Gebruiksaanwijzing /service van het product MR-J3-T van de fabrikant Mitsubishi Electronics
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SH (NA) 030061-E (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series E MR-J3- T MR-J3-D01 Servo Amp.
A - 1 Safety Instructions (Always read these instructi ons before using the equip ment.) Do not attempt to install, o perate, maintain or ins pect the servo amplifier and servo motor un til you have r.
A - 2 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, turn o ff the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
A - 3 4. Additional instructions The following instructions should also be fully noted. In correct handling may cause a fault, in jury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weig hts.
A - 4 CAUTION Never hit the servo motor o r shaft, especially when co upling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi.
A - 5 (4) Usage CAUTION Any person who is involved in disassembly and r epair s hould be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on.
A - 6 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo ampl ifier will deteriorate. To preven t a secondary accident due to a fault, it is recomme nded to replace the electr olytic capacitor every 10 years when used in general environment.
A - 7 About processing of waste When you discard servo amplifier, a battery (primary batte ry), and other option articles, please fo llow the law of each country (area).
A - 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIREC TIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed produc ts .
A - 9 (2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. NFB MC No-fuse breaker Magnetic contactor Reinforced insulating type 24VDC power supply Servo amplifier Servo motor Control box M (3) Environment Operate the servo amplifier at or above the contaminat ion level 2 set forth in IEC60664-1.
A - 10 (b) Use the servo motor side power connector whic h complies with the EN Standard. The EN Standard compliant power connector sets are available fr om us as options .
A - 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors us ed Use the servo amplifiers and servo motors which comply with the s tandard model.
A - 12 (5) Options and auxiliary e quipment Use UL/C-UL standard-compliant products. (6) Attachment of a servo motor For the flange size of the machine side where the ser v o motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruc tion Manual (Vol.
1 CONTENTS 1. FUNCTIONS AND CONFIG URATION 1 - 1 to 1 -38 1.1 Intr oducti on .............................................................................................................. ................................. 1 - 1 1.1.1 Function bloc k diagram .
2 3.8 Inte rface ................................................................................................................. .................................. 3 -47 3.8.1 Internal c onnection di agram ...........................................
3 4.7.12 Dogless Z-phase reference hom e position return method ........................................................... 4 -55 4.7.13 Home position retur n automatic r eturn function .................................................................
4 6.7.3 Motor-le ss operat ion .................................................................................................... .................... 6 -18 6.7.4 Output signal (DO) forc ed output ....................................................
5 9.6.4 Gain ch anging operat ion ................................................................................................. .................. 9-14 10. TROUBLESHOOTING 10- 1 to 10-14 10.1 Trouble at start- up ..................................
6 13.14 Surge absorber s (recomm ended) ........................................................................................... .......... 13-73 13.15 Noise reducti on techni ques ...................................................................
1 - 1 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction This servo has the func tion to perform positioning operation b y merely setting the position data (target positions), servo motor speeds, acceleration and dec eleration time constants, et c.
1 - 2 1. FUNCTIONS AND CONFIGURATIO N 1.1.1 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350T or less MR-J3-200T4 or less (Note 3) Coolin g fan W NFB MC L 1 L 2 L 3 L 11 L 21 B2 CN2 U V W U V M B1 CN4 MR-J3BAT P 1 P 2 1 No.
1 - 3 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Cooling fan NFB MC L 1 L 2 L 3 L 11 L 21 B2 U V W U V W M B1 P 1 P 2 N C P CN2 CN4 MR-J3BAT 1 No.
1 - 4 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-11KT(4) to MR-J3-22KT(4) Cooling fan W C P NFB MC L 1 L 2 L 3 L 11 L 21 B2 CN2 U V W U V M B1 CN4 MR-J3BAT P 1 N 1 No.
1 - 5 1. FUNCTIONS AND CONFIGURATIO N 1.1.2 System configuration This section provides operations using this servo. The configuration can be freely arranged as any sys tem from a sing le axis system to an up to 32-axis sys tem. In addition, the optimu m device to each system can be a ssigned to the connector pin of the I/F part.
1 - 6 1. FUNCTIONS AND CONFIGURATIO N (2) Operation by external input signals and communication (a) Definition The data change and sele ction of point tables, change of parameters and confir mation of the monitor can be performed through communication.
1 - 7 1. FUNCTIONS AND CONFIGURATIO N 1.2 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier MR-J3- Item 10T 20T 40 T 60T 70 T 100T 200T 350T 500T 700T 11KT 15KT 22KT 1.
1 - 8 1. FUNCTIONS AND CONFIGURATIO N Servo amplifier MR-J3- Item 10T 20T 40 T 60T 70 T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Operation mo de Home position return mode Dog type Home position retur n is made starting with Z-phase pulse after passage of pro ximity dog.
1 - 9 1. FUNCTIONS AND CONFIGURATIO N (2) 400V class Servo amplifier MR-J3- Item 60T4 100T4 200T4 350 T4 500T 4 700T4 11K T4 15KT4 22KT4 Power supply Voltage/frequ ency 3-phase 380 to 480VA C, 50/60Hz Permissible voltage fluctua tion 3-phase 323 to 528VA C Permissible frequ ency fluctuation Within 5% Power supply capacity Refe r to section 12.
1 - 10 1. FUNCTIONS AND CONFIGURATIO N Servo amplifier MR-J3- Item 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Operation mode Home position return mode Dog type Home position return is made starting with Z-phase pulse after passage of pro ximity dog.
1 - 11 1. FUNCTIONS AND CONFIGURATIO N 1.3 Function list The following table lists the functions of this servo. Fo r details of the functions, refer to the reference fie ld.
1 - 12 1. FUNCTIONS AND CONFIGURATIO N Function Description Reference Regeneration converter Used when the regenerative option cannot provide enough re generative power. Can be used with the servo amplifier of 5kW or more. Section 13.4 Alarm history clear Alarm history is cleared.
1 - 13 1. FUNCTIONS AND CONFIGURATIO N 1.4 Model code definition 1.4.1 Servo amplifier (1) Rating plate Model Capacity Applicable powe r supply Rated output current Serial number MITSUBISHI MADE IN JAPAN MODEL MR -J3-10T MITSUBISHI ELECTRI C CORPORATION AC SERVO PASSED POWER : INPUT : OUTPUT : SERIAL : 100W 1.
1 - 14 1. FUNCTIONS AND CONFIGURATIO N 1.4.2 MR-J3-D01 extension I/O unit Rating plate MITSUBISHI MODEL PASSED SERIAL : **** MR-J3-D01 AC SERVO MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN Model Seri.
1 - 15 1. FUNCTIONS AND CONFIGURATIO N 1.5 Combination with servo motor The following table lis ts combinations of servo amplif iers and servo motors. The same combinations apply to the models with electromagnetic brakes.
1 - 16 1. FUNCTIONS AND CONFIGURATIO N 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T(4) 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 When using in combinatio n with MR-J3-D01, do not change the setting (default) shown in the figure.
1 - 17 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-200T(4) 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 Name/Application Detailed Explanation Section 4.3 Chapter 10 When us ing in comb ination w ith MR -J3-D 01, do not change the setting (default) shown in the figure.
1 - 18 1. FUNCTIONS AND CONFIGURATIO N (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 Name/Application Detailed Explanation Section 4.3 Chapter 10 When us ing in comb ination w ith MR -J3-D 01, do not change the setting (default) shown in the figure.
1 - 19 1. FUNCTIONS AND CONFIGURATIO N (4) MR-J3-350T4 MR-J3-500T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6. 2. 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 Cooling fa n Fixed part (4 pl aces) Section 4.
1 - 20 1. FUNCTIONS AND CONFIGURATIO N (5) MR-J3-700T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6. 2. 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 Cooling f an Fixed part (4 pl aces ) Section 4.
1 - 21 1. FUNCTIONS AND CONFIGURATIO N (6) MR-J3-11KT(4) to MR-J3-22KT(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.
1 - 22 1. FUNCTIONS AND CONFIGURATIO N 1.6.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others.
1 - 23 1. FUNCTIONS AND CONFIGURATIO N Reinstallation of the front co ver Front co ver setting tab a) a) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Pull up the cover, supporting at point a). Setting tab Push the setting tabs until they click.
1 - 24 1. FUNCTIONS AND CONFIGURATIO N (2) For MR-J3-11KT(4) to MR-J3-22KT(4) Removal of the fron t cover c) b) a) 1) Press the removing knob on the lower side of the front cover ( a) and b) ) and release the installa tion hook. 2) Press the removing knob of c) and release the external hook.
1 - 25 1. FUNCTIONS AND CONFIGURATIO N 1.6.3 Installation and removal of MR-J3-D01 WARNING Before installing or removin g the MR-J3-D 01, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others.
1 - 26 1. FUNCTIONS AND CONFIGURATIO N (1) For MR-J3-350T or less MR-J3-200T4 or less (a) Installation of the MR-J3 -D01 2) 2) 1) Guide hole Guide p ins 1) Remove the cover of connector for connecting an option. Make sure to storage the removed cover.
1 - 27 1. FUNCTIONS AND CONFIGURATIO N (2) For MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) (a) Removal of the side cover 1) a) b) Keep pushing the knobs( a) , b) ) and pull out the side cover to the arrow direction.
1 - 28 1. FUNCTIONS AND CONFIGURATIO N (c) Removal of MR-J3-D01 1) a) b) 2) 1) Loosen the installing screw. 2) Keep pushing the knobs( a) , b) ) and pull out the MR-J3-D01 to the arrow direction . Avoid pulling out the MR-J3-D01 under it is tightened.
1 - 29 1. FUNCTIONS AND CONFIGURATIO N (3) For MR-J3-11KT(4) to MR-J3-22KT(4) CAUTION Avoid touchin g any remained burr after cu tting of f the part a) of the case. Any injuries may be caused. The installing screws for th e MR-J3-11KT(4) or more ar e covered at shipping.
1 - 30 1. FUNCTIONS AND CONFIGURATIO N 1.7 Configuration includ ing auxiliary equipment POINT Equipment other than the servo amp lifier and servo motor are optional or recomme nded prod ucts.
1 - 31 1. FUNCTIONS AND CONFIGURATIO N (b) For 1-phase 100V to 120VAC CN5 PC CN2 CN4 U V W CN3 CN10 CN20 CN30 CN6 L 1 L 2 No-fu se br eaker (NFB) or fuse Magnet ic contactor (MC) Power factor improvin.
1 - 32 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-60T4 MR-J3-100T4 Servo amplifier Line no ise filte r (FR-BSF0 1) Magne tic contactor (MC) No-fuse breaker (NFB) or fuse R S T Servo motor (Note 1) Batt.
1 - 33 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-200T(4) Line noise filter (FR-BSF01) (Note 3) Power supply R S T Magnetic contactor (MC) No-fuse breaker (NFB) or fuse (Note 2) Power factor improving .
1 - 34 1. FUNCTIONS AND CONFIGURATIO N (4) MR-J3-350T Line noise filter (FR-BLF) Regenerative option (Note 3) Power supply R S T CN2 CN4 L 2 L 1 L 3 P 1 P 2 L 21 L 11 UV W MR-J3-D0 1 CN10 CN5 CN3 CN20.
1 - 35 1. FUNCTIONS AND CONFIGURATIO N (5) MR-J3-350T4 MR-J3-500T(4) R S T L 21 P 1 P 2 CN2 CN4 L 11 UV W C P L 1 L 2 L 3 CN10 CN20 CN30 CN6 CN5 CN3 MR-J3-D01 Regenerative option Power factor improvin.
1 - 36 1. FUNCTIONS AND CONFIGURATIO N (6) MR-J3-700T(4) R S T L 21 P 2 P 1 CN2 CN4 MR Configurator L 11 UV W C P L 1 L 2 L 3 CN10 CN20 CN30 CN6 CN5 CN3 Servo motor Regenerative option Power factor im.
1 - 37 1. FUNCTIONS AND CONFIGURATIO N (7) MR-J3-11KT(4) to MR-J3-22KT(4) R S T Anal og out put signal External digital display L 21 L 11 U V W C P L 1 L 2 L 3 CN4 CN2 P 1 P Power factor improving DC .
1 - 38 1. FUNCTIONS AND CONFIGURATIO N MEMO.
2 - 1 2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited num ber of products is not allowed. Install the equipment to incombustibles. Installing them directly or clo se to combustibles will led to a fire. Install the equipment in a load-bearing plac e in accordance with this Instruction Manual.
2 - 2 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is availabl e for the servo amplifier of under 3.5kW for 200V class and 400W for 1 00V class.
2 - 3 2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to preven t the internal temperature of the control b ox from exceeding the environmental conditions.
2 - 4 2. INSTALLATION 2.4 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tes ter and others.
3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring s hould be fully competent to do the work. Before wiring, turn off the p ower and wait for 15 minute s or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others.
3 - 2 3. SIGNALS AND WI RING 3.1 Input power supply circuit CAUTION Always connect a magnetic contactor (M C) between the main circuit power supply and L 1 , L 2 , and L 3 of the servo amplifier, and confi gure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply.
3 - 3 3. SIGNALS AND WI RING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T RA NFB MC L 1 L 2 L 3 P 1 P 2 P SK MC ON OFF MC L 11 L 21 N D C U V W CNP1 CNP3 PE CNP2 U V W 2 3 4 1 .
3 - 4 3. SIGNALS AND WI RING (3) MR-J3-10T1 to MR-J3-40T1 RA NFB MC L 1 L 2 P 1 P 2 P SK MC ON OFF MC L 11 L 21 N D C U V W CNP1 CNP3 PE CNP2 U V W 2 3 4 1 M CN2 EMG ALM RA DICOM DOCOM DOCOM CN6 CN6 S.
3 - 5 3. SIGNALS AND WI RING (4) MR-J3-60T4 to MR-J3-200T4 DOCOM EMG CN6 CN6 DOCOM DICOM ALM Forced stop RA Servo am plifier CNP3 CNP1 U V W (Note 5 ) CNP2 (Note 1 ) (Note 2 ) (Note 3) Encoder cable E.
3 - 6 3. SIGNALS AND WI RING (5) MR-J3-500T MR-J3-700T (Note 4) Forced s top (Note 4) Forced stop RA NFB MC L 1 L 2 L 3 3-ph ase 200 t o 230VAC Servo am plifier C SK MC ON OFF MC P U V W TE1 PE L 11 L.
3 - 7 3. SIGNALS AND WI RING (6) MR-J3-350T4 to MR-J3-700T4 (Note 6) Stepdown transformer Forced stop RA NFB MC L 1 L 2 L 3 3-ph ase 380 t o 480VAC Servo amplifier C SK MC ON OFF MC P U V W TE1 PE L 1.
3 - 8 3. SIGNALS AND WI RING (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 P 1 RA2 OHS2 OHS1 MC SK MC ON OFF RA1 EMG ALM RA1 DICOM DOCOM DOCOM CN6 CN6 SON DICOM.
3 - 9 3. SIGNALS AND WI RING (8) MR-J3-11TK4 to MR-J3-22KT4 (Note 8) Stepdown transformer BU BV BW 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 Trouble DO.
3 - 10 3. SIGNALS AND WI RING 3.2 I/O signal connection diagra m 3.2.1 Positioning operation using the poi nt table 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 CN6 4 5 17 EMG DOG LSP LSN DICOM DOCOM 23 CN5 MR-J3- T MR-J3-D01 Point table No.
3 - 11 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction.
3 - 12 3. SIGNALS AND WI RING 3.2.2 BCD input positioning operat ion with the digital switch 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 CN6 4 5 17 EMG DOG LS.
3 - 13 3. SIGNALS AND WI RING MR-J3-D 01 CN10 13 37 DICOMD DOCOMD 21 26 27 28 SON RES TL TL1 29 30 31 32 TP0 TP1 OVR MD0 33 34 35 36 TSTP PC ST1 ST2 18 SP0 19 SP1 20 SP2 1 2 3 4 POS00 POS01 POS02 POS0.
3 - 14 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction.
3 - 15 3. SIGNALS AND WI RING 3.2.3 BCD input positioning operation with the programmable controller Overrid e 10V/0 to 200% SD LBR LAR LA LB LZ LZR LG 15 12 25 RA1 RA2 RA3 14 RD ALM 16 ZP CN6 11 24 1.
3 - 16 3. SIGNALS AND WI RING MR-J3-D01 CN10 44 45 1 2 3 4 5 6 7 8 9 10 PRQ1 PRQ2 POS00 POS01 POS02 POS03 POS10 11 12 15 16 17 DICOMD 13 DOCOMD 37 SON 21 RES 26 TL 27 TL1 28 TP0 29 TP1 30 OVR 31 MD0 3.
3 - 17 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction.
3 - 18 3. SIGNALS AND WI RING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and termi nal block, refer to outline drawings in chapter 11. Abbreviation Connection Ta rget (Application) Description L 1 L 2 L 3 Main circuit power supply Supply the following power to L 1 , L 2 , L 3 .
3 - 19 3. SIGNALS AND WI RING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power s upply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L 1 , L 2 , L 3 , single-phase: L 1 , L 2 ).
3 - 20 3. SIGNALS AND WI RING (3) Forced stop CAUTION Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off a t a forced stop.
3 - 21 3. SIGNALS AND WI RING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 13.1 in section 13.9 for the wire sizes u sed for wiring. MR-J3-500T or more and MR-J3 -35 0T4 or more does not have these connecto rs. Use the supplied servo amplifier power supply c onnectors for wir ing of CNP1, CNP2 and CNP3 .
3 - 22 3. SIGNALS AND WI RING (2) MR-J3-200T MR-J3-60T4 to MR-J3-200T4 (a) Servo amplifier power supply connectors <Applica ble cable exam ple> Cable finish OD: 4.
3 - 23 3. SIGNALS AND WI RING (3) MR-J3-350T (a) Servo amplifier power supply connectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 <Applic able cabl e example> Cable finis h OD: to 5 mm <Applicable c able example> Cable f inish OD: to 3.
3 - 24 3. SIGNALS AND WI RING (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000, 721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows.
3 - 25 3. SIGNALS AND WI RING 2) Cable connection procedure 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable c onnection lever and insert the cable in the direction of arrow.
3 - 26 3. SIGNALS AND WI RING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimen sions Always use the screwdriver shown here to do the work. [Unit: mm] 3 0.6 A pprox.R0.3 Approx.22 Approx.R0.3 3 to 3.5 2) When using the flat-blad e screwdriver - part 1 1) Insert the screwdriver into the square hole.
3 - 27 3. SIGNALS AND WI RING 3) When using the flat-blad e screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Pus h the screw drive r in the direct ion of arrow . 3) With the sc rewdrive r pushed , insert the ca ble in the direction of arrow.
3 - 28 3. SIGNALS AND WI RING (5) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver be cause the cable cann ot be tightened with enough torque. Insertion of cables into Phoenix Contact connecto r PC4/6-STF-7.62-CRWH or PC4/3-STF-7.
3 - 29 3. SIGNALS AND WI RING 3.4 Connectors and signal arrangements POINT The pin configurations of the conne ctors are a s viewed from the cable connector wi ring section. Refer to (3) in this section for CN10 signal assignm ent. Refer to section 3.
3 - 30 3. SIGNALS AND WI RING (2) Signal arrangement of CN6 connector The symbols in the Device change column in the table represent the followings. : The device can be changed by the parameter s in parentheses. : The device cannot be changed. : For manufacturer settin g.
3 - 31 3. SIGNALS AND WI RING (3) Signal arrangement of CN10 connector The symbols in the Device change column in the table represent the followings. : The device can be changed by the parameter s in parentheses. : The device cannot be changed. Pin No.
3 - 32 3. SIGNALS AND WI RING Pin No. Device assigned in the initial status (Symbol) I/O division Device change When using the point table When using the BCD input 49 In position (INP) DO-1 (Po09) 50 Shield (SD) Plate Shield (SD) 3.5 Signal (device) explanation 3.
3 - 33 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Servo-on SON CN10-21 Turn SON on to power on the bas e circuit and make the servo amplifier ready to operate (servo-on). Turn it off to shut off the base circuit and coast the servo motor.
3 - 34 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Forward rotation start ST1 CN10-35 1. In absolute value command system Turning ST1 ON for automatic operati on executes positioni ng once on the basis of the position data set to the point table.
3 - 35 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Position data input 1 (1/4digit bit0) POS00 CN10-1 The 6-digit (BCD 3 digits 2) position data is input by POS00 to POS03, POS10 to POS13 and POS20 to POS23.
3 - 36 3. SIGNALS AND WI RING (2) Output device The Connector pin No. column indicates the connector pin Nos. assigned at de fault. The device with can change the connector pin Nos. assigned by changing t he parame ter No. PD09 to PD11, Po 08 and Po09.
3 - 37 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or less.
3 - 38 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Point table No. output 1 PT0 As soon as Movement finish (MEND) tu rns ON, th e point table No. is output in 8- bit code. Point table No. output 2 PT1 (Note) Device Point table No.
3 - 39 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD M code 1 (bit0) MCD00 C N10 -38 As soon as R ough match (CPO) turns ON, the M code is output.
3 - 40 3. SIGNALS AND WI RING 3.5.3 Output signals Refer to section 3.8.2 for the output interfaces (symbol s in the I/O Division field in the table) of the corresponding connector pins.
3 - 41 3. SIGNALS AND WI RING 3.6 Detailed description of signal s (devices) 3.6.1 Forward rotation start Reverse rotation start Temporary stop/Restart (1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been esta blished.
3 - 42 3. SIGNALS AND WI RING 3.6.2 Movement finish Rough match In position POINT If servo-on occurs after a stop made by servo-off, alarm occurrence or Forced stop (EMG) ON during au tomatic operation, Movement finish (ME ND), Rough match (CPO) and In position (INP) turn on.
3 - 43 3. SIGNALS AND WI RING (3) In position The following timing chart shows the relationship be tween the sig nal and the feedback pulse of the servo motor. This timing can be changed using parameter No . PA10 (in-position range). INP turns ON in the servo-on status.
3 - 44 3. SIGNALS AND WI RING 3.6.3 Torque limit CAUTION If the torque limit is c anceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position . (1) Torque limit and torque By setting parameter No.
3 - 45 3. SIGNALS AND WI RING (2) Torque limit value selection and internal torque limit selection (TL1) As shown below, the forward torque limit (parame ter No. PA11), or reverse torque limit (p arameter No. PA12), the analog torque limit (TLA) and internal torque limit 2 (Para meter No.
3 - 46 3. SIGNALS AND WI RING 3.7 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety , and reset the alarm before restarting operation. As soon as an alarm occurs, turn off Servo-on (SON) and power o ff.
3 - 47 3. SIGNALS AND WI RING 3.8 Interface 3.8.1 Internal connection diagra m CN6 14 15 16 RD ALM ZP RA RA <Isolated> 11 24 12 25 13 26 LA LAR LB LBR LZ LZR 23 LG CN6 Differen tial line driver .
3 - 48 3. SIGNALS AND WI RING 3.8.2 Detailed description of interfaces This section provides the details of the I/O signal interf aces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the exter nal equipment.
3 - 49 3. SIGNALS AND WI RING (b) Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T /2 400 s or more OP Time cycle (T) is determined by the settings of pa rameter N o.PA 15 and PC19. (4) Analog input Input impedance 10 to 12k Upper limit setting 2k 15VDC P15R VC, etc LG SD 2k Servo amplifier Approx.
3 - 50 3. SIGNALS AND WI RING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interface s.
3 - 51 3. SIGNALS AND WI RING 3.9 Treatment of cable shield external conductor In the case of the CN2, CN6, CN10 and CN20 connectors, securely connect the shielded external conductor of the cable to the ground p late as shown in this section and fix it to the connector shell.
3 - 52 3. SIGNALS AND WI RING 3.10 Connection of servo a mplifier and servo motor WARNIN G During power-on, do not open or clos e th e motor power line. O therwise, a malfunction or faulty may oc cur. 3.10.1 Connection instructions WARNING Insulate the c onnections of the power supply terminals to prevent an electr ic shock.
3 - 53 3. SIGNALS AND WI RING 3.10.2 Power supply cable wiring diagra ms (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less CNP3 AWG 19(red) AWG 19 (white ) AWG 19(black) .
3 - 54 3. SIGNALS AND WI RING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT B Insert a contact in the direction shown in the figure . If inserted in the wrong direction, the contact is damaged and falls off. Soldered part or c rim ping part facing up Soldered part or crimpi ng pa rt facing down Pin No.
3 - 55 3. SIGNALS AND WI RING 2) When the power supply connector and the electromagnetic brake connector are shared Servo motor (Note 1) Servo a mplifie r M U V W B1 B2 U V W 24VDC power supply for el.
3 - 56 3. SIGNALS AND WI RING Encoder connector signal allotment CM10-R10P Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B Power supply connector signal allotment CE05-2A22-23PD-B 5 6 1 4 View a 3 2 8 7 9 10 Terminal No.
3 - 57 3. SIGNALS AND WI RING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 13.9 for th e cables used for wiring. 1) 200V class Servo motor (Note 1) Servo amplifier U V W B1 B2 U V.
3 - 58 3. SIGNALS AND WI RING 2) 400V class Servo motor (Note 1) Servo amplifier U V W B1 B2 U V W 24VDC power supply for elect romag netic brake 50m or less Forced stop (EMG) Troubl e (ALM) RA1 24VDC.
3 - 59 3. SIGNALS AND WI RING (b) Servo motor terminals Terminal box Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Encoder connector signal allotment CM10-R10P 5 6 1 4 3 2 8 7 9 10 Terminal No. Signal Brake connector signal allotment MS3102A10SL-4P 1 2 Terminal No.
3 - 60 3. SIGNALS AND WI RING Terminal box insi de (HA-LP801(4) 12K1( 4 ) 11K1M(4 ) 15K1M( 4) 15K2( 4) 22K2(4 ) ) Earth terminal M6 screw Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan.
3 - 61 3. SIGNALS AND WI RING Terminal box inside (HA-LP25K1) BW BV BU W V U Encoder connector CM10-R10P Earth terminal M6 screw Thermal sensor terminal block Cooling fan terminal block Motor power su.
3 - 62 3. SIGNALS AND WI RING Signal Name Abbreviation Description Power supply U V W Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunction or fault y may occur.
3 - 63 3. SIGNALS AND WI RING 3.11 Servo motor with electromagnetic brake 3.11.1 Safety precautions CAUTION Configure the electromagnetic brake op eration circuit so that it is activated not only by the servo amplifier signals but al so by an external forced stop sign al.
3 - 64 3. SIGNALS AND WI RING 3.11.2 Timing charts (1) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.
3 - 65 3. SIGNALS AND WI RING (3) Alarm occurrence Electromagnetic brake Dynamic brake Electromagnetic brake Dynamic brake (ON) Forwar d rotati on Electromagnetic brake interlock (MBR) Servo motor speed Base circuit Trouble (ALM) ON OFF ON OFF (Note) 0r/min No Yes (OFF) Electromagn etic brake operatio n delay time (10ms) Note.
3 - 66 3. SIGNALS AND WI RING (5) Only main circuit power supply off (co ntrol circuit power supply remains on) (10ms) (Note 1) (10ms) Electr omag netic bra ke Dynamic brake Electromagnetic brake Dyna.
3 - 67 3. SIGNALS AND WI RING (2) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extensi on cable as shown below on the customer side. In this case, the motor brake cable should be within 2m lo ng. Refer to section 13.9 for th e wire used for the extensio n cable.
3 - 68 3. SIGNALS AND WI RING 3.12 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, alwa ys co nnect the prote ctive earth (PE) terminal (terminal marked ) of the servo amp lifier with the protective earth (PE) o f the control box.
4 - 1 4. OPERATION 4. OPERATION WARNIN G Do not operate the switche s with wet ha nds. You may get an electr ic shock. CAUTION Before starting operation, check the par ameters. Some machines may per form unexpected operation. Take safety measures, e.g.
4 - 2 4. OPERATION 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control ci rcuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the p ower input terminals (L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo a mplifier should satisfy the defined specifications.
4 - 3 4. OPERATION 2) When regenerative option is used with over 5kW of 200V class and 3.5kW of 4 00V class The lead of built- in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative option sho uld be c onnected to P terminal and C terminal.
4 - 4 4. OPERATION 4.2 Startup 4.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Al ways follow this pr ocedure at power-on. 1) Switch off the servo-on (SON). 2) Make sure that the Forward rota tion star t (ST1) and Reverse rotation start (ST2) are off.
4 - 5 4. OPERATION 4.2.3 Test operation Before starting actual operation , perform test operatio n to make sur e that the machine operate s normally. Refer to section 4.
4 - 6 4. OPERATION 4.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No. PC22 setting to be change d depending on its length. Check wh ether the par ameter is set co rrectly.
4 - 7 4. OPERATION 4.2.5 Point table setting Set necessary items to the point table before starting operation. The following tabl e indicates the items that must be set. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of t he servo motor for e xecution of positioning.
4 - 8 4. OPERATION 4.3 Servo amplifier display On the servo amplifier display (thr ee-digit, seven-segment displa y), c heck the sta tion number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON Not ready (Note 1) When alarm warning No.
4 - 9 4. OPERATION (2) Indication list Indication Status Description d ## Ready The servo was switched on after completion of initialization and the servo amplifier is ready to operate. (This is indicated for 2 seconds.) C # # Not ready The servo amplifier is being initialized or an alarm has occurred.
4 - 10 4. OPERATION 4.4 Operation mode and selection meth od This servo has the operation modes indicated in the fo llowing table. Select an operation mode to be used with a parameter and input de vices. Parameters and inpu t devices filled with a diagonal line are not re quired to set.
4 - 11 4. OPERATION 4.5 Automatic operation mode 4.5.1 What is the automatic operation mode? (1) Concept of Automatic operation Automatic operation is a positioning fun ction to autom atically start and stop at a target position with one- time start signal.
4 - 12 4. OPERATION (3) Command system After selection of preset point tables using the inpu t s ignals or communication, operation is st arted by the forward rotation start (ST1) or reverse rotation star t (ST2). Automatic operation has the absolute valu e command sy stem, incremental value com mand system.
4 - 13 4. OPERATION 4.5.2 Automatic operation using point table (1) One-time positioning operation (a) Absolute value command system 1) Poi nt table Set the point table values using the MR C onfigurator or the MR-PRU03 parameter unit.
4 - 14 4. OPERATION Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on with parameter No.PA14 (Rotation direction selection).
4 - 15 4. OPERATION (b) Incremental value command system 1) Poi nt table Set the point table values using the MR C onfigurator or the MR-PRU03 parameter unit. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code to the po int table.
4 - 16 4. OPERATION Choose the servo motor rotation direction at the t ime when the forw ard rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on with paramet er No.
4 - 17 4. OPERATION (c) Automatic operation timing chart The timing chart is shown b elow. 3ms or more (Note 2) ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r/mi n 2 1 Point table No.
4 - 18 4. OPERATION (2) Automatic continuous operation (a) What is automatic continuous operation? By merely choosing one point table and making a st art (ST1 or ST2), operation can be performed in accordance with the point ta bles having consecutive numbers.
4 - 19 4. OPERATION 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incrementa l value command.
4 - 20 4. OPERATION Positioning that reverses the direction midway The operation example given below assumes that the set values ar e as indicated in the follo wing table. Here, the point table No. 1 uses the abs olute value command system, the point table No.
4 - 21 4. OPERATION 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given be low assumes that the set values are as indicated in the following table.
4 - 22 4. OPERATION (c) Automatic continuous po sitioning operation By setting "1" or "3" to the auxiliary function of t he point table , the continuous positioning to the next point table No. can be exec uted. By setting "1" or "3" to the auxiliary function up to the point tab le No.
4 - 23 4. OPERATION (3) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, t he motor is decelerated to a temporary stop at the deceleration time constant in the poin t table being executed. When TSTP is turned ON again, the remaining distance is executed.
4 - 24 4. OPERATION 2) During dwell tb ta ON OFF ON OFF ON OFF OFF OFF ON ON OFF ON Point table No. n Forward rotation 0r/min Servo motor speed Point table No.
4 - 25 4. OPERATION 4.5.3 Automatic operation by BCD (3 digits 2) input with the MR-DS60 digital switch The positioning is executed based on the positioning data set with the MS-DS60 digital switch and the selected speed command. For the connection e xample of the MR-DS60 digita l switch to the servo a mplifier, refer to section 3.
4 - 26 4. OPERATION (3) Timing chart ON OFF ON OFF ON OFF ON OFF Ready (RD) Trouble (ALM) Digit al swit ch BCD (3 digit s 2) ON OFF ON OFF ON OFF ON OFF ON OFF Speed selection 1 to 4 Forwar d rotati o.
4 - 27 4. OPERATION (4) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, t he motor is decelerated to a temporary stop at the deceleration time constant in the poin t table being executed. When TSTP is turned ON again, the remaining distance is executed.
4 - 28 4. OPERATION 4.5.4 Automatic operation by BCD (3 digits 2) input with the programmable controller The positioning is executed the positioning based on th e positioning data set with the programmable controller and the selected speed command. For the connection example of the programmable controller to the servo amplifier, refer to section 3.
4 - 29 4. OPERATION (3) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON ON Strobe(STRB) Position 1) last 3 digits Position 1) first 3 digits OFF ON OFF Forward rot ation start (ST 1) (Note 1.
4 - 30 4. OPERATION (4) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, t he motor is decelerated to a temporary stop at the deceleration time constant in the poin t table being executed. When TSTP is turned ON again, the remaining distance is executed.
4 - 31 4. OPERATION 4.6 Manual operation mode For machine adjustment, home position matching , etc ., jog operation or a manual pulse generator may be used to make a motio n to any position. 4.6.1 JOG operation (1) Setting Set the input device and parameters as follows according to the purpose of use.
4 - 32 4. OPERATION (4) Timing chart 100m ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r/min ON OFF ON OFF Servo-on (SON) Ready (RD) Trouble (ALM) Automatic/manual s election (MD0) Rough mat ch ( CPO) S.
4 - 33 4. OPERATION (3) Manual pulse generator multiplica tion (a) Using the parameter for setting Use parameter No. PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation.
4 - 34 4. OPERATION 4.7 Manual home position return mode 4.7.1 Outline of home position return Home position return is performed to match the comm and coordinates with the machine coordinates. In the incremental system, home position return is required ev ery time input power is switched on.
4 - 35 4. OPERATION (1) Home position return types Choose the optimum home position retur n according to the machine type, e tc. Type Home position re turn method Features Dog type home position retur.
4 - 36 4. OPERATION (2) Home position return parameter When performing home position return, set each parameter as fo llows. (a) Choose the home position return method with par ameter No.
4 - 37 4. OPERATION 4.7.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the fir.
4 - 38 4. OPERATION (3) Timing chart ON OFF ON OFF ON OFF td ON OFF ON OFF ON OFF ON OFF ON OFF 0 Selected point table No. Movement finish (MEND) Roug h mat ch ( CPO) Home position return completion (ZP) Servo motor speed Z-phase Proximity dog (DOG) Forward rotation start (ST1) Home pos ition 5ms or mor e Point table No.
4 - 39 4. OPERATION 4.7.3 Count type home position return In count type home position return, a motion is made over the distance set in p arameter No.PC08 (moving distance after proximity dog) after de tection of the proximity dog front end. The po sition where the first Z-phase signal is given after that is defined as a home position.
4 - 40 4. OPERATION (2) Timing chart (Note) 3ms or more 0r/mi n Forward rotation ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 ON OFF ON OFF Moveme nt fini sh (MEND ) Rough ma t ch (CPO) Home position r.
4 - 41 4. OPERATION 4.7.4 Data setting type home position return Data setting type home position return is used when it is desired to d etermine any position as a home position . JOG operation can be used for mo vement. (1) Devices, parameters Set the input devices and p arameters as follows.
4 - 42 4. OPERATION 4.7.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that posi tion is de fined as a home position.
4 - 43 4. OPERATION (2) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Parameter No. PC35 (No te 3)Parameter No. PC10 Parameter No. PC35 0 ON OFF Rough match (MEND) Home po sition re turn completion (ZP) Servo moto r speed Forward rotation start (ST1) Home position address Para meter No .
4 - 44 4. OPERATION 4.7.6 Home position ignorance (servo-on position d efined as home position) The position where servo is switched on is de fined as a home position.
4 - 45 4. OPERATION 4.7.7 Dog type rear end reference home position retu rn POINT This home position return method de pends on the timing of reading Proximity dog (DOG) that has detected the rea r e nd of a proximity dog.
4 - 46 4. OPERATION (2) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 Automatic/manual selection (MD0) Movemen t finish (MEND) Rough match (CPO) Home position return completion (ZP) .
4 - 47 4. OPERATION 4.7.8 Count type front end reference home position return POINT This home position return method de pends on the timing of reading Proximity dog (DOG) that has detected the front e nd of a proxi mity dog.
4 - 48 4. OPERATION (2) Timing chart 0 5ms or more Creep speed Moving dist ance after proximity dog Home position shift distance Home position retur n speed 3ms or less ON OFF ON OFF ON OFF ON OFF ON .
4 - 49 4. OPERATION 4.7.9 Dog cradle type home position ret urn The position where the first Z-phase signal is issued a fter de tection of the proximity dog front end can be defined as a home position. (1) Devices, parameters Set the input devices and p arameters as indicated below.
4 - 50 4. OPERATION (2) Timing chart 0 ON OFF Forward rotation 0r/min Reverse rotation 3ms or less Creep speed Home position ret urn speed H ome pos ition sh ift dist ance Home pos ition add ress Parameter No.
4 - 51 4. OPERATION 4.7.10 Dog type first Z-phase reference home po sition return After the proximity dog front end is det ected, the current position moves in the reverse direction at cr eep speed. After this moving away from the proximity dog, the home position is de termined to be where the first Z- phase pulse is issued.
4 - 52 4. OPERATION (2) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 Movemen t finish (MEND) Rough match (CPO) Home position return completion (ZP) Z-phas e Proximity dog (DOG) Servo motor s peed Selec ted point tab le No.
4 - 53 4. OPERATION 4.7.11 Dog type front end reference home positio n return method POINT This home position return method de pends on the timing of reading Proximity dog (DOG) that has detected the front e nd of a proxi mity dog.
4 - 54 4. OPERATION (2) Timing chart ON OFF 0 Movement finish (MEND) Rough match (CPO) Home position return completion (ZP) Proxi mity do g (DO G) Servo motor s peed Selec ted point tabl e No.
4 - 55 4. OPERATION 4.7.12 Dogless Z-phase re ference home position return method The home position is determined to be where the first Z-phase pulse is issued after the home position return is started. (1) Devices, parameters Set the input devices and p arameters as indicated below.
4 - 56 4. OPERATION (2) Timing chart 0 0r/min Forwar d rotat ion Reverse rotation Movement finish (MEND) Rough matc h (CP O) Home position return completion (ZP) Z-phase Servo motor s peed Selec ted point tabl e No.
4 - 57 4. OPERATION 4.7.13 Home position return automatic return fun ction If the current position is at or beyond the proximity dog in the home position return using the proximity dog , this function starts home position return a fter making a return to the position where the home position return can be made.
4 - 58 4. OPERATION 4.7.14 Automatic positioning function to the home posi tion POINT You cannot perform automatic po sitioning from outside the position data setting range to the home position. In this case, make a home positi on return again using a manual hom e position return.
4 - 59 4. OPERATION 4.8 Roll feed display function in roll feed mode With the roll feed display function, the servo amplifier can operate in the roll feed mode.
4 - 60 4. OPERATION 4.9 Absolute position detection system CAUTION If an absolute position erase alarm (A25) or an absolute position counter warning (AE3) has occurred, always perform home position setting aga in.
4 - 61 4. OPERATION (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder c onsists of a detector des igned to detect a position within one revolution and a cumulative revolution counter designed to detec t the number of revolutions .
4 - 62 4. OPERATION (5) Battery installation procedure WARN ING Before installing a battery, turn off the main circuit pow er while keeping the control circuit power on. Wait for 15 minu tes or mo re until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
4 - 63 4. OPERATION (b) For MR-J3-500T or more and MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.PA03 (Absolute position detection sy stem) as indicated below to make the absolute position detection system valid.
4 - 64 4. OPERATION MEMO.
5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION When using the MR-J3- T servo amplifier with the MR -J3-D01 extension I/O unit, always refer to the parame ters indicate d in this chapter . Some parameters have different functions when they are used with the MR-J3- T servo amplifier alone.
5 - 2 5. PARAMETERS 5.1 Basic setting paramete rs (No.PA ) 5.1.1 Parameter list No. Symbol Name Initial value Unit PA01 *STY Control mode 0000h PA02 *REG Regenerative option 0000h PA03 *ABS Absolute p.
5 - 3 5. PARAMETERS 5.1.2 Parameter write inhibit Parameter Initial value Unit Setting range No. Symbol Name PA19 *BLK Parameter write i nhibit 000Ch Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed.
5 - 4 5. PARAMETERS 5.1.4 Selection of regenerative option Parameter Initial value Unit Setting range No. Symbol Name PA02 *REG Regenerative option 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting.
5 - 5 5. PARAMETERS 5.1.5 Using absolute position dete ction system Parameter Initial value Unit Setting range No. Symbol Name PA03 *ABS Absolute position detection system 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed.
5 - 6 5. PARAMETERS 5.1.7 Feeding function selection Parameter Initial value Unit Setting range No. Symbol Name PA05 *FTY Feeding function selection 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed.
5 - 7 5. PARAMETERS (1) Concept of electronic gear Use the electronic gear (parameters No.PA06, PA07) to make adjustment so that the servo amplifier setting matches the moving distance of the mac hine. Also, by changing the electronic gear value , the machine can be moved at any multiplica tion ratio to th e moving distance on the servo amp lifier.
5 - 8 5. PARAMETERS 5.1.9 Auto tuning Parameter Initial value Unit Setting range No. Symbol Name PA08 ATU Auto tuning mode 0001h Refer to the text. PA09 RSP Auto tuning response 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details.
5 - 9 5. PARAMETERS 5.1.10 In-position range Parameter Initial value Unit Setting range No. Symbol Name PA10 INP In-position range 100 m 0 to 10000 Set the range, where In po sition (INP) and Movemen t finish (MEND) are output, in the command pulse u nit before calculation of the electronic gear.
5 - 10 5. PARAMETERS 5.1.12 Selection of servo motor rotation direction Parameter Initial value Unit Setting range No. Symbol Name PA14 *POL Rotation direction selection 0 0 1 POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed.
5 - 11 5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in p arameter No. PC19. Set the number of pulses per servo moto r revolution. Output pulse set value [pulses/ rev] For instance, set "5600" to Parameter No.
5 - 12 5. PARAMETERS 5.2 Gain/filter parameters (No.PB ) 5.2.1 Parameter list No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive f ilter ) 0000h PB02 VRFT Vibration suppressio.
5 - 13 5. PARAMETERS 5.2.2 Detail list No. Symbol Name and function Initial value Unit Setting range PB01 FILT Adaptive tuning mode (adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatic ally changes the machine resonance suppression filter 1 (parameter No.
5 - 14 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB02 VRFT Vibration suppre ssion control t uning mode (advanced vibration suppression control) The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is " 2" or " 3".
5 - 15 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB05 For manufacturer setting Do not change this value by any means. 500 PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment.
5 - 16 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB14 NHQ1 Notch shape selection 1 Used to selection the machine resonance suppression filter 1.
5 - 17 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB18 LPF Low-pass filter setting Set the low-pass filter. Setting parameter No. PB23 (low-pass filter selection) to " 0 " automatically changes this parameter.
5 - 18 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB25 For manufacturer setting Do not change this value by any means.
5 - 19 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB33 VRF1B Gain changing vibration suppression control vibration frequency sett ing Set the vibration frequency for vibrat ion suppression control when the gain changing is valid.
5 - 20 5. PARAMETERS 5.3 Extension setting parameters (No.PC ) 5.3.1 Parameter list No. Symbol Name Initial value Unit PC01 For manufacturer setting 0000h PC02 *ZTY Hom e po sition ret urn ty pe 0000h.
5 - 21 5. PARAMETERS No. Symbol Name and functi on Initial value Unit PC49 For manufacturer setting 0000h PC50 0000h 5.3.2 Detail list No. S ymbol Name and function Initial value Unit Setting range PC01 For manufacturer setting Do not change this value by any means.
5 - 22 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC10 ZTT Stopper ty pe home positio n return torque limit Used to set th e torque limit v alue relative to the max. torque in [%] in stoppe r typ e home p osi tion re turn.
5 - 23 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC19 *ENRS Encoder output p ulse selection Use to select the, encoder output pulse direction and encoder output pulse setting. 00 Encoder output pu lse phase changi ng Changes the phases of A, B-phase encoder pulses output .
5 - 24 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC24 *COP3 Function selection C-3 Select the unit of the in-position range. In-position range unit selection 0: Command input unit 1: Servo motor encoder unit 000 0000h Re fer to name and function column.
5 - 25 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC29 For manufacturer setting Do not change this value by any means. 0000h PC30 0000h PC31 LMPL So ftware limit Used to set th e address inc rement side sof tware stroke limit.
5 - 26 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PC37 *LPPL Position range ou tput address Used to set th e address inc rement side position ran ge output ad dress. Set the same sign t o paramet ers No. PC3 7 and PC38.
5 - 27 5. PARAMETERS 5.3.3 S-pattern acceleration/deceleration In servo operation, linear a cceleration/deceleration is usually made. By setting the S-pattern acceleration/ deceleration time constant (paramet er No. PC13), a smooth star t/stop c an be mad e.
5 - 28 5. PARAMETERS 5.3.6 Software limit A limit stop using a software limi t (parameter No. PC31 to PC34) is made as in stroke end operation. When a motion goes beyond the s etting range, the motor is st opped and se rvo-locked. This function is made valid a t power-on but made invalid during home position return.
5 - 29 5. PARAMETERS 5.4.2 Detail list No. S ymbol Name and function Initial value Unit Setting range PD01 *DIA1 Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means.
5 - 30 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD03 *DIA3 Input signal automatic ON selection 3 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means.
5 - 31 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD04 *DIA4 Input signal automatic ON selection 4 Select the input devices to be automatically turned ON. 0 0 Initial value BIN HEX Signal name Point table No. selection 2 (DI1) 0 BIN 0: Used to external input signal.
5 - 32 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD06 *DI2 Input signal device selection 2 (CN6-2) Any input device can be assigned to the CN6-2 pin. 0 Select the input device of the CN6-2 pin 0 The devices that can be assigned are indicated in the following table.
5 - 33 5. PARAMETERS No. S ymbol Name 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 devices that can be assigned are indicated in the following table.
5 - 34 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD11 *DO3 Output signal device selection 3 (CN6-16) Any output signal can be assigned to the CN6-16 pin. The devices that can be assigned and the setting method are the same as in parameter No.
5 - 35 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD20 *DOP1 Function selection D-1 Select the stop processing at forward rotation stroke end (LSN)/reverse rotation stroke end (LSN) OFF and the bas e circuit status at reset ( RES) ON.
5 - 36 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD24 *DOP5 Function selection D-5 Select the output status of the warning (WNG). 00 0 Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence.
5 - 37 5. PARAMETERS 5.5 Option unit parameters (No.Po ) 5.5.1 Parameter list No. Symbol Name Initial value Unit Po01 For manufa cturer set tin g 1234h Po02 *ODI1 MR-J3-D01 input signal devic e select.
5 - 38 5. PARAMETERS 5.5.2 Detail list No. Symbol Name and function Initial value Unit Setting range Po01 For man ufacturer setting Do not change this value by any means. 1234h Po02 *OD I1 MR-J3-D01 input signal dev ice selection 2 (CN10-21, 26) Any input signal can be assigned to the CN10-21, 26 pin.
5 - 39 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po04 *ODI3 MR-J3-D01 input signal devic e selection 3 (CN10-29, 30) Any input signal can be assigned to the CN10-29, 30 pin. The devices that can be assigned and the setting method are the same as in parameter No.
5 - 40 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po08 *ODO1 MR-J3-D01 outp ut signal device selection 1 (CN10-46, 47) Any output signal can be assigned to the CN10-46, 47 pin.
5 - 41 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po10 *OOP1 Function selection O-1 Select the positioning operation by point table selection and BCD input.
5 - 42 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po11 For man ufacturer setting Do not change this value by any means. 0000h Po12 *OOP3 Function selection O-3 Set the output of the alarm code and M code. Alarm code output 0: Invalid Alarm code is not ou tput.
5 - 43 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po15 MO1 MR-J3-D01 analog monitor 1 offset Used to set the offset voltage of the analog monitor (MO1). 0 mV 9999 to 9999 Po16 MO2 MR-J3-D01 analog monitor 2 offset Used to set the offset voltage of the analog monitor (MO2).
5 - 44 5. PARAMETERS 5.5.3 Analog monitor The servo status can be output to two channels in term s of voltage. The servo status can be monitored using un ammeter.
5 - 45 5. PARAMETERS Setting Output item Description Setting Output item Description 6 Droop pulses (Note 1) ( 10V/100 pulses) 100[pulse] CW direction CCW direct ion 100[pulse] 0 10[V] -10[V] 7 Droop .
5 - 46 5. PARAMETERS (3) Analog monitor block diagram PWM M Feedb ack position Home position Current control Speed control Current command Position control Droop pul se Differ- enti al Command speed B.
6 - 1 6. MR Confi g urator 6. MR Configurator The MR Configurator uses the communication func tion of the servo amplifier to perform parameter setting changes, graph display, test operatio n, etc.
6 - 2 6. MR Configurator 6.2 System configuration (a) Components To use this software, the following components are requi red in ad dition to the servo amplifier and servo motor.
6 - 3 6. MR Configurator (b) Connection with servo a mplifier 1) For use of USB MR-J3- T MR-J3-D01 CN5 USB cable MR-J3USBCBL3M (Option) Pers onal c omputer To USB connector 2) For use of RS-422 MR-J3- T MR-J3-D01 CN3 RS-422/232C conversion cable DSV-CABV (Diatre nd) Person al comp uter To RS-232C connector (Note) Note.
6 - 4 6. MR Configurator 6.3 Station selection Click "Setup" on the menu bar and cl ick "System settings" on the menu. When the above choices a re made, the following window appe ars. a) (1) Station number selection Choose the station number in the combo box ( a) ) .
6 - 5 6. MR Configurator 6.4 Parameters Click "Parameters" on the menu bar an d click "Parameter list" on the menu. When the above choices a re made, the following window appe ars.
6 - 6 6. MR Configurator (4) Parameter value batch-write ( d) ) Click the "Write All" button to write all par ameter values to the servo amplifier. (5) Parameter default value indication ( e) ) Click the "Set to default" button to s how the initia l value of each parameter.
6 - 7 6. MR Configurator 6.5 Point table POINT The value of the parameter No. PA05 se t on the parameter setting screen is not engaged with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length mult iplication) value to the same as set in the parameter No.
6 - 8 6. MR Configurator (5) Point table data insertion ( e) ) Click the "Insert" button to insert one block of data into the position bef ore the point table No. chosen. The blocks after the chosen point tabl e No. are shifted down one by one.
6 - 9 6. MR Configurator 6.6 Device assignment method (1) How to open the setting screen Click "Parameters" on the menu bar and click "Device setting" in the menu.
6 - 10 6. MR Configurator (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo am plifier displays the pin assignment status of the servo amplifier.
6 - 11 6. MR Configurator (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. a) b) Move the pointer to the place of the func tion to be assigned.
6 - 12 6. MR Configurator (c) Function device assignment checking auto ON se tting display Click the "Assignment check / auto ON setting" butt on in the DIDO function display window displays the following window. d) c) e) b) a) The assigned functions are indicated by .
6 - 13 6. MR Configurator 6.7 Test operation CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation us ing the forced stop (EMG) .
6 - 14 6. MR Configurator a) b) g) c) d) e) h) f) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed " input field and press the enter key. (2) Acceleration/deceleration t ime constant setting ( b) ) Enter a new value into the "Accel/decel ti me" input field and press the enter key.
6 - 15 6. MR Configurator 6.7.2 Positioning operation POINT The servo motor will not op erate if the forced stop (EMG), forward rotation stroke end (LSP) and re verse rotation stroke end (LSN) are off.
6 - 16 6. MR Configurator d) e) f) g) h) l) m) a) b) i) j) k) c) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed " input field and press the enter key. (2) Acceleration/deceleration t ime constant setting ( b) ) Enter a new value into the "Accel/decel ti me" input field and press the enter key.
6 - 17 6. MR Configurator (10) Pulse move distance u nit selection (k) Select with the option button s whether the moving distanc e set is in the command input pulse unit or in the encoder pulse unit. (11) Servo motor software forced stop (1)) Click the "Software forced stop" but ton to stop the servo motor rotati on immediately.
6 - 18 6. MR Configurator 6.7.3 Motor-less operation POINT When this operation is used in an absol ute position detection system, the home position cannot be restored properly.
6 - 19 6. MR Configurator 6.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically ca nceled. Each servo amplifier output signal is forcibly switched on/off indepe ndently of the output condition of the output signal.
6 - 20 6. MR Configurator (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal status to the s ervo amplifier.
6 - 21 6. MR Configurator Click the "OK" button to display the setting screen of the Single-step feed. During the servo on, the confirmation window indicati ng that the next operation is in the stop status is displayed. After confirming that the op eration is in th e stop status, click the "O K" button.
6 - 22 6. MR Configurator (7) Servo motor software forced stop ( f) ) Click the "Software forced stop" but ton to stop the servo motor rotati on immediately. W hen the "Software forced stop" button is enabled, the "Start" button can not be used.
6 - 23 6. MR Configurator 6.8 Alarm 6.8.1 Alarm display POINT If a menu is clicked or any other operation is performed during ala rm occurrence, the following message wi ndow appears. The example given here is the window that indicates an occurren ce of Encoder error 1 (16).
6 - 24 6. MR Configurator (1) Current alarm display The window shows the alarm number , name, cause and occurrence time . The following example is the window that indicates an occurrence of Encoder error 1 (16). (2) Alarm reset ( a) ) Click the "Reset alarm" button to reset th e current alarm and clear alarms on the window.
6 - 25 6. MR Configurator Click the "Read" button to read the monitor data at err o r occurrence from the servo amplifier. Read results are displayed as follows.
6 - 26 6. MR Configurator 6.8.3 Alarm history Click "Alarm" on the menu bar and click "History" on the menu. When the above choices are made , the following window appears. b) a) (1) Alarm history display The most recent six alarms are displayed.
7 - 1 7. PARAMETER UNIT ( MR-PRU03 ) 7. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter u nit and MR Configurator together. Perform simple data setting, test operation, parame ter setting, etc. w ithout MR Configurator by connecting the MR-PRU03 parameter unit to the servo a mplifier.
7 - 2 7. PARAMETER UNIT (MR-PRU 03) 7.1 External appearance and key explanations This section gives the exter nal appearance and explanations o f the keys.
7 - 3 7. PARAMETER UNIT (MR-PRU 03) 7.2 Specifications Item Description Model MR-PR U03 Power supply Supplied from the servo amplifier Functions Parameter mode Basic setting parameters, Gain/filt er p.
7 - 4 7. PARAMETER UNIT (MR-PRU 03) 7.4 Connection with servo amplifier POINT A parameter unit cannot be connected to the CN30 connector of MR-J3-D01. 7.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable.
7 - 5 7. PARAMETER UNIT (MR-PRU 03) 7.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from st a tions 0 to 31 can be opera ted on the same bus.
7 - 6 7. PARAMETER UNIT (MR-PRU 03) (2) Cable internal wiring dia gram Wire the cables as shown below. Para mete 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 (Not e 4, 5) LG P5D RDP.
7 - 7 7. PARAMETER UNIT (MR-PRU 03) 7.5 Display Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier . In this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation procedure in each mode.
7 - 8 7. PARAMETER UNIT (MR-PRU 03) 7.5.2 MR-PRU03 paramet er unit setting Set and enter the station number. (e.g. To enter 31st axis) Stati on numb er Contrast adjustment Buzzer Baud ra te selection 3 1 ESC MR-PRU03 parameter unit setting Press the " " keys to select, and press the " " key to set.
7 - 9 7. PARAMETER UNIT (MR-PRU 03) 7.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the disp lay . Refer to (2) in this section for details. 1. Current position 2. Command position 3. Comm and re main ing di stan ce 4.
7 - 10 7. PARAMETER UNIT (MR-PRU 03) (2) Monitor display list The following table lis ts the items and des criptions of monitor displa y. Status display Display on parameter unit Unit Description Display range Current position Cur posit 10 STM mm The current position from the machine home position of 0 is displayed.
7 - 11 7. PARAMETER UNIT (MR-PRU 03) 7.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings in volving alarms, alarm history, external I/O signal (DIDO) display, device and diagnosis. ALM/ DGN Alarm Curr ent alar m (When undervoltage (A10) occurred.
7 - 12 7. PARAMETER UNIT (MR-PRU 03) (2) Alarm history clear The servo amplifier stores one current alarm and five pas t alarms from when its power is switched on first. To control alarms which will occur during operation, cle ar the alarm history before starting operation.
7 - 13 7. PARAMETER UNIT (MR-PRU 03) 7.5.5 Parameter mode The flowchart below shows the procedure for setting pa rameters. DATA PARAM Sele ct a par ameter gr oup. First parameter number is displayed. e.g. To select the gain/filter para meter, press: Write Write is c ompleted.
7 - 14 7. PARAMETER UNIT (MR-PRU 03) 7.5.6 Point table mode The flowchart below shows the procedure for setting point table data. DATA PARAM e.g. To set setting value "4567.
7 - 15 7. PARAMETER UNIT (MR-PRU 03) 7.5.7 Test operation mode CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation us ing the forced stop (EMG) .
7 - 16 7. PARAMETER UNIT (MR-PRU 03) (1) Jog operation Jog operation can be performed when th ere is no command fro m the external command devic e. Connect EMG-DOCOM to start jog operation . (a) Operation/cancel You can change the operation conditions with the p arameter unit.
7 - 17 7. PARAMETER UNIT (MR-PRU 03) (2) Positioning operation Positioning operation can be performed on ce when there is no co mmand from the external com mand device. Connect EMG-DOCOM to start position ing operation. (a) Operation/cancel You can change the operation conditions with the p arameter unit.
7 - 18 7. PARAMETER UNIT (MR-PRU 03) If the communication cable is disconnected during positio ning operation, the servo motor will come to a sudden stop. To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier.
7 - 19 7. PARAMETER UNIT (MR-PRU 03) To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier. (5) Single-step feed Operation is performed in accordance with the preset point table No. Connect EMG-DOCOM to start single-step feed.
7 - 20 7. PARAMETER UNIT (MR-PRU 03) (2) Messages Message Description Valid parameters were written when power is off. The MR-PRU03 parameter unit was used to s et a station number and perform transition duri ng the test operation mode. Operation mode is the test operation mode.
8 - 1 8 GENERAL GAIN ADJUSTMENT 8. GENERAL GAIN ADJUSTMENT 8.1 Different adjustment methods 8.1.1 Adjustment on a single servo ampli fier The gain adjustment in this section can be made on a singl e servo amplifier. For gain adjustment, first execute auto tuning mode 1.
8 - 2 8. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage END Inter polatio n made for 2 or more axes? START Operation Auto tuning mode 2 OK? OK? Manual mode OK? No No Yes No Yes No Yes Auto tuning mode 1 Operation Interpolation mode Operation Yes Usage Used when you want to match the position gain (PG1) between 2 or more axes.
8 - 3 8. GENERAL GAIN ADJUSTMENT 8.2 Auto tuning 8.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning functi on which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value.
8 - 4 8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operation The block diagram of real-time auto tunin g is shown below. Servo motor Command Automa tic se tting Loop gains PG1,VG1 PG2,VG2,VIC Cur.
8 - 5 8. GENERAL GAIN ADJUSTMENT 8.2.3 Adjustment procedure by auto tuning Since auto tuning is ma de valid before s hipment from t he factory, simply running the servo motor automatica lly sets the optimum gains that match the machine. Mere ly changing the response level setting value as required completes the adjustment.
8 - 6 8. GENERAL GAIN ADJUSTMENT 8.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration .
8 - 7 8. GENERAL GAIN ADJUSTMENT 8.3 Manual mode 1 (simple manual adju stment) If you are not satisfied with the adjus tment of auto tuni ng, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No.
8 - 8 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (parame ter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate .
8 - 9 8. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation Name PB06 GD2 Ratio of load inertia moment to.
8 - 10 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2 : parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the me chanical system liable to vibrate.
8 - 11 8. GENERAL GAIN ADJUSTMENT 8.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X- Y table or the like. In this mode, manually set the model loop gain that determines c ommand track ability.
8 - 12 8. GENERAL GAIN ADJUSTMENT 8.5 Differences between MELSERVO-J2-S upe r and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J 3 series has been changed in response level setting range from the MR-J2-Super. The fo llowing table lists comparison of the response level setting.
9 - 1 9. SPECIAL ADJUSTMENT FUNCTI ONS 9. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adju stment in the methods in chapter 9.
9 - 2 9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Filter tunin g mode selection 000 Parameter No.PB01 Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.
9 - 3 9. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure The response has increased to the machi ne limi t. The mac hine is too comp licated to provide the optimum filter. Factor Adapt ive tu ning a djustme nt Operation Is the target response reac hed? Tuning ends automatically after the predetermined period of time.
9 - 4 9. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibr ation sound increases a s an excitation signal is forcibly applied for several second s.
9 - 5 9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth a nd notch widt h of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No.
9 - 6 9. SPECIAL ADJUSTMENT FUNCTIONS 9.4 Advanced vibration suppre ssion control (1) Operation Vibration suppression control is used to further suppr ess machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so t hat the machine does not shake.
9 - 7 9. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure No Estimation cannot be made as machine end vib ration has not b een transmitted to the motor end. The response of the model loop gain has increased to the machine end vibration frequency (vibration suppression control limit).
9 - 8 9. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibratio n frequency (parameter No.
9 - 9 9. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine end vibrat ion does not show up in motor end vi bration, the setting of the motor end vibration frequency does not produce an effect.
9 - 10 9. SPECIAL ADJUSTMENT FUNCTIONS 9.5 Low-pass filter (1) Function When a ball screw or the like is used, resonance of hi gh frequency may occur as the response level of the servo system is increased. To prevent this , the low- pass filter is factor y-set to be valid for a torque command.
9 - 11 9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are c hanged according to the conditions selected by gain changing selection CD P (parameter No. PB26) a nd gain changing condition CDS (parameter No.
9 - 12 9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.3 Parameters When using the gain changing function, always set " 3 " in parameter No. PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gai n changing function cannot be used in the auto tuning mode.
9 - 13 9. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in or dinary manual adjus tment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain , speed loop gain and speed integral compensation to be changed.
9 - 14 9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.4 Gain changing operation This operation will be described b y way of setting exa mples. (1) When you choose changing by input device (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo moto r inertia moment 4.
9 - 15 9. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 PG1 Model loop ga in 100 rad/s PB06 GD2 Ratio of load i nertia moment to servo m otor inertia mo ment 4.
9 - 16 9. SPECIAL ADJUSTMENT FUNCTIONS MEMO.
10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up CAUTION Excessive adjustment or change of para meter setting must not be made as it will make operation instable. POINT Using the MR Configurator, you can re fer to unrota ted servo motor reasons, etc.
10 - 2 10. TROUBL ESHOOTING No. Start-up sequence Fault Investigation Possible cause Reference 4 C yclic operation Position shift occurs Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position. Pulse counting error, etc.
10 - 3 10. TROUBL ESHOOTING Display Name Warnings A90 Home positioning incomplete war ning A92 Open ba ttery cable warning A96 Home position setting erro r A98 Software limit wa rning A99 Stoke limit .
10 - 4 10. TROUBL ESHOOTING Display Name Definition Cause Action A10 Undervoltage Power supply voltage dropped. MR-J3- T: 160VAC or less MR-J3- T1: 83VAC or less MR-J3- T4: 280VAC or less 1. Power supply voltage is low. Check the po wer supply. 2. There was an instantaneous control power failure of 60ms or longer.
10 - 5 10. TROUBL ESHOOTING Display Name Definition Cause Action A24 Main circuit error Ground fault occurred at the servo motor power (U,V and W phases) of the servo amplifier. 1. Power input wires and servo motor power wires are in contact. Connect correctly.
10 - 6 10. TROUBL ESHOOTING Display Name Definition Cause Action A31 Overspeed Speed has exceeded the instantaneous permissible speed. 1. Input command pulse frequency exceeded the permissible instantaneous speed frequency. Set command pulses correctly.
10 - 7 10. TROUBL ESHOOTING Display Name Definition Cause Action A33 Overvoltage The following shows the input value of converter bus voltage. MR-J3- T(1): 400VDC or more MR-J3- T4: 800VDC or more 1. Regenerative option is not us ed. Use the regenerative option.
10 - 8 10. TROUBL ESHOOTING Display Name Definition Cause Action A45 Main circuit device overheat Main circuit device overheat 1. Servo amplifier faulty. Change the se rvo amplifier. 2. The power supply was turned on and off continuously by overloaded status.
10 - 9 10. TROUBL ESHOOTING Display Name Definition Cause Action A51 Overload 2 Machine collision or the like caused max. For the time of the alarm occurrence, refer to the section 12.1. 1. Machine struck something. 1. Check operation pattern. 2. Install limit switches.
10 - 10 10. TROUBL ESHOOTING Display Name Definition Cause Action (Note) 888 Watchdog CPU, parts fault y Fault of parts in servo amplifier Checking method Alarm ( 888) oc curs if power is switched on aft er discon nection of all cables but the control circuit power supply cable.
10 - 11 10. TROUBL ESHOOTING 10.2.3 Remedies for warni ngs CAUTION If an absolute position counter warni ng (AE3) occurred, always make home position setting again. Not d oing so may cause unexpected operation . POINT When any of the following alarms has occurred, do not resume operation b y switching power of the servo amplifier OFF/ON repeatedly.
10 - 12 10. TROUBL ESHOOTING Display Name Definition Cause Action A98 Software limit warni ng Software limit set in parameter is reached. 1. Software limit was set within actual operation range. Set parameter No. PC31 to PC34 correctly. 2. Point table of position data in excess of software limit was executed.
10 - 13 10. TROUBL ESHOOTING Display Name Definition Cause Action AEC Overload warnin g 2 Operation, in which a current exceeding the rating flew intensively in any of the U, V and W phases of the servo motor, was repeated.
10 - 14 10. TROUBL ESHOOTING MEMO.
11 - 1 11. OUTLINE DRAWINGS 11. OUTLINE DRAWINGS 11.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] With MR-J3BAT 6 mounting hole Rating plate Approx. 80 Approx. 68 Approx. 25.5 6 CNP3 4 60 CNP2 CNP1 6 135 CN1 41 40 (Note) Note.
11 - 2 11. OUTL INE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] Rating plate 6 mounting hole With MR-J3BAT 60 CNP1 Approx. 68 6 Approx. 25.5 CNP2 5 6 Approx. 80 170 CNP3 76 40 CN1 (Note) Note. This data applies to the 3-phase or 1-phase 200 to 230VAC p ower supply models.
11 - 3 11. OUTL INE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] Cooling fan wind direction 6 mounting hole With MR-J3BAT Rating plate Approx. 68 Approx.
11 - 4 11. OUTL INE DRAWINGS (4) MR-J3-60T4 MR-J3-100T4 [Unit: mm] Approx. 68 Approx. 80 195 101 6 Approx. 25.5 6 42 12 CNP3 80 CNP2 CNP1 12 CN1 Rating plate 6 mounting hole With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) (Servo amplifier alone) 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.
11 - 5 11. OUTL INE DRAWINGS (5) MR-J3-200T(4) POINT Connectors (CNP1, CNP2, and CNP3) and ap pearance of MR-J3-200T se rvo amplifier have been changed from Janu ary 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200 T-RT.
11 - 6 11. OUTL INE DRAWINGS (6) MR-J3-350T [Unit: mm] 6 mounting hole With MR-J3BAT Rating plate Cooling fan wind direction 85 78 Approx. 25.5 105 Approx.
11 - 7 11. OUTL INE DRAWINGS (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] 6 118 6 130 6 Approx. 80 200 CN1 26.5 11 7 11 77 21.5 10 67 1111 42 1111 150.7 147.9 109.1 81.5 140 106 TE2 TE1 TE3 2- 6 mounting hole With MR-J3BAT Built-in regenerative resistor lead terminal fixing screw Rating plate Cooling fan wind direction Mass: 4.
11 - 8 11. OUTL INE DRAWINGS (8) MR-J3-700T(4) [Unit: mm] Cooling fan wind direction 2- 6 mounting hole With MR-J3BAT Rating plate Built-in regenerative resistor lead terminal fixing screw 200 172 160 6 6 Approx. 80 6 24.5 13 7 13 91 14.5 10 34 1313 31 13 13 75 99.
11 - 9 11. OUTL INE DRAWINGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] Cooling fan wind direction With MR-J3BAT 2-12 mounting hole Rating plate 12 236 12 260 12 260 Approx. 80 TE 26 6 26 156 13 123 183 227 52 CN1 236 0.5 Approx. 260 Servo amplifier MR-J3-11KT(4) 18.
11 - 10 11. OUTL INE DRAWINGS 11.2 MR-J3-D01 extension IO unit [Unit: mm] Approx. 80 CN20 20 103 98 94 79.5 CN30 CN10.
11 - 11 11. OUTL INE DRAWINGS 11.3 Connector (1) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] E B A 23.8 39.0 12.7 C Logo etc, are indicated here. D Connector Shell kit Each type of dimension A B C D E 10150-3000PE 10350-52F0-008 41.
11 - 12 11. OUTL INE DRAWINGS (2) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 34.8 39.5 22.4 11.0.
12 - 1 12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo ampl ifier to protect the servo motor and servo amplifier from overloads.
12 - 2 12 CHARACTERISTICS 10000 1000 100 10 1 0 100 200 300 During operat ion During servo lock O p e r a t i o n t i m e [ s ] (Note) Lo ad ratio [%] MR-J3-11KT(4) to MR-J3-22KT(4) Note.
12 - 3 12 CHARACTERISTICS 12.2 Power supply equipment capacity and ge nerated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power suppl y capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 12.
12 - 4 12 CHARACTERISTICS Servo amplifier Servo motor (Note 1) Power supply capacity[kVA] (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation At rated torque With servo off [m 2 ] MR-J3-700T (4) HF-SP702 (4) 10.0 300 25 6.0 HA-LP702 10.
12 - 5 12 CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo ampli fier should be designed to ensure that its temperature rise is with in 10 ( 50 ) at the ambien t temperature of 40 (104 ).
12 - 6 12 CHARACTERISTICS 12.3 Dynamic brake characteristics 12.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 12.3 shows the pattern in which the servo motor c omes to a stop when the dynamic brake is operated. Use Equation 12.
12 - 7 12 CHARACTERISTICS 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 1500 2000 2500 300.
12 - 8 12 CHARACTERISTICS 0 Speed[r/m in] 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 22K2.
12 - 9 12 CHARACTERISTICS 12.3.2 The dynamic brake at the load in ertia moment Use the dynamic brake under the load iner tia moment ratio indicated in the fo llowing table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn.
12 - 10 12 CHARACTERISTICS 12.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allow ance for these values.
13 - 1 13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AU XILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipmen t, turn off the power and wait for 15 minutes or more un til the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and o thers.
13 - 2 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo motor HA-LP Servo motor HC-RP HC-UP HC-LP Servo motor HF-SP Encoder connector Brake connector Power supply connector Encoder connector Brake connector.
13 - 3 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 1) Servo amplifier power supply connector Supplied with servo amplifiers of 1kW or less in 100V class and 200V cla.
13 - 4 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 5) Motor power supply cable MR-PWS1CBL M- A2-L Cable length: 2 5 10m Power s upply connec tor HF-MP series HF-KP series Refer to section 13.
13 - 5 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 17) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m Encoder co nnector HF-MP series HF-KP series Refer to section 13.
13 - 6 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 29) Power supply connector set MR-PWCNS5 Plug: CE05-6A22-22SD- D-BSS Cable clamp: CE3057-12A-1-D (DDK) Example of applicable cable Applicable wire size: 5.5mm 2 (AWG10) to 8mm 2 (AWG8) Cable finish D: 12.
13 - 7 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 39) Digital switch cable MR-DSCBL M-G Refer to section 3.2.2 and section 13.19 for details. For digital switch 40) Digital switch cable MR-DSCBL Refer to section 3.2.
13 - 8 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.1.2 Encoder cable/connecto r sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.
13 - 9 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Cable internal wiring dia gram Servo amplifier side connector Encoder side connector Plate MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-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 following encoder cabl es are of f our-wire type.
13 - 10 13. OPTIONS AN D AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP 1) MR-EKCBL M-L MR-EKCBL M-H MR-J3JCBL03M-L Cabl e le ngth: 0.
13 - 11 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L Servo amplifier side En coder 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 ).
13 - 12 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabrica te it according to the wiring diagram in (b). Refer to section 13 .9 fo r the specificatio ns of the used cable.
13 - 13 13. OPTIONS AN D AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP MR-J3JCBL03M-A2-L MR-EKCBL M-L/-H 1) Servo amplifier 2) Servo motor HF-MP HF-KP M.
13 - 14 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP Series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model.
13 - 15 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Internal wiring diagram 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 co nnector Encoder si de connector Plate M.
13 - 16 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this ca b le to retain the current position e ven if the detector cable is disconnected from the servo amplifier. Cable Model Cable Length Application MR-J3BTCBL03M 0.
13 - 17 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.
13 - 18 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numera ls in the Cable Length field of the table ar e the symbols entered in the part of th e cable model.
13 - 19 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.2 Regenerative options CAUTION The specified combinations of regenerative options an d servo amplifiers may onl y be used. Otherwise, a fire may occur. (1) Combination and regenerative power The power values in the table are resi stor-generated powers and not rated powers.
13 - 20 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs conti nuously in vertical motion applications or when it is desired to make an in-depth selec tion of the regenerative op tion.
13 - 21 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amp lifier in regenerative mode The following table lists the e fficiencies and other data of the servo motor and servo a mplifier in the regenerative mode.
13 - 22 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Parameter setting Set parameter No. PA02 ac cording to the option to be used. Selection of regenerative option 00: Regenerative option is not used For MR-J3-10T, regenerative resistor is not used. For MR-J3-20T 40T 60T(4) to 700T(4) built-in regenerative resistor is used.
13 - 23 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Connection of the regenerative op tion POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB 3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling fan is requ ired to cool it. The cooling fan should be prepared by the custom er.
13 - 24 13. OPTIONS AN D AUXILIARY EQUIPMENT For the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4 instal l the cooling fan as shown. 40 82.5 82.5 133 Coolin g fan instal lation screw hole dim e nsion s .
13 - 25 13. OPTIONS AN D AUXILIARY EQUIPMENT When using the regenerative resistor option , remove the servo a mplifier's built -in regenerative resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below.
13 - 26 13. OPTIONS AN D AUXILIARY EQUIPMENT For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR -RB 34-4 or MR-RB54-4 install the cooling fan as shown. 82.5 133 Cooling fan installation screw hole dimensions 2.
13 - 27 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) MR-J3-11KT(4) to MR-J3-22KT(4) (when using th e supplied regenerative resistor) CAUTION The regenerative resistor supplied with 1 1 kW to 22 kW servo ampl ifiers does not have a protect cover. Touc hing the resistor (including wiring/screw hole area) may cause a burn injury and electric shock.
13 - 28 13. OPTIONS AN D AUXILIARY EQUIPMENT (d) MR-J3-11KT(4)-PX to MR-J3-22KT(4)- PX (when using the regenerative option) The MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of thes e servo amplifiers , always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option.
13 - 29 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [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 Approx. 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.
13 - 30 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm (in)] 7 10 90 100 B A 318 82.5 101.5 Cooling fan mounting screw (2-M4 screw) Wind blows in the arrow direction TE1 Terminal block G3 G4 P C Terminal screw: M4 Tightening torque: 1.
13 - 31 13. OPTIONS AN D AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm (in)] 2- 10 mounting hole 10 43 480 500 427 10 30 215 2.3 10 230 TE1 G4 G3 C P 260 230 15 82.5 82.5 82.5 Cooling fan mounting screw 4-M3 screw Terminal block G3 G4 P C Terminal screw: M5 Tightening torque: 2.
13 - 32 13. OPTIONS AN D AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] TE1 6 2 149 173 6 Approx. 24 15 36 40 6 mounting hole 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.
13 - 33 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3 FR-BU2-(H) brake unit POINT Use a 200V class brake unit and a resist or unit with a 200V class servo amplifier, and a 400V class brake unit and a re sistor unit with a 400V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used.
13 - 34 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3.1 Selection Use a combination of servo amplifier, brake unit and resist or unit listed below. Brake unit Resistor unit Number of connected units Permissible continuous power [kW] Total resistance [ ] Applicable servo amplifier 200V class FR-BU2-15K FR-BR-15K 1 0.
13 - 35 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3.3 Connection exampl e POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit.
13 - 36 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel co nne ction, use two sets of FR-BU2 brake unit. Combination with other brake unit results in al arm occurrence or malfunction.
13 - 37 13. OPTIONS AN D AUXILIARY EQUIPMENT DOCOM DICOM ALM N/ P/ NFB 24VDC ALM RA1 MC SK MC ON OFF EM G Servo motor thermal relay RA2 (Note 7) (Not e 1) Power supply BUE SD PR B C A SD MSG (Not e 4).
13 - 38 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Combination with MT -BR5-(H) resistor unit NFB 24VDC ALM RA1 MC SK MC ON OFF EMG Servo motor thermal relay RA2 (Not e 8) (Not e 1) Power supply N/ P/ B.
13 - 39 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake uni t, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter).
13 - 40 13. OPTIONS AN D AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can ca use a cable disconnection o r malfunction. Overtightening can cause a sho r t circuit or malfunction due to dam age to the screw or the brake unit.
13 - 41 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimpi ng terminals or equivalent since som e crimping terminals cannot be installed depending o n the size.
13 - 42 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [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-H30 K 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.
13 - 43 13. OPTIONS AN D AUXILIARY EQUIPMENT (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).
13 - 44 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.4 Power regeneration converter When using the power reg eneration converter, set " 01" in parameter No.PA02. (1) Selection The converters can continuou sly return 75% of the nom inal regenerative power.
13 - 45 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Connection example Servo am plifier Alarm outpu t RDY output 5m or less Operation ready Ready Power factor improving reactor Phase detection terminals .
13 - 46 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] AA A C F K EE BA B E D 2- D ho le Rati ng plat e Front cover Display panel window M.
13 - 47 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V cl ass and the FR-CV-H for that of 400V class. For details of the power regeneration common conv erter FR-CV-(H ), refer to the FR-CV-(H) Installation Guide (IB(NA)06000 75).
13 - 48 13. OPTIONS AN D AUXILIARY EQUIPMENT The following table lists the restrictions. Item FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier c apacities [kW] 3.75 5.5 7.5 11 15 18.
13 - 49 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Connection diagram (a) 200V class Thermal relay (Note 2) 24VDC power supply (Note 1) (Note 3) (Note 4 ) Servo am plifier Servo motor (Note 1) (Note 5) .
13 - 50 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) 400V class Thermal relay (Note 2) 24VDC power supply (Note 1) (Note 3 ) (Note 4) Servo amplifier Servo motor (Note 1) (Note 5) (Note 1) (Note 1) (Note .
13 - 51 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wi re size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV.
13 - 52 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Examp le of select ing the wire sizes When connecting multiple servo amplif iers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in th e order of larger to smaller capacities.
13 - 53 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) Other precautions (a) Always use the FR-CVL-(H) as the power factor imp roving reac tor. Do not use the FR-BAL or FR-BEL.
13 - 54 13. OPTIONS AN D AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.
13 - 55 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the serv o on signal at a power failure or failure. For the braking time taken when the dy namic brake is operated, refer to section 12.
13 - 56 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Connection example Plate SD NFB MC L 11 L 21 U V W U V W M 13 U 14 V W External dynamic brake a b Servo amplifier Servo motor RA2 MC SK MC ON OFF ALM R.
13 - 57 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo motor rotation Coasti ng Trou ble (ALM ) RA1 ON OFF Forc ed stop (EMG) Absent Invalid Valid Short Open a.
13 - 58 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DB-11K DBU-15K DBU-22K UV W D 100 D 5 C E G F 2.3 Termin al block Screw : M3.5 Screw : M4 B A 5 E 13 14 E (GND) ab [Unit: mm] Tightening torque: 1.2 [N m](10.6 [lb in]) Tight ening t orqu e: 0.
13 - 59 13. OPTIONS AN D AUXILIARY EQUIPMENT (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- 7mount ing 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]) Screw: M3.
13 - 60 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.7 Battery MR-J3BAT POINT The revision (Edition 44) of the Dang erou s Goods Rule of the International Air Transport Association (IATA) went in to effect on Jan uary 1, 2003 and was enforced immediately.
13 - 61 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.8 Heat sink outside mounti ng attachment (M R-J3ACN) Use the heat sink outside mounting atta chment to mount the heat generation ar ea of the servo ampl.
13 - 62 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Fitting method Attachment Fit using the assembling screws. Serv o ampl if ier Attachment Servo amplifier Punched hole Control box a. Assembling the heat sink outside mounting atta chment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] 236 280 Approx.
13 - 63 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.9 Selection example of wires POINT Wires indicated in this section are separated wi res. When using a cable for power line (U, V, and W) between the se rvo amplifier and servo motor, use a 600V grade EP rubber insu lated chloropr ene sheath cab-tire cable (2PNCT).
13 - 64 13. OPTIONS AN D AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire s ize when using IV wires is indicated be low.
13 - 65 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyv inyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wire s is indicated below. For th e wire ( 8)) for power regeneration converter (FR-RC-(H)), use the IV wi re indicated in (1) (a) in this section.
13 - 66 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) Selection example of crimping termin als Selection example of crimping terminals for the se r vo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below.
13 - 67 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent.
13 - 68 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.10 No-fuse breakers, fuses, magnetic co ntactors Always use one no-fuse br eaker and one magnetic contac tor with one servo amplifier. When using a fus e instead of the no-fuse breaker, use the one having the specifications give n in th is section.
13 - 69 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.11 Power factor improving DC re actor POINT For the 100V power supply type (MR-J3- T1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's in put current to improve the power factor.
13 - 70 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo amplifier Power factor improving DC reactor Outline drawing Dimensions [mm] Mounting screw size Mass [kg(lb)] Wire [mm 2 ] (Note) A B C D E F L G H MR-J3-10T 20T FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.
13 - 71 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.12 Power factor improving re actors The power factor improving reactors improve the pha se fact or by increasing the form factor of servo amplifier's input current. It can reduce the power capacity.
13 - 72 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo amplifier Model Dimensions [mm] Mounting screw size Terminal screw size Mass [kg (lb)] W W1 H D D1 C 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.
13 - 73 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.14 Surge absorbers (recommended) A surge absorber is required for the electromagnetic br ake. Use the following surge absorber or equivalent. When using the surge absorber, perform insula tion beforehand to prevent short-circuit.
13 - 74 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.15 Noise reduction techniques Noises are classified into external noises which en ter t he servo amp lifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devic es to malfunction.
13 - 75 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amp lifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classifi.
13 - 76 13. OPTIONS AN D AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuri ng instrumen ts, receivers, se nsors, etc.
13 - 77 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC va lve, AC electromagne tic brake or the like near the servo amp lifier is shown below. Use this product or equivalent.
13 - 78 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) Cable clamp fitting AE RSBAN- SET Generally, the earth of the shielded cable ma y only be connected to the connector's SD terminal. However, the effect can be increased by directly c onnecting the cable to an earth plate as shown below.
13 - 79 13. OPTIONS AN D AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radi ated fr om the power supply side and output side of the servo amplifier and also in suppressing high-frequen cy leakage current (zero-phase current) especially within 0.
13 - 80 13. OPTIONS AN D AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogen ous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input p ower supply of the equipment.
13 - 81 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.16 Leakage current bre aker (1) Selection method High-frequency chopper currents controlled by pulse widt h modulation flow in the AC servo circuits. Leakage currents containing harmonic c ontents are larger than th ose of the motor which is run with a commercial power supply.
13 - 82 13. OPTIONS AN D AUXILIARY EQUIPMENT Table 13.4 Servo motor’s leakage current example (Igm) Tabl e 13.5 Servo amplifier's leakage current example (Iga) Servo motor output [kW] Leakage current [mA] Serv o amplifier capacity [kW] Leakage current [mA] 0.
13 - 83 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.17 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter .
13 - 84 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter 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.
13 - 85 13. OPTIONS AN D AUXILIARY EQUIPMENT HF3100A-UN 2-6.5 8 M8 2- 6.5 145 1 165 3 M6 380 1 400 5 160 3 M8 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 290 2 100 1 308 5 332 5 Appro x.12. 2 3-M4 16 16 6-R3.25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Appro x.
13 - 86 13. OPTIONS AN D AUXILIARY EQUIPMENT TF3040C-TX TF3060C-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 Model Dimensions [mm] A B C D E F G H J K L M TF3040C-TX 438 412 390 100 175 160 145 200 Approx.
13 - 87 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Surge protector 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 Black RAV-781BXZ-4 1 3 2 UL-1015AWG16 4.2 0.2 5.5 1 11 1 28.5 1.
13 - 88 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to ro tate the servo motor. The tra vel of the servo motor to the pulse signal generated by MR-HDP01 with an external input signal can be changed with the manual pulse generator multiplication 1 (TP0) and 2 (T P1).
13 - 89 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Terminal layout 5 to 0V A B 12V Signal Description 5 to 12V Power input 0V Common for po wer and signal A A-phase pulse output B B-phase pulse output (4) Installation 6 2 2 0 7 2 0 . 2 3- 4.8 Equally spaced Panel cut (5) Outline drawing 8.
13 - 90 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.19 MR-DS60 6-digit digital switch Using the MR-DS60 6-digit digital switch can send the position data in the BCD signal. For the connection of MR-DS60 and MR-J3-D01, refer to section 3.2.2. (1) Parameter setting When using MR-DS60, set the parameter as shown below.
13 - 91 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Terminal layout TB DCM2 COM2 DCM1 COM1 Signal Pin No. Description DO04 Common output 1, sign, 1000, 10 000, 100000 si de common output 9A Common output.
13 - 92 13. OPTIONS AN D AUXILIARY EQUIPMENT (6) Installation [Unit: mm] 85 48 68 34 93 93 Panel cu t Panel cut Front in stallation Internal installation Square hole Square hole 2 5 2 5.
13 - 93 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.20 External digital display (MR-DP60) (1) Specifications Item Specifications Display Red seven-segment LED, signed, six digits Power supply Permissible voltage fluctuat ion Single-phase, 85 to 253VAC, 50/60Hz Current consumption Within 200mA Communication Interface Conforms to RS -422A.
13 - 94 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Mounting Front mounting 2- 5 Square hole 141 150 53 [Unit: mm] Inside mounting 2- 5 Square hole 95 150 20 (5) Outline dimension drawing 7.5 MITSUBISHI 7.5 150 165 MR-DP 60 TB1 TB2 29 29 58 4 43 38 48 [Unit: mm] 2- 4.
13 - 95 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.21 Junction terminal block PS7DW-2 0V14B-F (recommended) (1) How to use the junction terminal block Always use the junction ter minal block (PS7DW-20V 14B-F(YOSHIDA)) with the option cable (MR-J2HBUS M) as a set.
13 - 96 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outline drawings of junction termina l block [Unit: mm] 36.5 27.8 18.8 7.62 44.11 54 63 4.5 4.5 5 4 60 50 9.
13 - 97 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.22 Junction terminal block MR-TB50 (1) How to use the junction terminal block Always use the junction ter minal block (MR-TB50) with the junction terminal block cable (MR-J2M-CN1TBL M) as a set. A connection example is shown below.
13 - 98 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Connection of MR-J2M-CN1TBL M cable and MR-TB50 SD SD Plate Symbol(N ote 3) (Note 1) MR-J2M-CN1TBL M CN10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 .
14 - 1 14. COMMUNICATION FUNCTION 14. COMMUNICATION FUNCTION Using the serial communication function of RS-422 , th is servo amplifier enables servo operation, parameter change, monitor function, e tc. 14.1 Configuration POINT A personal computer canno t be connected to the CN30 con nector of MR-J3- D01.
14 - 2 14. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below. 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) (Note 1) Axis 1 servo amplifier CN3.
14 - 3 14. COMMUNICATION FUNCTION 14.2 Communication sp ecifications 14.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction.
14 - 4 14. COMMUNICATION FUNCTION 14.2.2 Parameter setting When the USB/RS-422 communication function is used to ope rate the servo, set the communicatio n specifications of the servo amplifier in the corresponding parameters. After setting the values of these par ameters, they are made valid by switching power off once, then on again.
14 - 5 14. COMMUNICATION FUNCTION 14.3 Protocol 14.3.1 Transmission data configuratio n Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication .
14 - 6 14. COMMUNICATION FUNCTION 14.3.2 Character codes (1) Control codes Code name Hexadecimal (ASCII code) Description Personal computer terminal key operation (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of text end of transmission ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII codes are used.
14 - 7 14. COMMUNICATION FUNCTION 14.3.3 Error codes Error codes are used in the fo llowing cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave stati on sends the error code corresponding to that data to the master station .
14 - 8 14. COMMUNICATION FUNCTION 14.3.5 Time-out operation The master station transmits EOT when the slave station does not start repl y operation (ST X is not received) 300ms after the master station has ended communication operation. 100ms after that , the master station retransmits the message.
14 - 9 14. COMMUNICATION FUNCTION 14.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initializ ation processing terminates.
14 - 10 14. COMMUNICATION FUNCTION 14.4 Command and data No. list POINT If the command and data No. a re the same, the description m ay be different depending on models of se rvo amplifiers. 14.4.1 Read commands (1) Status display (Command [0][1]) Command Data No.
14 - 11 14. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8 ] [0][9]) Command Data No. Description Frame Length [0] [4] [0] [1] Parameter group read 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.
14 - 12 14. COMMUNICATION FUNCTION (3) External I/O signals (Command [1][2]) Command Data No. Description Frame Length [1] [2] [0] [0] Input device status 8 [0] [1] [0] [2] [4] [0] External input pin .
14 - 13 14. COMMUNICATION FUNCTION (5) Current alarm (Command [0][2] [3 ][5]) Command Data No. Description Frame Length [0] [2] [0] [0] Current alarm nu mber 4 [3] [5] [0][0] Status display name and unit at alarm occurrence Current position 16 [0][1] Command position [0][2] Command remaining distance [0][3] Point table No.
14 - 14 14. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [5 ][4]) Command Data No. Description Frame length [5][4] [0][1] to [F][F] Acceleration time constant read The decimal equivalent of the data No. val ue (hexadecimal) corresponds to the Point table No.
14 - 15 14. COMMUNICATION FUNCTION 14.4.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting Range Frame length [8] [1] [0] [0] Status display data erasure 1EA5 4 (2) Parameters (Command [8][4] [8][5]) Command Data No.
14 - 16 14. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [C ][7]) Command Data No. Description Setting range Frame length [C][7] [0][1] to [F][ F] Acceleration time constant write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No.
14 - 17 14. COMMUNICATION FUNCTION (14) Operation mode selection (Command [8 ][B]) Command Data No. Description Setting Range Frame Length [8] [B] [0] [0] Operation mode switching 0000: Test operation.
14 - 18 14. COMMUNICATION FUNCTION 14.5 Detailed explanations of command s 14.5.1 Data processing When the master station tr ansmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose.
14 - 19 14. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the dec imal point position must be specified. If it is not specified, the data cannot be writt en. When the data is handled as hexadec imal, specify "0" as the decimal point position.
14 - 20 14. COMMUNICATION FUNCTION 14.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] a nd the data No. corresponding to the status display item to be read, [0][0] to [0][E].
14 - 21 14. COMMUNICATION FUNCTION 14.5.3 Parameters (1) Specify the parameter group The group of the parameters to be oper ated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated.
14 - 22 14. COMMUNICATION FUNCTION (4) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data N o. corresponding to the parameter No.
14 - 23 14. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high freq uency (i.e. one time or more per one hour), write the setting va lues to the RA M, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
14 - 24 14. COMMUNICATION FUNCTION 14.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the input de vice.
14 - 25 14. COMMUNICATION FUNCTION (2) External input pin status read Read the ON/OFF statuses of the external ou tput pins. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the pin. Command Data No. [1][2] [4][0] [4][1] (b) Reply The ON/OFF statuses of th e input pins are sent back.
14 - 26 14. COMMUNICATION FUNCTION (3) Read of the statuses of input de vices switched on through communication Read the ON/OFF statuses of the input d e vices switched on through communication. (a) Transmission Transmit command [1][2] and the data N o.
14 - 27 14. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external ou tput pins. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the pin. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins.
14 - 28 14. COMMUNICATION FUNCTION (5) Read of the statuses of output de vices Read the ON/OFF statuses of the outpu t devices. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the output device . Command Data No. [1][2] [8][0] [8][1] [8][2] (b) Reply The slave station sends back the sta tuses of the output devices.
14 - 29 14. COMMUNICATION FUNCTION 14.5.5 Device ON/OFF POINT The ON/OFF states of all devices in the servo ampli fier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device O N every time.
14 - 30 14. COMMUNICATION FUNCTION 14.5.6 Disable/enable of I/O device s (DIO) Inputs can be disabled independently o f the I/O devices ON/OFF. When inputs ar e disabled, the inpu t signals (devices) are recognized as follows. Among the i nput devices, EMG, LSP and LSN cannot be disabled.
14 - 31 14. COMMUNICATION FUNCTION 14.5.7 Input devices ON /OFF (test operation) Each input devices can be turned on/o ff for test opera tion. when the device to be sw itched off exists in the external input signal, also sw itch off that input signal.
14 - 32 14. COMMUNICATION FUNCTION 14.5.8 Test operation mode POINT The test operation mode is used to confir m operation. Do not use it for actual operation. If communication stops for longe r than 0. 5s during test operation, the servo amplifier decelerates to a stop, result ing in servo lock.
14 - 33 14. COMMUNICATION FUNCTION (2) JOG operation Send the command, data N o. and data as i ndicated below to execute JOG operation. Comman d : [8][B] Data No. : [0][ 0] Data : 000 1(JOG ope ration) When LS P/LSN was turned OFF by external input signal or automatically Command: [9] [2] Data No.
14 - 34 14. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data N o. and data as indicated below to execute positioning operation.
14 - 35 14. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. a nd data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following comman d, data No.
14 - 36 14. COMMUNICATION FUNCTION (4) Single-step feed Set necessary items to the point table before starting the single-step feed. Send the command, data N o. and data as indicated below to execute single-step feed. Command : [9][ 2] Data No. : [0][0 ] Data : 00020807 (ST1 is ON) Operat ion s tart Command : [8 ][B] Data No.
14 - 37 14. COMMUNICATION FUNCTION (5) Output signal pin ON/OFF ou tput signal (DO) forced output In the test op eration mode, the output sig nal pins can be turned on/off independently of the servo sta tus. Using command [9][0], disable the outpu t signals in advance.
14 - 38 14. COMMUNICATION FUNCTION (6) Motorless operation (a) Performing motorless operation Transmit command [8][B] + data No. [0][0 ] + data "0003" to perform motorless operation .
14 - 39 14. COMMUNICATION FUNCTION 14.5.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in th e past. Th e alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the pas t) are read. (a) Transmission Send command [3][3] and data No.
14 - 40 14. COMMUNICATION FUNCTION 14.5.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring.
14 - 41 14. COMMUNICATION FUNCTION 14.5.11 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read.
14 - 42 14. COMMUNICATION FUNCTION (c) Acceleration time constant Read the acceleration time constant of the poin t table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.
14 - 43 14. COMMUNICATION FUNCTION (e) Dwell Read the dwell of the poin t table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the dwell of the requested point table.
14 - 44 14. COMMUNICATION FUNCTION (g) M code Read the M code of the po int table. 1) Transmission Transmit command [4][5] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the M code of the requested poin t table.
14 - 45 14. COMMUNICATION FUNCTION (2) Data write POINT If setting values need to be changed with a high freq uency (i.e. one time or more per one hour), write the setting va lues to the RA M, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction.
14 - 46 14. COMMUNICATION FUNCTION (c) Acceleration time constant Write the acceleration time constant of th e point table. Transmit command [C][7], any o f data No. [0][1] to [F ][F ] corresponding to the point table to be written to, and the da ta. Refer to se ction 14.
14 - 47 14. COMMUNICATION FUNCTION (f) Auxiliary function Write the auxiliary function of the point table. Transmit command [C][B], any of data No. [0 ][1] to [F][F] corresponding to the point table to be writte n to, and the da ta. Refer to se ction 14.
14 - 48 14. COMMUNICATION FUNCTION 14.5.12 Servo amplifier group desig nation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group. (1) Group setting write Write the group designation value to the slave station.
14 - 49 14. COMMUNICATION FUNCTION 14.5.13 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the positio n of 8192 or more revolutions from the home position.
14 - 50 14. COMMUNICATION FUNCTION MEMO.
App. - 1 APPENDIX App. 1 Parameter list POINT For any parameter whose symbol i s preceded by *, set the parameter value and switch power off once, then switch it on again to make that pa rameter setting valid. Basic setting parameters (PA ) Gain/filter parameters (PB ) No.
App. - 2 A PPENDI X Extension setting parameters (PC ) I/O setting parameters (PD ) No. Symbol Name No. Symbol Name PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1 PC02 .
App. - 3 A PPENDI X Option unit parameters (Po ) No. Symbol Name Po01 For manufacturer setting Po02 *ODI1 MR-J3-D01 input signal device selection 1 (CN10-21, 26) Po03 *ODI2 MR-J3-D01 input signal devi.
App. - 4 A PPENDI X App. 2 Signal layout recording paper CN10 When u sing the point table 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 P.
App. - 5 A PPENDI X App. 3 Change of con nector sets to the RoHS compatible products Connector sets (options) in the following table are c hanged to the Ro HS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability.
App. - 6 A PPENDI X App. 4 MR-J3-200T-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appeara nce of MR-J3-200T servo amplifier have been changed from June 2014 production. Model name of the e xisting servo amplifier is changed to MR-J3-200T-RT.
App. - 7 A PPENDI X App. 4.2 Configuration including auxiliary equipme nt (1.7 Configuration including auxiliary equi pment) Regenerative option (Note 3) Power supply R S T CN2 CN4 MR Con figurator L .
App. - 8 A PPENDI X App. 4.3 CNP1, CNP2, CNP3 wiring method (3.3.3 CNP1, CNP2, CNP 3 wiring method) (a) Servo amplifier power supply connectors Servo amplifie r power supply c onnector s CNP3 CNP1 CNP2 <Applicabl e cable exam ple> Cable fini sh OD: to 5mm <Applicable cab le example> Cable finish OD: to 3.
App. - 9 A PPENDI X App. 4.4 OUTLINE DRAWINGS (Chapter 11 OUTLINE DRAWI NGS) [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: 2.3 [kg] (5.
App. - 10 A PPENDI X App. 5 Selection example of servo motor power cable POINT Selection condition of wi re size is as follows. Wire length: 30m or less Depending on the cabl e selected, there may be cases that the cabl e does not fit into the Mitsubishi optional or reco mmended cable clam p.
REVISIONS *The manual number is given on the bott om left of the back cover. Print Data *Manual Number Revision Jun. 2006 SH(NA)030061-A First edition Oct.
Print Data *Manual Number Revision Oct. 2007 SH(NA)0300 61-B Section 13.3 Section 13.4 (2) Section 13.4 (3) Section 13.4 (4) Section 13.5 (3)(b) Section 13.5 (4)(b) 2) Section 13.5 (6) Section 13.6 (2) Section 13.7 (3) Section 13.16 (2) Section 13.19 (1) App.
Print Data *Manual Number Revision Feb. 2008 SH(NA)0300 61-C Section 13.1.3 (2) Section 13.1.4 (2) Section 13.5 (4) Section 13.5 (4)(b) 1) Section 13.6 (3) Section 13.
Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel Fax : +1-847-478-2100 : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.
Warranty 1. Warra nty period an d coverage We will repair any failure or defect hereinaf ter referred to as "failure" in our FA e quipment hereinafter re ferred to as the "P roduct".
SH(NA)030061-E.
SH (NA) 030061-E (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series E MR-J3- T MR-J3-D01 Servo Amp.
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