontroll er (RW rn) (Note 1 ) Address N o.
16 - 6 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) Descrip tio n 1 stati on occupied 2 stations occupied Remar ks Rotation di rection specifying Turning on/ off RYn2 specifies the rotation direct ion at start. 1. Automatic operat ion mode 1 Rotation di rection changes according to the parameter No.
16 - 7 16. INDEXER POSITIONING OPERATION Dev ice No . Signal name (Device name) Descri pti on 1 stat ion occupied 2 stations occupied Remar ks Monitor output executi on demand When RYn8 is turned ON, the following data and signals are set. At the same t ime, RXn8 turns ON.
16 - 8 16. INDEXER POSITIONING OPERATION Dev ice No . Signal name (Device name) Descrip tio n 1 st ation occupied 2 stations occupied Remar ks Position i nstruction execution demand When RY(n 2) is turned on, the nex t st ation number set in the remote regist er RWwn 4 is se t.
16 - 9 16. INDEXER POSITIONING OPERATION Dev ice No . Signal name (Device name) Descrip tio n 1 st ation occupied 2 stations occupied Remar ks Speed selection 1 RY(n 2)C Speed selection 2 RY(n 2)D Spe.
16 - 10 16. INDEXER POSITIONING OPERATION (2) Ou tput sign als (Out put devi ce) POINT The output devices can be used f or both the rem ote output an d the extern al out put si gnal s of CN6 connect or. The sig nal wh ose De vice No. fi eld has an o bliqu e line can not be used i n CC-L ink .
16 - 11 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) De scrip tio n 1 station occupied 2 stations occupied Warning RXnA turns ON when a w arning occurs. When no warning has occurred, RXnA turns OFF within about 1s after power-on.
16 - 12 16. INDEXER POSITIONING OPERATION Device No. Signal name (Device name) De scrip tio n 1 station occupied 2 stations occupied Trouble A t rouble is assigned to the CN6-15 pin as an ex ternal output signal . RX (n 1)A or RX(n 3)A turns ON when the protective circuit is activat ed to shut off the base circuit.
16 - 13 16. INDEXER POSITIONING OPERATION Remote register 1 station occupied 2 stations occupied Signal name Description Setting range RW wn 3 RW wn 3 Writing data Sets the written dat a used to perfo rm parameter or point table data write, alarm hist ory clear or the like.
16 - 14 16. INDEXER POSITIONING OPERATION 16.2.3 Moni tor cod es To dem and 32-b it data when 2 stat ions ar e occu pied, spec if y the lo wer 16-bit code No. Us e any of the instr uctio n codes 0101 to 0 11C to r ead t he d ecim al poi nt pos itio n (m ultipl ying f actor) of the st atus i ndica tion.
16 - 15 16. INDEXER POSITIONING OPERATION 16.2.4 Instr uction c odes (R W wn 2 RW wn 3) Refer t o sec tion 3. 6.2 f or th e instr uction co de tim ing ch arts. (1) Read in struction cod es The word data r eques ted t o be re ad wi th the i nstruct ion c ode 00 00h t o 0AFF h is r ead b y Read c ode (R W rn 3).
16 - 16 16. INDEXER POSITIONING OPERATION Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0040h Input device status 0 Reads the statuses (OFF/ON) of the input devices. bit 0 t o bit F i ndicate the OFF/ON st atuses of the corres ponding input devices.
16 - 17 16. INDEXER POSITIONING OPERATION Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0050h Output device st atus 0 Reads the statuses (OFF/ON) of the Output devices. bit 0 t o bit F i ndicate the OFF/ON st atuses of the corres ponding output devices.
16 - 18 16. INDEXER POSITIONING OPERATION Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0081h Energization time Reads the energization tim e from shipment. Returns t he energizati on time [h]. Energization time 0082h Power ON frequency Reads the number of power-on tim es from ship ment.
16 - 19 16. INDEXER POSITIONING OPERATION Code No. Item/Funct ion Reading data (RW rn 3) cont ents (Serv o amplifier P rogrammable controller) 0200h P arameter group reading Reads the parameter group to be read with code No.8200h to be written. Parameter gr oup 0: Basic se tting parameters (No.
16 - 20 16. INDEXER POSITIONING OPERATION (2) W rite instruction c odes Set th e data, whic h was re queste d to be writt en with the instructi on code 8010h to 91FFh . Set t he inst ructi on cod e No. corr espon ding t o the item to Ins truct ion c ode (RW wn 2) an d the writt en data to W riting d ata ( RW wn 3).
16 - 21 16. INDEXER POSITIONING OPERATION Code No. Item W riting data (RWwn 3) c ontents (Programmable c ontroller Servo a m plifier ) 8701h to 87FFh Accelerat ion time constant data RAM command of point table Writes the accelerat ion time constants of point table No.
16 - 22 16. INDEXER POSITIONING OPERATION 16.2.5 Resp ond codes (RW rn 2) If an y of th e moni tor c odes, instruc tion c od es, Nex t stat ion, Point table N os./ Speed comm and d ata set to t he rem ote regis ter is outs ide the se tting r ange, the c orres pondi ng error cod e is s et t o respo nd co de (RW wn 2).
16 - 23 16. INDEXER POSITIONING OPERATION 16.3 Signal 16.3.1 Sig nal (de vice) exp lanation POINT In the index er posit ioning o peration, devices assigne d to th e CN6 conn ector cannot be chang ed. (1) I/O device (a) Input device Device Sym bol Connector pin No.
16 - 24 16. INDEXER POSITIONING OPERATION (b) Output device POINT Output de vices ass igned to the CN6 c onnector pins ca n be used with the rem ote output of the CC- Link comm unication f unction. Device Sym bol Connector pin No. Functions/Applicat ions Ready RD CN6-14 RD turns ON when the servo amplifier is ready to operate after servo-on.
16 - 25 16. INDEXER POSITIONING OPERATION (3) Output signals Refer t o sect ion 4. 8.2 for the ou tput interf aces (s ymbo ls in t he I/O D ivis ion fi eld in the tab le) of the corres pondi ng co nnector pi ns.
16 - 26 16. INDEXER POSITIONING OPERATION 16.3.2 Detai led desc riptio n of s ignals (dev ices) (1) For ward rotat ion s tart rev erse r otation star t tem porar y stop/res tart (a) A s tart (R Yn1) sho uld m ake th e sequ enc e whic h ca n be us ed af ter t he mai n cir cuit has b een establ ished .
16 - 27 16. INDEXER POSITIONING OPERATION (b) R ough m atch The f ollowin g tim ing chart s sho w the relat ionsh ips b etwee n the sig nal and t he posi tion com mand genera ted in the ser vo am plifi er. T his t iming can be ch ange d using par ameter No.
16 - 28 16. INDEXER POSITIONING OPERATION (3) Torque limit CAUTION If the t orque l imit is canc eled d uring s ervo l ock, the s erv o motor ma y suddenl y rotate accor ding to pos ition deviat ion i n res pect to the c omm and pos ition.
16 - 29 16. INDEXER POSITIONING OPERATION 16.4 Switc hing po wer on f or the f irst tim e W ARNING Do no t oper ate t he s witches with wet ha nds. You m ay get an electr ic s hock . CAUTION Befor e star ting o perat ion, check the par am eters. Som e mac hines m ay per form unexpec ted o perat ion.
16 - 30 16. INDEXER POSITIONING OPERATION 16.4.2 W iring chec k (1) Power supply system wiring Befor e switc hing on t he mai n circ uit and co ntrol c ircu it po wer sup plies, check th e foll owing item s.
16 - 31 16. INDEXER POSITIONING OPERATION 2) W hen reg enera tive optio n is us ed over 5kW for 20 0V c lass and 3.5kW f or 400V c lass The l ead of buil t-in r egener at ive res istor c onn ected to P t erm inal and C term inal of T E1 term ina l block shou ld not be con nect ed.
16 - 32 16. INDEXER POSITIONING OPERATION 16.5 Startup 16.5.1 Po wer on a nd off procedures (1) Power-on Switch po wer on in the f ol lowing proc edure. Alwa ys fo llow th is pr ocedur e at power- on. 1) S witch of f the servo- on ( RYn0). 2) Mak e sure that the st art ( RYn1) is of f.
16 - 33 16. INDEXER POSITIONING OPERATION 16.5.3 T est operat ion Befor e star ting ac tual opera tion, perf orm test op erati on to m ak e sure t hat t he mac hine op erates norm all y. Refer t o sec tion 1 6.5.1 for t he power on a nd of f m ethods of the s ervo am pl ifier .
16 - 34 16. INDEXER POSITIONING OPERATION 16.5.4 Par ameter setting POINT The enc oder cable MR-EK CBL M-L/H for the HF-MP series HF- KP series servo m otor requires the pa ram eter No.PC22 s etting to be change d depending on its length. C heck whether the param eter is set c orrectl y.
16 - 35 16. INDEXER POSITIONING OPERATION 16.5.5 Poi nt table s etting Set neces sar y item s to the point ta ble bef ore st artin g operat ion. The foll owing ta ble indic at es the item s that must be set . Name D escrip tion Position data Not used in indexer positioning operation.
16 - 36 16. INDEXER POSITIONING OPERATION 16.6 Servo am plifier display On the ser vo am plifi er dis pla y (three- dig it, se ven-s egment disp la y), chec k the s tat us of comm unicat ion with th e CC-Link cont roller at po wer- on, ch eck the stat ion numbe r, and diagn ose a fault at oc currenc e of an a larm .
16 - 37 16. INDEXER POSITIONING OPERATION (2) Indication list Indication S tatus Description b ## Waiting f or CC-Link communication Power of the CC-Link mast er module was switc hed on at the condition that the power of CC-Link m aster module is OFF.
16 - 38 16. INDEXER POSITIONING OPERATION 16.7 Autom atic operation mode POINT In the abso lute pos ition det ection s ystem , the follo wing res triction c ondition applies f or the num ber of gears on m achine- side (para m eter No.PA06 CMX ) and ser vo motor s peed (N).
16 - 39 16. INDEXER POSITIONING OPERATION 16.7.2 Autom atic operation m ode 1 (Rotation direct ion spec ifying i ndexer) In th is oper atio n m ode, the ser vo m otor r otates in the fi xed dir ect ion and exec utes pos itioni ng to a sta tion.
16 - 40 16. INDEXER POSITIONING OPERATION 2) Setti ng the num ber of sta tions Set th e number of st ation s in the pa ramet er No .PC4 6. Parameter No .PC46 setting value 0000 to 0002 0003 0004 00FF Number of stations 2 3 4 255 Station No. No.0 No.1 No.
16 - 41 16. INDEXER POSITIONING OPERATION Selec t the poin t tab le using the s peed s elect ion 1 (R Y(n 2)C) to s peed s elect ion 3 (RY(n 2)E). T ur n on the star t (R Yn1) to ex ecu te posit ionin g with t he spee d data set in the p oint tab le.
16 - 42 16. INDEXER POSITIONING OPERATION (e) T iming ch art POINT Always exec ute a hom e po sition retur n. T he home pos itioning incom plete (A90) occ urs when tur ning on the s tart (RYn1) without executin g a hom e position r eturn. The tim ing c hart is s hown belo w.
16 - 43 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station select ion (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection ( RY( n 2)C to R Y(n 2)E ) earlier, consideri ng the delay time of CC-Link communication.
16 - 44 16. INDEXER POSITIONING OPERATION (b) Oth er par am eter se ttings 1) Set ting t he s ervo m otor r otation direct ion and a llocat ion d irect ion of stati on num bers Selec t the alloc ation direc tio n of st atio n num bers us ing the param eter N o.
16 - 45 16. INDEXER POSITIONING OPERATION (e) T iming ch art POINT Always exec ute a hom e po sition retur n. T he home pos itioning incom plete (A90) occ urs when tur ning on the s tart (RYn1) without executin g a hom e position r eturn. The tim ing c hart is s hown belo w.
16 - 46 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RW wn 6 earlier, considering the delay time of CC-Link communication. 2. When t he selected s tation number exceeds the val ue that is dividing number set in t he parameter No.
16 - 47 16. INDEXER POSITIONING OPERATION 2) W hen direc tl y settin g the ser vo m otor spe ed *3 Speed 1 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF *1 ON OFF *2 No.1 No.3 No.1 No.1 No.3 No.1 Speed 2 Speed 3 ON OFF ON (Note 6) Param eter No.PA1 1, PA1 2 Pa ra met er N o.
16 - 48 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RW wn 6 earlier, considering the delay time of CC-Link communication. 2. When t he selected s tation number exceeds the val ue that is dividing number set in t he parameter No.
16 - 49 16. INDEXER POSITIONING OPERATION 16.7.3 Autom atic op eration m ode 2 (Shortest ro tating i ndexer) In this oper atio n mode , th e ser vo m otor aut om atical ly cha nges t he d irect ion for the s hort est dista nce an d execu tes pos itio ning.
16 - 50 16. INDEXER POSITIONING OPERATION Selec t the poin t tab le using the s peed s elect ion 1 (R Y(n 2)C) to s peed s elect ion 3 (RY(n 2)E). T ur n on the s tart ( RYn1) to exec ute p ositi oning with t he spe ed data s et in the p oint ta ble.
16 - 51 16. INDEXER POSITIONING OPERATION (e) T iming ch art POINT Always exec ute a hom e po sition retur n. T he home pos itioning incom plete (A90) occ urs when tur ning on the s tart (RYn1) without executin g a hom e position r eturn. The tim ing c hart is s hown belo w.
16 - 52 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes the next station select ion (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed selection ( RY( n 2)C t o RY(n 2)E) earlier, considering the delay time of CC-Link communic ation.
16 - 53 16. INDEXER POSITIONING OPERATION (b) Oth er par am eter se ttings (Sett ing th e num ber of s tat ions) Set the n um ber of s tations in t he param eter No .PC4 6. Sett ing is the s ame as that for the aut om atic operat ion m ode 1 . Ref er t o (1) ( b) 2) in s ectio n 16.
16 - 54 16. INDEXER POSITIONING OPERATION (e) T iming ch art POINT Always exec ute a hom e po sition retur n. T he home pos itioning incom plete (A90) occ urs when tur ning on the s tart (RYn1) without executin g a hom e position r eturn. The tim ing c hart is s hown belo w.
16 - 55 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RW wn 6 earlier, considering the delay time of CC-Link communication. 2. When t he selected s tation number exceeds the val ue that is dividing number set in t he parameter No.
16 - 56 16. INDEXER POSITIONING OPERATION 2) W hen direc tl y settin g the ser vo m otor spe ed (on l y when 2 st atio ns ar e occ upied) ON OFF 6ms or mo re (Note 3) 4ms or more ON OFF ON OFF ON OFF ON OFF (Note 1) Speed 1 ON OFF ON OFF ON OFF No.1 No.
16 - 57 16. INDEXER POSITIONING OPERATION Note 1. Configure a sequence that changes RWwn 4 and RW wn 6 earlier, considering the delay time of CC-Link communication. 2. When t he selected s tation number exceeds the val ue that is dividing number set in t he parameter No.
16 - 58 16. INDEXER POSITIONING OPERATION 16.8 Manua l operat ion m ode For adj usting the m achin e or hom e posi tion, J OG oper ation or index er J OG oper ation c an be us ed to m ove t he posit ion to an y posit ion.
16 - 59 16. INDEXER POSITIONING OPERATION (3) Op erati on Turn on th e start ( RYn1) to oper ate the s ervo m otor with the s ervo m otor spee d, acc eleratio n tim e constan t, and dec elerat ion tim e cons tant set i n the poin t table No.
16 - 60 16. INDEXER POSITIONING OPERATION 16.8.2 JO G opera tion (1) Setting Set the de vices and param eters as ind icate d be low f or th e purpos e of use . In this c ase, t he n ext st ation selec tion 1 t o 8 (R YnA t o RYnE a nd R Y(n 2) 3 to R Y(n 2 )5) and t he spee d selec tion 1 to 3 (R Y(n 2)C to RY(n 2)E) are i nvali d.
16 - 61 16. INDEXER POSITIONING OPERATION 16.9 Hom e position r eturn mode 16.9.1 Out line of hom e posi tion retur n Home pos it ion ret urn is perf ormed to m atc h the c omman d coor dinates with the mac hin e coord inates . In th e increm enta l syst em, hom e pos itio n ret urn is r equ ired ever y tim e input po wer is switc hed o n.
16 - 62 16. INDEXER POSITIONING OPERATION (2) Home position return parameter W hen perfor ming hom e posit ion retur n, s et eac h par ameter as f ollo ws. (a) C hoose the hom e pos iti on ret urn m ethod with p aram eter No. PC02 ( Hom e pos ition r eturn t ype).
16 - 63 16. INDEXER POSITIONING OPERATION 16.9.2 T orque lim it chang ing do g t ype home positi on retur n A hom e pos ition r etur n met hod us ing a prox imit y do g.
16 - 64 16. INDEXER POSITIONING OPERATION (3) T iming ch art ON OFF ON OFF Home position return com pletion (RXn3/ZP) ON OFF Home position return speed parameter No.PC04 Point ta ble No .1 deceleration time constant Creep speed parameter No.PC05 Home position shift distance parameter No.
16 - 65 16. INDEXER POSITIONING OPERATION 16.9.3 T orque lim it chang ing dat a setting type home pos ition ret urn POINT Tor que limit bec omes effective af ter com pletin g the tor que lim it chang .
16 - 66 16. INDEXER POSITIONING OPERATION 16.9.4 Hom e posit ion retur n autom atic retur n functio n If the cur rent p ositi on is at o r be yond the pr oxim ity do g in the hom e pos ition r eturn u.
16 - 67 16. INDEXER POSITIONING OPERATION 16.10 Abs olute pos ition det ection s ystem CAUTION If an abs olut e pos ition erase a larm (A25) or an absol ute p osition count er war ning (AE3) h as occ urred , al ways perfor m hom e posit ion s ettin g aga in.
16 - 68 16. INDEXER POSITIONING OPERATION (3) Structure Component Description Servo amplifie r Serv o motor Use s tandard m odels. Batt ery MR-J3BAT Encoder c able Us e a st andard model.
16 - 69 16. INDEXER POSITIONING OPERATION (a) For MR-J 3-350T or l ess MR-J 3-20 0T4 or less POINT For the ser vo am plifier with a bat tery holder on the b ottom , it is not possib le to wire for the earth wit h the b attery inst alled. Insert the batter y after execut ing the earth wiring of the ser vo am plifier.
16 - 70 16. INDEXER POSITIONING OPERATION 16.11 Para meters CAUTION Ne ver adj ust or chang e th e par ameter valu es ex trem ely as i t will m ake operat ion instab le.
16 - 71 16. INDEXER POSITIONING OPERATION (2) Paramete r write inhibit Parameter No. Symbol Nam e Initial value Unit Setting range PA19 *BLK Param eter write inhibit 000Ch Refer t o the tex t. POINT This param eter is m ade valid when po wer is switc hed o ff, then o n after setting.
16 - 72 16. INDEXER POSITIONING OPERATION (4) Se lectio n of regen erati ve op tion Parameter No. Symbol Nam e Initial value Unit Setting range PA02 *REG Regenerative option 0000h Refer t o the text. POINT This param eter is m ade valid when po wer is switc hed o ff, then o n after setting.
16 - 73 16. INDEXER POSITIONING OPERATION (6) El ectro nic g ear Para m eter No. Symbol Nam e Initial value Unit Setting range PA06 *CMX Num ber of gears on machine-side 1 1 t o 16384 PA07 *CDV Number of gears on servo motor-side 1 1 t o 16384 CAUTION Fals e se tting will r esult in un expec ted fas t rota tion, c ausi ng inj ury.
16 - 74 16. INDEXER POSITIONING OPERATION (a) Ex am ple 1 W hen the num ber of pul ley teet h on the m achine-s ide is 50, an d the num ber of pul ley te eth on the s erv o motor side is 20. Number of pulley teeth on macine side: 50 Number of pulley teeth on servo motor side: 20 Parameter No.
16 - 75 16. INDEXER POSITIONING OPERATION (7) Auto tuning Parameter No. Symbol Nam e Initial value Unit Setting range PA08 A TU Auto t uning mode 0001h Refer to the text. PA09 RS P Auto tuning respons e 12 1 to 32 Make ga in ad justment using a uto tuni ng.
16 - 76 16. INDEXER POSITIONING OPERATION (8) I n-pos ition r an ge Para m eter No. Symbol Name Initial value Unit Setting range PA10 INP In-pos ition range 100 puls e 0 t o 10000 Set the r ange f or out putti ng the m ovem ent c omplet io n (RXnC) and t he in p ositi on (RX n1) in c omm and pulse un it.
16 - 77 16. INDEXER POSITIONING OPERATION (10) Station No. direct ion s elect ion Para m eter No. Symbol Nam e Initial value Unit Setting range PA14 *POL St ation No. di rection select ion 0 0 1 POINT This param eter is m ade valid when po wer is switc hed o ff, then o n after setting.
16 - 78 16. INDEXER POSITIONING OPERATION (11) Encod er out put p uls e Parameter No. Symbol Nam e Initial value Unit Setting range PA15 *ENR Encoder output pulse 4000 puls e/ rev 1 to 65535 POINT This param eter is m ade valid when po wer is switc hed o ff, then o n after setting.
16 - 79 16. INDEXER POSITIONING OPERATION 16.11.2 Gain/f ilter param eters (No.PB ) (1) Paramete r list No. Sy m bol Name In itial value Unit PB01 FILT A daptive tuning m ode (Adaptive fi lter ) 0000h.
16 - 80 16. INDEXER POSITIONING OPERATION (2) Detail list No. Symbol Name and function Initi al value Unit Setting range PB01 FILT Adaptive tuning m ode (Adapti ve filter ) Select t he setting m ethod for f ilter tuning.
16 - 81 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Init ial value Unit Setting range PB02 VRFT Vibration s uppression cont rol tuning m ode (Advanced vi bration suppress ion control) The vibration suppressi on is valid w hen the param eter No.
16 - 82 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Ini tial value Unit S etting range PB05 For manufacturer s etting Do not change this value by any means. 500 PB06 GD2 Ratio of load inertia m oment to servo m otor inerti a moment Used t o set the ratio of the l oad inertia m oment to the s ervo mot or shaft inertia moment.
16 - 83 16. INDEXER POSITIONING OPERATION No. Symbol Name and function I nitial value Uni t S etting range PB14 NHQ1 Not ch shape s election 1 Used to selection the machi ne resonance suppression filter 1.
16 - 84 16. INDEXER POSITIONING OPERATION No. Symbol Name and function Init ial value Unit Setting range PB18 LPF Low-pass filter Set the low-pass filt er. Setting paramet er No.PB23 (low-pass filter selecti on) to " 0 " automaticall y changes t his parameter.
16 - 85 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Init ial value Unit Setting range PB25 For manufacturer s etting Do not change this value by any means. 0000h PB26 *CDP Gai n c hanging selection Select t he gain changi ng condition.
16 - 86 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Init ial value Unit Setting range PB33 VRF1B Gai n changing vibration suppress ion control vibration frequency set ting Set the vibration frequency for vibration suppres sion control when the gain changing is vali d.
16 - 87 16. INDEXER POSITIONING OPERATION 16.11.3 Ex tension s etting p aram eters ( No.PC ) (1) Paramete r list No. Sy m bol Name Initial value Unit PC01 For manuf acturer setting 0000h PC02 *ZTY Hom.
16 - 88 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Init ial value Unit PC49 0000h PC50 For manufact urer setting 0000h (2) Detail list No. Sym bol Name and function I nitial value Unit S etting range PC01 For m anufacturer s etting Do not change this value by any means.
16 - 89 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Initial value Unit S etting range PC1 3 Not used in indexer positioning operation. Do not change the parameter. 0 PC14 *BKC B acklash compens ation Used to set the backlash compensation m ade w hen the command directi on is reversed.
16 - 90 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Initial value Unit S etting range PC20 *SNO S tation number sett ing Used to specify the stat ion number for RS-422 serial communicati on and USB communic ation. Always s et one st ation to one axis of servo amplifier.
16 - 91 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Initial value Unit Setting range PC29 For manufact urer s etting Do not change this value by any means.
16 - 92 16. INDEXER POSITIONING OPERATION No. Symbol Nam e and function Initi al value Uni t Setting range PC46 *S TN Indexer positi oning operation number of stations/rotation Set the number of stations (divi ding number) per machine rotation. When the setting value is 2 or lower, the number of stations is set t o 2.
16 - 93 16. INDEXER POSITIONING OPERATION (4) Rough m atc h outpu t Rough m atc h (RXn 2) is output whe n the c omm and re m aining dis tanc e reac hes t he val ue set in p aram eter No.PC 11 (ro ugh m atch o utput r ange) . T he sett ing r ange is 0 t o 6553 5 [pu lse].
16 - 94 16. INDEXER POSITIONING OPERATION (2) Detail list No. Sym bol Name and function Initial value Unit Setting range PD01 *DI A1 Input signal automatic ON s election 1 Select t he input devi ces to be automatically t urned ON. part is for manufacturer s etting.
16 - 95 16. INDEXER POSITIONING OPERATION No. Symbol Name and function Initial value Unit Setting range PD17 0000h PD18 For manufac turer set ting Do not change t his value by an y means. 0000h PD19 *DIF Response level setti ng Used to select the input.
16 - 96 16. INDEXER POSITIONING OPERATION No. Symbol Name and function Initial value Unit Setting range PD24 *DOP5 Function selecti on D-5 Select the out put status of the warning (RX nA). Selection of output device at warning occurrence Select the warning (RXnA) and t rouble (RX(n 1)A or RX(n 3)A) output status at warning occ urrence.
16 - 97 16. INDEXER POSITIONING OPERATION (3) St oppin g meth od when t he for ward s trok e end ( LSP) or r evers e str oke e nd (L SN) is val id The setti ng of the f irst d igit of param eter No.
16 - 98 16. INDEXER POSITIONING OPERATION 16.12 TROUBLESHOOTING 16.12.1 T rouble at start-up CAUTION Exc essiv e adjus tment or ch ange of par ameter sett ing m us t not be m ade as it will mak e operat ion instab le. POINT Using the MR Conf igurator, you can r efer to unrotated servo m otor r easons, etc.
16 - 99 16. INDEXER POSITIONING OPERATION 16.12.2 Op eration at error occurrenc e An error occurr ing dur ing op erat ion wil l result in any of the s tatuses ind icated in the fo llowin g tabl e.
16 - 100 16. INDEXER POSITIONING OPERATION 16.12.4 W hen alarm or war ning has occurr ed POINT Configure up a circ uit which will det ect the trouble (AL M) signal and turn off the servo- on (RYn 0) at occ urrence of an alar m.
16 - 101 16. INDEXER POSITIONING OPERATION (2) R emedies f or alarm s CAUTION W hen any alarm has occ urr ed, elim inate i ts caus e, en sure s afet y, then res et the alarm , and r estart opera tion . Oth erwis e, inj ur y may occ ur. If an abs olut e posit ion er ase (A2 5) occur red, alwa ys m ake hom e positio n sett ing again.
16 - 102 16. INDEXER POSITIONING OPERATION Display Nam e Defi nition Caus e Action A15 Mem ory error 2 (EEP-ROM) EEP-ROM fault 1. Faulty parts in the servo amplifier Checking method Alarm (A15) occurs if power i s switched on after disc onnection of all cables but the c ontrol circuit power supply cables.
16 - 103 16. INDEXER POSITIONING OPERATION Display Nam e Defi nition Caus e Action 1. Wrong setting of parameter No. PA02 Set corr ectly . 2. Built-i n regenerative resistor or regenerative option is not connec ted.
16 - 104 16. INDEXER POSITIONING OPERATION Displa y Name Def inition Caus e Acti on 1. Short occurred in servo motor power (U, V, W). Correct t he w iring. A32 Overcurrent 2. Transistor (IPM, IGBT) of the servo amplifier faulty. Checking method Alarm (A32) occurs if p ower is switched on after U,V and W are disconnecte d.
16 - 105 16. INDEXER POSITIONING OPERATION Display Nam e Defini tion Cause Acti on A37 Paramet er error Paramet er setting i s wrong. 1. Servo amplifier f ault caused the paramet er setting to be rew ritten. Change the servo amplifier. 2. Regenerative option not used with servo amplif ier was selected in paramet er No.
16 - 106 16. INDEXER POSITIONING OPERATION Display Nam e Defi nition Cause Action A50 Overload 1 Load exceeded overload protect ion charact eristic of servo amplifi er. 1. Servo amplifier is used in excess of its continuous out put current. 1. Reduce load.
16 - 107 16. INDEXER POSITIONING OPERATION Display Nam e Defini tion Cause Acti on A52 Error exces sive 1. Acceleration/decelerati on time constant is too sm all. Increas e the acceleration/deceleration time consta nt. 2. Forward rotation torque limit (paramet er No.
16 - 108 16. INDEXER POSITIONING OPERATION Display Nam e Defini tion Cause Acti on (Note) 888 Watchdog CPU, parts faul ty. Fault of parts in s ervo ampl ifier. Checking method Alarm (888) occurs if power is switched on after d isconnection of all cables but the control circuit power su pply cable.
16 - 109 16. INDEXER POSITIONING OPERATION If AE6 occur , the s ervo off status is es tablis hed. If an y ot her war ning oc curs , oper atio n can b e co ntinu ed but an alarm m ay tak e plac e or pr oper o perat ion m ay n ot be p erfor med. Remove the caus e of warn ing ac cordi ng to this sect ion.
16 - 110 16. INDEXER POSITIONING OPERATION Display Nam e Definition Cause Act ion 1. Battery cable is open. Repair cable or changed. A92 Open batt ery cable warning Absolu te positi on detection s ystem battery voltage is low. 2. Battery volt age supplied from the servo amplifi er to the encoder fell to about 3V or les s.
16 - 111 16. INDEXER POSITIONING OPERATION Display Nam e Def inition Caus e Act ion 1. Noise entered the encoder. Take nois e suppression measures. AE3 Abs olute posit ion counter warning Absolu te positi on encoder pulses fault y. 2. Encoder faulty. Change the s ervo motor.
16 - 112 16. INDEXER POSITIONING OPERATION 16.12.5 Po int tab le error W hen a point tab le err or occ urs, th e param eter err or (A 37) occur s. Af ter the param eter No. of param eter er ror (A37), the p oint t able er ror d etails are displa yed. Point table error details For the point table No.
App. - 1 A PPENDIX App. 1 Par amet er lis t POINT For an y parameter whose s y m bol is preceded by *, se t the param eter value and switc h power of f once, then sw itch it o n again to m ak e that param eter setting v alid. Basic s etting paramet ers (PA ) Gain/f ilter parameters (PB ) No.
App. - 2 A PPENDI X Extension sett ing parameters (PC ) I /O setting paramet ers (PD ) No. Symbol Name No. Symbol Nam e PC01 For m anufacturer s etting PD01 *DIA1 Input signal automatic ON sel ection .
App. - 3 A PPENDI X App. 2 Sig nal lay out re cording paper CN6 11 4 21 5 DICOM 31 6 DOCOM 41 7 5 6 8 10 12 7 9 11 13 19 21 23 25 18 20 22 24 26 LB LA LZ LG LBR LAR LZR PP NP OPC.
App. - 4 A PPENDI X App. 3 Tw in type connector: o utline dr awi ng for 721- 2105/026-000( W AGO) [Unit: mm] Driver slot 5.25 5 Detecting hole Coding finger Latch 2.
App. - 5 A PPENDI X Ap p. 4 Change of connector sets to the RoHS compatible pr oducts Connec tor s ets (opt ions ) in the f ollowi ng t able ar e ch anged t o the RoH S com patib le prod ucts after Sept ember , 2006 s hipm ent. Pleas e accep t that the cur rent pro ducts m ight be m ixed with RoH S com patible pr oduc ts base d on avai labil ity.
App. - 6 A PPENDI X App. 5 MR -J3-200 T-RT s erv o ampli fier Connec tors ( CNP1, CNP 2, an d CNP3) and app earan ce of MR-J3- 200T serv o am plif ier ha ve be en cha nge d from Januar y 2008 produc ti on. Mod el nam e of th e ex istin g ser vo am plifi er is c h an ged t o MR-J3- 200T -RT .
App. - 7 A PPENDI X App. 5.2 Configurat ion inc ludi ng auxiliar y equipm ent ( 1.7 Configur atio n includi ng auxil iar y equipm ent) R S T CN5 CN3 CN2 CN4 CN6 CC-Link P C P 1 P 2 L 21 L 11 U CN1 UV .
App. - 8 A PPENDI X App. 5.3 CN P1, CNP 2, CNP3 wiring m ethod (4.3.3 C NP1, CNP 2, CNP3 wiring m ethod) (a) Ser vo am plif ier power s upp ly conn ectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 <Applica ble cab le examp le> Cable fini sh OD: t o 5mm <Applicab l e cable example> Cable fin ish OD: to 3.
App. - 9 A PPENDI X App. 5.4 O UTLINE DR AW INGS (Chapter 1 2 OUT LINE DR A W INGS) [Unit: mm] 85 6 78 Approx. 25.5 90 Approx. 68 6 6 45 Approx. 80 195 21.4 6 CNP1 CNP3 CNP2 CN1 6 mounting hole With MR-J3BAT Rating plate Cooling fan wind direction Mass: 2.
App. - 10 A PPENDI X App. 6 Sel ection ex ample of serv o motor p ower cable POINT Selectio n con ditio n of wire si ze is as f ollo ws. W ire length: 30m or les s Depending on the ca ble sel ected, ther e ma y be cases that the c able do es not fit into the Mitsubis hi optional or recom mended c able c lamp.
App. - 11 A PPENDI X App. 7 Par amet er lis t POINT For an y parameter whose s y m bol is preceded by *, se t the param eter value and switc h power of f once, then sw itch it o n again to m ak e that param eter setting v alid. Basic s etting paramet ers (PA ) Gain/f ilter parameters (PB ) No.
App. - 12 A PPENDI X Extension sett ing parameters (PC ) I /O setting paramet ers (PD ) No. Symbol Name No. Symbol Nam e PC01 For m anufacturer s etting PD01 *DIA1 Input signal automatic ON sel ection.
App. - 13 A PPENDI X App. 8 Prog ram ex ample with M ELSEC-A s eri es progr ammable controll ers (point t able posit ioning operation) App. 8.1 Function- by-func tion pro gramm ing exam ples This sect.
App. - 14 A PPENDI X App. 8.1 .2 Read ing the s ervo am plifier status Read th e ser vo amplif ier s tatus from the m aster stat ion b uff er m emor y. The s erv o ampl ifier stat us is al ways stored i n the rem ote inp ut RX (addr ess es E0 H to 1 5F H ) Read th e servo am plifier s tatus of s tati on 1 to M0 t o M31.
App. - 15 A PPENDI X App. 8.1 .3 W riting the op eration c omm ands To op erate the ser vo ampli fier, writ e the opera tion com mands to th e rem ote out put R Y (ad dresses 1 60 H to 1DF H ). Perform posi tion ing op eratio n of point table No.2 for th e ser vo am plif ier of stat ion 2 .
App. - 16 A PPENDI X App. 8.1 .4 Readin g the da ta Read v arious data of t he se rvo am plif ier. (1) Re adin g the moni tor valu e Read the (f eedb ack puls e value) of the serv o am plifier of statio n 2 to D1.
App. - 17 A PPENDI X (2) R eading the par am eter Read par am eter N o.PA0 4 "F unctio n sel ectio n A-1 " of th e ser vo am plif ier of stati on 2 to D1. Data No. Descri ption H8200 Parameter group selection H2024 Parameter No.PA04 setting (hex a decimal ) Read th e param eter No.
App. - 18 A PPENDI X (3) R eading the alarm defin ition Read th e al arm defin ition of the ser vo am plifier of stati on 2 t o D1. Data No. Descri ption H0010 Occurring alarm/warning No. (hexadecim al) Read c urren t alarm s by turnin g on X 20. The res pond c ode at ins truc tion c ode execu tion is set to D9.
App. - 19 A PPENDI X App. 8.1 .5 W riting the dat a This sect ion ex plains the program s f or wri ting v ario us data to t he ser vo am plif ier. (1) Wr iting the ser vo motor speed da ta of point ta ble Change the s ervo m otor spee d dat a in th e po int tab le N o.
App. - 20 A PPENDI X (2) Wr iting the par am eter The f ollowi ng sho ws a pr ogr am ex ample when t wo st ations are oc cupi ed. Chang e par ameter No. PC12 ( JOG s pee d) of the ser vo amplif ier of st atio n 2 to "100 ". The par am eter gr oup PC is spec ified as fo llo ws.
App. - 21 A PPENDI X (3) Ser vo am pl ifier alarm res etting progr am ex am ples (a) D eacti vate th e al arm of the s ervo amplif ier of s tation 2 b y issu ing a c omm and f rom the program m able contr oller. Reset the servo am plifi er on the oc curre nce of a serv o alarm by turn ing on X20.
App. - 22 A PPENDI X App. 8.1. 6 Operati on This sect ion ex plains the operat ion progr ams of the ser vo am plifier . (1) JO G oper atio n Perfor m J OG op eratio n of the s ervo amplif ier of s tatio n 1 and read the "curr ent p ositi on" dat a.
App. - 23 A PPENDI X (2) R emote r egis ter-bas ed p ositi on data /speed dat a sett ing The f ollow ing pro gram exa m ple is on ly ap plic able when t wo st ati ons are occu pied .
App. - 24 A PPENDI X (3) R emote r egis ter-bas ed point table No. set ting (incre m ental val ue com m and s ystem ) The f ollow ing pro gram exa m ple is on ly ap plic able when t wo st ati ons are occu pied . Opera te the s erv o am plifi er of stati on 2 with i ncrem ental valu es af ter s pecif ying the po int t able N o.
App. - 25 A PPENDI X App. 8.2 Continuo us operat ion pr ogram exam ple This section s ho ws a progr am example which i nclud es a s eries of c omm unicat ion op erat ions f rom a servo start. T he progr am will be d escrib ed on t he basis of the equipm ent m ak eup shown in appe ndix 8.
App. - 26 A PPENDI X App. 8.2 .2 Program exam ple when 1 s tation is occupi ed POINT To ex ecute a dog t ype hom e positio n retur n with the C C-Link comm unication functions , set " 0 " in param eter No. PD14 and us e Proxi m ity dog (DOG) with the rem ote inpu t (R Y03) in t his exam ple.
App. - 27 A PPENDI X No. selection 2 No. selection 3 No. selection 4 No. selection 5 No. selection 1 Forward rot ation JOG command Reverse rota tion JOG command Writes M100 t o M131 to r emote output ( RY00 to RY2F) of buffer mem ory. Forwa rd rotation start requ est Reverse rota tion start re quest Point table No.
App. - 28 A PPENDI X App. 8.2 .3 System c onfiguratio n exam ple when 2 s tati ons are occ upied As sho wn belo w, the CC-Li nk s ystem m aster local u nit is load ed to run o ne ser vo am plifi ers ( 2 statio n occupi ed).
App. - 29 A PPENDI X App. 8.2 .4 Program exam ple when 2 s tations ar e occ upied POINT To ex ecute a dog t ype hom e positio n retur n with the C C-Link comm unication functions , set " 0 " in param eter No. PD14 and us e Proxi m ity dog (DOG) with the rem ote inpu t (R Y03) in t his exam ple.
App. - 30 A PPENDI X Writes M 100 to M16 3 to remote ou tput (RY00 t o RY3F ) of bu ffe r memory. Forw ard rotation start r equest Reve rse rota tion st art reque st Forward rota ti on JOG comman d Re.
REVISIONS *The m anual num ber is g iven on th e bottom left of the bac k co ver. Print Data *Manual Nu mber Revision Apr., 2006 SH(NA)030058-A First edition Jul., 2006 SH(NA)030058-B Chapter 2 Section 3.5.2(2) Section 3.5.3 Section 3.6.3(1) Section 3.
Print Data *Manual Number Rev ision Oct., 2007 SH(NA)030058-C Section 13.2 Section 13.3 Section 13.5 Section 14.1.1 Section 14.1.1 2) Section 14.1.2 Section 14.2 (1) Section 14.2 (2) (b) Section 14.2 (3) Section 14.2 (4) Section 14.2 (5)(b),(c) Section 14.
Print Data *Manual Number Rev ision Feb., 2008 SH(N A)030058-D 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.
Print Data *Manual Number Rev ision Jun., 2008 SH(NA)030058-E 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.
SH (NA) 030058-E (0806) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 10.
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