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Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

The Mitsubishi Electric Melservo-J3 Series MR-J3-B brings exceptional precision and performance to your industrial automation processes. With the Transition Handbook manual, you can unleash the full potential of this product. Download the free manual from our website manualshive.com and optimize your operations with ease.

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4 -  13 

4. SIGNALS AND WIRING 

    
4.3 Explanation of power supply system 

4.3.1 Signal explanations 

POINT 

 

For the layout of connector and terminal block, refer to outline drawings in 

chapter 12. 

 

Abbreviation 

Connection target 

(Application) 

Description 

L

1

 

L

2

 

L

3

 

Main circuit power 
supply 

Supply the following power to L

1

, L

2

, L

3

. For the 1-phase 200V to 230VAC power supply, connect 

the power supply to L

1

, L

2

, and keep L

3

 open. 

 

 

Servo amplifier 

 
Power supply 

MR-J3-

10T to  

70T 

MR-J3-

100T to 

22KT 

MR-J3-

10T1 to 

40T1 

 

 

3-phase 200V to 230VAC, 50/60Hz 

L

1

L

2

L

3

 

 

 

 

1-phase 200V to 230VAC, 50/60Hz 

L

1

L

2

 

 

 

 

 

1-phase 100V to 120VAC, 50/60Hz 

 

 

L

1

L

2

 

 

 

 

 

 

 

 

 

Servo amplifier 

 
Power supply 

MR-J3-

60T4 to 

22KT4 

 

 

 

 

3-phase 380V to 480VAC, 50/60Hz 

L

1

L

2

L

3

   

 

 

 

 

 

 

 

 

P

1

 

P

2

 

Power factor 
improving DC 
reactor 

1) MR-J3-700T(4) or less 

When not using the power factor improving DC reactor, connect P

1

 and P

2

. (Factory-wired.) 

When using the power factor improving DC reactor, disconnect P

1

 and P

2

, and connect the 

power factor improving DC reactor to P

1

 and P

2

.  

2) MR-J3-11KT(4) to 22KT(4) 

MR-J3-11KT(4) to 22KT(4) do not have P

2

. 

When not using the power factor improving reactor, connect P

1

 and P. (Factory-wired) 

When using the power factor improving reactor, connect it to P

1

 and P. 

Refer to section 14.11. 

P 
C 
D 

Regenerative 
option 

1) MR-J3-350T or less MR-J3-200T4 or less 

When using servo amplifier built-in regenerative resistor, connect P( ) and D. (Factory-wired) 
When using regenerative option, disconnect P( ) and D, and connect regenerative option to 
P and C. 

2) MR-J3-350T4 500T(4) 700T(4) 

MR-J3-350T4 500T(4) and 700T(4) do not have D. 
When using servo amplifier built-in regenerative resistor, connect P and C. (Factory-wired) 
When using regenerative option, disconnect P and C, and connect regenerative option to P 
and C.  

3) MR-J3-11KT(4) to 22KT(4) 

MR-J3-11KT(4) to 22KT(4) do not have D. 
When not using the power regenerative converter and the brake unit, make sure to connect 
the regenerative option to P and C. 
Refer to section 14.2 to 14.5. 

L

11

 

L

21

 

Control circuit 
power supply 

Supply the following power to L

11

L

21.

 

 

 

Servo amplifier 

 
Power supply 

MR-J3-

10T to  

22KT 

MR-J3-

10T1 to 

40T1 

MR-J3-

60T4 to 

22KT4 

 

 

1-phase 200V to 230VAC, 50/60Hz 

L

11

L

21

 

 

 

 

 

1-phase 100V to 120VAC, 50/60Hz 

 

L

11

L

21

 

 

 

 

1-phase 380V to 480VAC, 50/60Hz 

 

 

L

11

L

21

 

 

 

 

 

 

 

 

U 
V 

W 

Servo motor power 
output 

Connect to the servo motor power supply terminals (U, V, W). Connect the servo amplifier power 
output (U, V and W) to the servo motor power input (U, V and W) directly. Do not let a magnetic 
contactor, etc. intervene. Otherwise, a malfunction or fault may occur. 

N 

Regenerative 
converter 
Brake unit 

When using the power regenerative converter/brake unit, connect it to P and N. 
Do not connect to servo amplifier MR-J3-350T(4) or less. 
For details, refer to section 14.3 to 14.5. 

 

Protective earth 
(PE) 

Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control 
box to perform grounding. 

 

Summary of Contents for Melservo-J3 Series MR-J3-B

Page 1: ...General Purpose AC Servo MODEL MR J3 T SERVO AMPLIFIER INSTRUCTION MANUAL CC Link Built in Positioning Function J3 Series H ...

Page 2: ...g may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety ...

Page 3: ...lifier to the protective earth PE of the control box When using an earth leakage current breaker RCD select type B To avoid an electric shock insulate the connections of the power supply terminals 2 To prevent fire note the following CAUTION Install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to smo...

Page 4: ...o motor in a load bearing place in accordance with the Instruction Manual Do not climb or stand on servo equipment Do not put heavy objects on equipment The servo amplifier and servo motor must be installed in the specified direction Leave specified clearances between the servo amplifier and control enclosure walls or other equipment Do not install or operate the servo amplifier and servo motor wh...

Page 5: ...K1M 15K1M HF JP534 to 5034 11K1M4 15K1M4 X Y 24 5 HF SP121 201 HF SP202 352 HF SP2024 3524 HC UP202 to 502 X 24 5 Y 49 HF SP301 421 HF SP502 702 HF SP5024 7024 HF JP703 903 HF JP7034 9034 X 24 5 Y 29 4 HC LP52 to 152 X 9 8 Y 24 5 HC LP202 to 302 X 19 6 Y 49 HA LP601 to 12K1 HA LP701M to 15K1M HA LP502 to 22K2 HA LP6014 12K14 HA LP701M4 15K1M4 HA LP11K24 to 22K24 X 11 7 Y 29 4 HA LP15K1 to 25K1 HA ...

Page 6: ...is Instruction Manual are shown for sink interfaces unless stated otherwise The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction Otherwise the servo amplifier will malfunction and will not output signals disabling the emergency stop and other protective circuits 24VDC Servo amplifier DOCOM Control output signal DICOM For ...

Page 7: ...and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ball screw and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may occur due to a power failure or prod...

Page 8: ...ed Operation must be performed in accordance with this Specifications and Instruction Manual About processing of waste When you discard servo amplifier a battery primary battery and other option articles please follow the law of each country area EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following oper...

Page 9: ...se them and use the MR J3 T safely Relevant manuals Manual name Manual No MELSERVO J3 Series Instructions and Cautions for Safe Use of AC Servos IB NA 0300077 MELSERVO Servo Motor Instruction Manual Vol 2 SH NA 030041 EMC Installation Guidelines IB NA 67310 About the wires used for wiring Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40 104 ...

Page 10: ...4 2 4 Inspection items 2 4 2 5 Parts having service lives 2 5 3 CC LINK COMMUNICATION FUNCTIONS 3 1 to 3 60 3 1 Communication specifications 3 1 3 2 System configuration 3 2 3 2 1 Configuration example 3 2 3 2 2 Wiring method 3 3 3 2 3 Station number setting 3 5 3 2 4 Communication baud rate setting 3 6 3 2 5 Occupied station count setting 3 6 3 3 Functions 3 7 3 3 1 Function block diagram 3 7 3 3...

Page 11: ... wiring method 4 16 4 4 Connectors and signal arrangements 4 25 4 5 Signal device explanation 4 26 4 5 1 I O devices 4 26 4 5 2 Input signals 4 29 4 5 3 Output signals 4 29 4 5 4 Power supply 4 30 4 6 Detailed description of signals devices 4 30 4 6 1 Forward rotation start reverse rotation start temporary stop restart 4 30 4 6 2 Movement completion rough match in position 4 31 4 6 3 Torque limit ...

Page 12: ...6 8 Count type front end reference home position return 5 44 5 6 9 Dog cradle type home position return 5 46 5 6 10 Dog type first Z phase reference home position return 5 48 5 6 11 Dog type front end reference home position return method 5 50 5 6 12 Dogless Z phase reference home position return method 5 52 5 6 13 Home position return automatic return function 5 54 5 6 14 Automatic positioning fu...

Page 13: ...troke end LSP or reverse rotation stroke end LSN is off 6 41 6 4 4 Stopping method when a software limit is detected 6 42 7 MR Configurator 7 1 to 7 26 7 1 Specifications 7 1 7 2 System configuration 7 2 7 3 Station selection 7 4 7 4 Parameters 7 5 7 5 Point table 7 7 7 6 Device assignment method 7 9 7 7 Test operation 7 13 7 7 1 Jog operation 7 13 7 7 2 Positioning operation 7 15 7 7 3 Motor less...

Page 14: ...on mode 9 11 9 5 Differences between MELSERVO J2 Super and MELSERVO J3 in auto tuning 9 12 10 SPECIAL ADJUSTMENT FUNCTIONS 10 1 to 10 16 10 1 Function block diagram 10 1 10 2 Adaptive filter 10 1 10 3 Machine resonance suppression filter 10 4 10 4 Advanced vibration suppression control 10 6 10 5 Low pass filter 10 10 10 6 Gain switching function 10 10 10 6 1 Applications 10 10 10 6 2 Function bloc...

Page 15: ...Brake unit parameter setting 14 43 14 3 3 Connection example 14 44 14 3 4 Outline dimension drawings 14 51 14 4 FR RC H power regeneration converter 14 53 14 5 Power regeneration common converter 14 56 14 6 External dynamic brake 14 64 14 7 Battery MR J3BAT 14 69 14 8 Heat sink outside mounting attachment MR J3ACN 14 70 14 9 Selection example of wires 14 72 14 10 Molded case circuit breakers fuses...

Page 16: ...15 5 13 Other commands 15 46 16 INDEXER POSITIONING OPERATION 16 1 to 16 130 16 1 Function 16 1 16 1 1 Overview 16 1 16 1 2 Servo amplifier standard specifications functions only 16 1 16 1 3 Function list 16 2 16 2 I O signals I O devices transferred to from the programmable controller CPU 16 3 16 2 1 I O signals I O devices 16 3 16 2 2 Detailed explanation of I O signals 16 5 16 2 3 Monitor codes...

Page 17: ...ing parameters No PA 16 73 16 11 2 Gain filter parameters No PB 16 83 16 11 3 Extension setting parameters No PC 16 90 16 11 4 I O setting parameters No PD 16 97 16 12 TROUBLESHOOTING 16 102 16 12 1 Troubleshooting at start up 16 102 16 12 2 State at error occurrence 16 103 16 12 3 CC Link communication error 16 103 16 12 4 When alarm or warning has occurred 16 104 16 12 5 Point table error 16 122...

Page 18: ... 1 Troubleshooting at start up 17 60 17 9 2 State at error occurrence 17 61 17 9 3 CC Link communication error 17 61 17 9 4 When an alarm or warning has occurred 17 62 17 9 5 Point table error 17 63 17 9 6 Problems without an alarm or warning 17 64 APPENDIX App 1 to App 38 App 1 Signal layout recording paper App 1 App 2 Twin type connector outline drawing for 721 2105 026 000 WAGO App 1 App 3 MR J...

Page 19: ...10 MEMO ...

Page 20: ...to use and higher in function by using it with the MR Configurator 1 1 1 Features of CC Link communication functions 1 Fast communication Fast communication can be made by cyclic transmission of not only bit data but also word data a The highest communication speed is 10Mbps b The broadcast polling system ensures as high as 3 9ms to 6 7ms even at the maximum link scan 10Mbps 2 Variable communicati...

Page 21: ... amplifier Voltage detection Overcurrent protection Current detection CN2 B2 B1 Encoder Current control Speed control Position control Model adaptive control Position command creation Point table No Position data Speed Acceleration time constant Deceleration time constant Dwell Auxil iary MR J3BAT CN4 Optional battery for absolute position detection system CN6 USB RS 422 CN5 CN3 USB DI O Control S...

Page 22: ...o magnetic brake Base amplifier Voltage detection Overcurrent protection Current detection CN2 B2 B1 Encoder Current control Speed control Position control Position command creation Point table No Position data Speed Acceleration time constant Deceleration time constant Dwell Auxil iary MR J3BAT CN4 Optional battery for absolute position detection system CN6 USB RS 422 CN5 CN3 USB DI O Control Ser...

Page 23: ...int table No Position data Speed Acceleration time constant Deceleration time constant Dwell Auxil iary CN6 USB RS 422 CN5 CN3 DI O Control Servo on Start Failure etc USB Personal computer CC Link Controller RS 422 CN4 MR J3BAT Optional battery for absolute position detection system Power factor improving DC reactor Regenerative option Note 1 Power supply Control circuit power supply Note 3 Extern...

Page 24: ...leration time constant 0 to 20000 ms Dwell 0 to 20000 ms Auxiliary function 0 to 3 Refer to section 4 2 There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are occupied 1 Operation using CC Link communication functions a Operation All devices can be controlled by CC Link communication Also each point table setting point table selection parameter...

Page 25: ...ut devices of CN1A and CN1B The signals assigned to the external input signals cannot be used with the CC Link communication functions Output devices can be used with the CN6 connectors and CC Link communication functions simultaneously b Configuration CN2 CN6 CN1 CNP3 CNP3 CN2 CN6 CN1 External I O signal External I O signal Servo amplifier Axis 1 Servo amplifier Axis 2 To the next axis Programmab...

Page 26: ...ection excessive error protection Command system Point table number input Operational specifications Positioning by specifying the point table No 255 points Position command input Set in point table 1 point feed length setting range 1 m to 999 999 mm Speed command input Set in point table Acceleration deceleration time is set in point table S pattern acceleration deceleration time constant is set ...

Page 27: ...urn is made with respect to the front end of a proximity dog Home position address may be set Home position shift value may be set Home position return direction may be set Automatic retract on dog back to home position automatic stroke retract function Dog cradle type Home position return is made with respect to the front end of a proximity dog by the first Z phase pulse Home position address may...

Page 28: ...directions of X Y and Z axes Mass kg 0 8 0 8 1 0 1 0 1 4 1 4 2 1 2 3 4 6 6 2 18 18 19 0 8 0 8 1 0 lb 1 76 1 76 2 21 2 21 3 09 3 09 4 63 5 07 10 1 13 7 39 7 39 7 41 9 1 76 1 76 2 21 Note 1 0 15A is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points 2 Operate them at the ambient temperatures of 0 to 45 32 to 113 or at 75 or s...

Page 29: ...put Set in point table 1 point feed length setting range 1 m to 999 999 mm Speed command input Set in point table Acceleration deceleration time is set in point table S pattern acceleration deceleration time constant is set in parameter No PC13 System Signed absolute value command system incremental value command system signed absolute value command incremental value command specifying system Posi...

Page 30: ... Home position return is made with respect to the front end of a proximity dog Home position address may be set Home position shift value may be set Home position return direction may be set Automatic retract on dog back to home position automatic stroke retract function Dog cradle type Home position return is made with respect to the front end of a proximity dog by the first Z phase pulse Home po...

Page 31: ...Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m above sea level Vibration resistance 5 9 m s2 10to 55Hz directions of X Y and Z axes Mass kg 1 7 1 7 2 1 4 6 4 6 6 2 18 18 19 Note 1 0 15A is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points 2 Use an external dynamic brake for this servo ampli...

Page 32: ...o amplifier MR Configurator is necessary for this function Machine simulation Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results MR Configurator is necessary for this function Gain search function An MR Configurator installed personal computer changes gains automatically and searches for overshoot free gains in a short time MR Configurator is ne...

Page 33: ...oning operation DO forced output single step feed MR Configurator is necessary for this function Section 7 7 Section 8 5 7 Limit switch The servo motor travel region can be limited using the forward rotation stroke end LSP reverse rotation stroke end LSN Software limit The travel region is limited using parameters in terms of address The function similar to that of a limit switch is limited by par...

Page 34: ...0 100 200 350 500 700 11K 15K 22K 0 1 0 2 0 4 0 6 0 75 3 5 11 15 22 Symbol PX LR LW Symbol None None None 3 phase or 1 phase 200 to 230VAC 1 phase 100 to 120VAC 3 phase 380 to 480VAC 1 5 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the servo motors with an electromagnetic brakes and the servo motors with a r...

Page 35: ...700T4 7024 6014 701M4 7034 MR J3 11KT4 8014 12K14 11K1M4 11K24 11K1M4 Note 9034 MR J3 15KT4 15K14 15K1M4 15K24 15K1M4 Note MR J3 22KT4 20K14 22K1M4 22K24 Note The servo amplifiers which support these servo motors have LR at the end of their model names Servo amplifiers supporting the 400 maximum torque setting Servo motors Note Servo amplifiers supporting the 400 maximum torque setting Servo motor...

Page 36: ...SD RD L ERR Section 11 3 USB communication connector CN5 Used to connect the personal computer Chapter 7 RS 422 communication connector CN3 Used to connect the MR PRU03 parameter unit or personal computer Chapter 7 Chapter 8 Chapter 15 CC Link connector CN1 Wire the CC Link cable Section 3 2 2 Control circuit connector CNP2 Used to connect the control circuit power supply regenerative option Secti...

Page 37: ...ersonal computer Chapter 7 Chapter 8 Chapter 15 CC Link connector CN1 Wire the CC Link cable Section 3 2 2 I O signal connector CN6 Used to connect digital I O signals Section 4 2 Section 4 4 Encoder connector CN2 Used to connect the servo motor encoder Section 4 10 Section 14 1 Battery connector CN4 Used to connect the battery for absolute position data backup Section 5 8 Section 14 7 Control cir...

Page 38: ...ly connector CNP1 Used to connect the input power supply Communication alarm display section Indicates alarms in CC Link communication L RUN SD RD L ERR USB communication connector CN5 Used to connect the personal computer RS 422 communication connector CN3 Used to connect the MR PRU03 parameter unit or personal computer CC Link connector CN1 Wire the CC Link cable I O signal connector CN6 Used to...

Page 39: ...y The 3 digit seven segment LED shows the servo status and alarm number Baud rate switch MODE Select the CC Link communication baud rate Station number switches STATION NO Set the station number of the servo amplifier Set the one place Set the ten place Occupied station count switch SW1 Set the number of occupied stations Switch for manufacturer setting SW2 Do not change the default setting left U...

Page 40: ...pter 8 Chapter 15 CC Link connector CN1 Wire the CC Link cable Section 3 2 2 I O signal connector CN6 Used to connect digital I O signals Section 4 2 Section 4 4 Battery holder Contains the battery for absolute position data backup Section 5 8 Encoder connector CN2 Used to connect the servo motor encoder Section 4 10 Section 14 1 Battery connector CN4 Used to connect the battery for absolute posit...

Page 41: ...22 communication connector CN3 Used to connect the MR PRU03 parameter unit or personal computer Chapter 7 Chapter 8 Chapter 15 CC Link connector CN1 Wire the CC Link cable Section 3 2 2 I O signal connector CN6 Used to connect digital I O signals Section 4 2 Section 4 4 Encoder connector CN2 Used to connect the servo motor encoder Section 4 10 Section 14 1 Battery connector CN4 Used to connect the...

Page 42: ...nfirm that the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition always confirm from the front of the servo amplifier whether the charge lamp is off or not 1 For MR J3 350T4 MR J3 500T 4 MR J3 700T 4 Removal of the front cover a a Hold the ends of lower side of the front cover with both hands Pull up the cover supporting at point a P...

Page 43: ...einstallation of the front cover Front cover setting tab a a Insert the front cover setting tabs into the sockets of servo amplifier 2 places Pull up the front cover supporting at point a Setting tab Push the setting tabs until they click ...

Page 44: ...to remove the front cover Reinstallation of the front cover d c b a Installation hook Note 1 Note 1 Note 2 1 Fit the front cover installation hooks on the sockets of body cover a to d to reinstall it 2 Push the front cover until you hear the clicking noise of the installation hook Note 1 The cooling fan cover can be locked with enclosed screws M4 40 2 By drilling approximately 4 of a hole on the f...

Page 45: ... breaker MCCB Magnetic contactor MC Line noise filter FR BSF01 Note 2 Power factor improving DC reactor FR BEL Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC r...

Page 46: ... 3 Power supply Molded case circuit breaker MCCB Magnetic contactor MC Power factor improving DC reactor FR BEL Line noise filter FR BSF01 Note 1 Battery MR J3BAT Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving DC reactor cannot be used 3 Refer to section 1 2 for the power supply specification ...

Page 47: ...or MC Line noise filter FR BSF01 Note 2 Power factor improving DC reactor FR BEL H Note 1 Battery MR J3BAT Personal computer CN2 Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC r...

Page 48: ...rsonal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC reactor short P1 and P2 3 Refer to section 1 2 for the power supply specification 4 Connectors CNP1 CNP2 and CNP3 ...

Page 49: ...tor MC Line noise filter FR BLF Note 2 Power factor improving DC reactor FR BEL Note 1 Battery MR J3BAT Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC reactor ...

Page 50: ... breaker MCCB Magnetic contactor MC Line noise filter FR BLF Note 2 Power factor improving DC reactor FR BEL H Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC r...

Page 51: ... MC Line noise filter FR BLF Note 2 Power factor improving DC reactor FR BEL H Note 1 Battery MR J3BAT Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC reactor s...

Page 52: ...ntactor MC Line noise filter FR BLF Note 2 Power factor improving DC reactor FR BEL H Note 1 Battery MR J3BAT Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using power factor improving DC re...

Page 53: ... for your reference Refer to section 3 2 5 RY of CC Link based point table No setting auxiliary function valid Refer to section 5 4 OFF ON Parameter No PA30 0 1 2 Remote register based point table No setting auxiliary function invalid Remote register based position data setting point table No speed setting auxiliary function invalid Remote register based position data speed data setting auxiliary ...

Page 54: ...n 3 7 6 3 Section 3 6 3 2 Section 3 6 3 3 Section 3 8 4 Section 5 4 3 1 Section 3 6 3 3 Section 5 4 3 2 Section 3 6 3 3 Section 3 7 6 2 Section 5 4 3 3 Positioning operation is executed once with position data handled as absolute value Continuous positioning operation is executed with position data handled as absolute values Positioning operation is executed once with position data handled as incr...

Page 55: ...1 36 1 FUNCTIONS AND CONFIGURATION MEMO ...

Page 56: ...pact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi When handling the servo amplifier be careful about the edged parts such as the corners of the servo amplifier The servo amplifier must be installed in a metal cabinet When fumigants that contain halogen materials s...

Page 57: ...d the internal surface of the control box and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions When installing the servo amplifiers closely leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case bring the ambient temperature within 0 to 45 32 to 113 or use it at 75 o...

Page 58: ... internal surface of the control box and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions 3 Others When using heat generating equipment such as the regenerative option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the c...

Page 59: ...e cut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For installation on a machine where the servo motor will move the flexing radius should be made as large as possible Refer to section 10 4 for the flexing life 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 of...

Page 60: ...o section 5 8 1 Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 2 Relays Their contacts will wear due to switching currents and contact faults occur Rel...

Page 61: ...2 6 2 INSTALLATION MEMO ...

Page 62: ...CRC X16 X12 X5 1 Connection cable CC Link Ver 1 10 compliant cable Shielded 3 core twisted pair cable Transmission format Conforming to HDLC Remote station number 1 to 64 Note Cable length Communication speed 156Kbps 625Kbps 2 5Mbps 5Mbps 10Mbps Maximum overall cable length 1200m 900m 400m 160m 100m Inter station cable length 0 2m or more Number of servo amplifiers connected Max 42 when 1 station ...

Page 63: ...T11 Control Communication Link system master local module to the main or extension base unit which is loaded with the programmable controller CPU used as the master station 2 Wiring Connect the programmable controller CC Link unit master station and the servo amplifier by a twisted pair cable 3 wire type Programmable controller CC Link unit CC Link Ver 1 10 compliant cable ...

Page 64: ... 3 Example of connecting multiple servo units As the remote I O stations of CC Link servo amplifiers share the link system and can be controlled monitored using programmable controller user programs DB DA DG DB SLD FG DA DG DB SLD FG FG SLD DG DA Note 2 CC Link Ver 1 10 compliant cable MR J3 T option unit CC Link connector CN1 Note 1 Termination register MR J3 T option unit CC Link connector CN1 T...

Page 65: ...ening and tighten it with a flat blade screwdriver so that it will not come off Tightening torque 0 3 to 0 4N m When inserting the wire into the opening make sure that the terminal screw is fully loose Loosen Tighten CC Link connector CN1 To the next station Flat blade screwdriver Tip thickness 0 4 to 0 6mm Full wide 2 5 to 3 5mm To the preceding station or programmable controller POINT Do not sol...

Page 66: ...for MR J3 T 16 A 54 B 88 C 2304 A Number of remote I O stations 64 B Number of remote device stations 42 C Number of local stations 26 d When the number of units connected is 4 station numbers can be set as shown below CC Link master unit Station No 1 Servo amplifier No 1 When 2 stations are occupied Remote device station Station No 2 Number of connected units is 4 Servo amplifier No 2 When 2 stat...

Page 67: ...9 625kbps 2 5Mbps 5Mbps 10Mbps Not used 0 initial value 3 2 5 Occupied station count setting CAUTION To prevent a malfunction do not change the factory setting left of the manufacturer setting switch SW2 Factory setting 3 2 SW1 SW2 Set the number of occupied stations with the occupied station count switch SW1 on the servo amplifier front The usable I O device and the number of connectable units ch...

Page 68: ... from the buffer memory of the CC Link system master local unit is used to read data from the servo amplifier and the TO instruction is used to write data Some programmable controllers allow automatic refresh to be set to omit the FROM and TO instructions 1 QJ61B11N I O signal CPU Buffer memory 2 Buffer memory access 3 CC Link Ver 1 10 compliant cable Input Output Servo amplifier CC Link interface...

Page 69: ...the programmable controller programs 2 Operation mode changing a Operation mode changing conditions Change the operation mode after making sure that 1 The servo motor is at a stop 2 The forward rotation start RYn1 or reverse rotation start RYn2 is OFF b Operation mode changing method When changing from test operation to CC Link operation deselect test operation by switching power OFF ON Test opera...

Page 70: ...ard rotation stroke end LSP 3 RXn4 Limiting torque TLC RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved RYn6 Automatic manual selection MDO RXn6 Electromagnetic brake interlock MBR RYn7 Temporary stop Restart TSTP RXn7 Temporary stop PUS RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF RYn9 Instruction code execution demand COR RXn9 Instruction code execution completion COF RYnA Po...

Page 71: ...ble No selection 4 DI3 RXnD Dynamic brake interlock DB RYnE Point table No selection 5 DI4 RXnE Position range output POT RYnF Clear CR RXnF RY n 1 0 to Reserved to Reserved RX n 1 F RY n 1 F RX n 2 0 Position command execution completion RY n 2 0 Position command execution demand Note RX n 2 1 Speed command execution completion RY n 2 1 Speed command execution demand Note RX n 2 2 Point table No ...

Page 72: ... 6 Monitor 2 data upper 16 bit RWwn 7 Reserved RWwn 7 Reserved Note 1 n depends on the station number setting 2 Specify the code of the lower 16 bit as the monitor code of 32 bit data 3 When the parameter No PC30 setting is 0 specify the point table No in RWwn 4 When the parameter No PC30 setting is 1 or 2 specify the position data in RWwn 4 RWwn 5 and turn ON Position command execution demand RY ...

Page 73: ...ng RYn1 ON for a home position return immediately starts a home position return Keeping RYn1 ON for JOG operation performs rotation in the forward rotation direction Forward rotation indicates the address increasing direction 2 In incremental value command system Turning RYn1 ON for automatic operation executes positioning once in the forward rotation direction on the basis of the position data se...

Page 74: ...le in parameter No PD12 When starting operation turn RYn4 RYn5 to ON Turning it to OFF causes a sudden stop resulting in servo lock A stopping method can be changed in parameter No PD20 When not using the forward reverse rotation stroke end set Automatic ON in parameter No PD01 1 0 1 0 1 1 0 0 Note RY of CC Link Operation RYn4 RYn5 CCW direction CW direction Note 0 OFF 1 ON RYn4 RYn4 1 2 Reverse r...

Page 75: ...esponding to the instruction code stored in remote register RWwn 2 After completion of instruction code execution the respond code indicating normal or error is set to RWrn 2 At the same time RXn9 turns ON Refer to section 16 2 4 for details RYn9 RYn9 Point table No selection 1 The point table No and the home position return are selected by RYnA to RY n 2 5 RYnA RYnA 1 2 Point table No selection 2...

Page 76: ...rtional type If the servo motor at a stop is rotated even one pulse by an external factor it develops torque in an attempt to compensate for a position shift When the shaft is locked mechanically after Movement completion RXnC is turned OFF for example turning Proportion control RY n 2 7 ON as soon as Movement completion RXnC turns OFF allows control of unnecessary torque developed in an attempt t...

Page 77: ... incremental value RY n 2 B Reset Keeping RY n 1 A or RY n 3 A ON for 50ms or longer allows an alarm to be deactivated Some alarms cannot be deactivated by Reset RY n 1 A or RY n 3 A Refer to section 11 4 1 If RY n 1 A or RY n 3 A is turned ON with no alarm occurring the base circuit will not be shut off When 1 is set in parameter No PD20 function selection D 1 the base circuit is shut off This de...

Page 78: ...Xn3 turns ON when operation is ready to start but turns OFF in any of the following cases 1 Servo on RYn0 is turned OFF 2 Forced stop EMG is turned OFF 3 Reset RY n 1 A or RY n 3 A is turned ON 4 Alarm occurs 5 Forward rotation stroke end RYn4 or Reverse rotation stroke end RYn5 is turned OFF 6 Home position return has not been made after product purchase 7 Home position return has not been made a...

Page 79: ...n completion Refer to Speed command execution demand RY n 2 0 RX n 2 0 Speed command execution completion Refer to Position command execution demand RY n 2 1 This device is required when using the external dynamic brake with a servo amplifier of 11kW or more Refer to section 14 6 This is not required with servo amplifiers of 7kW or less RX n 2 1 Point table No output 1 As soon as Movement completi...

Page 80: ... 2 When 2 stations are occupied Setting the monitor code of the status indication item to be monitored to RWwn and turning RYn8 to ON sets data to RWrn RXn8 turns on at the same time When demanding 32 bit data specifying the lower 16 bit code No and turning RYn8 to ON sets the lower 16 bit data to RWwn and the upper 16 bit data to RWrn 1 Data is stored in the RYn8 RXn8 turns on at the same time Re...

Page 81: ...ns ON When the point table is not used set the position command data When the lower 16 bits are set to RWwn 4 and the upper 16 bits to RWwn 5 and RY n 2 0 is turned ON the position command data in the upper and lower 16 bits are written On complete of write RX n 2 0 turns ON Use parameter No PC30 to select whether point table No setting or position command data setting will be made Refer to sectio...

Page 82: ...Reading data Data corresponding to the read code set to RWwn 2 is set When 2 stations are occupied Remote register Signal name Description RWrn Monitor 1 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn are set RWrn 1 Monitor 1 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn are set A sign is set if there are no data in the upper 16 bits...

Page 83: ...6bit 16bit 0005h 0005h Command remaining distance lower 16bit 16bit 0006h Command remaining distance upper 16bit 16bit 0007h 0007h 0008h 0008h Point table No 16bit No 0009h 000Ah 000Ah Feedback pulse value lower 16bit 16bit pulse 000Bh Feedback pulse value upper 16bit 16bit pulse 000Ch 000Dh 000Eh 000Eh Droop pulse value lower 16bit 16bit pulse 000Fh Droop pulse value upper 16bit 16bit pulse 0010h...

Page 84: ...he point table set in parameter No PA05 Travel multiplying factor 0300 1000 0200 100 0100 10 0000 1 0010h Current alarm warning reading Reads the alarm No or warning No occurring currently 0 Occurring alarm No warning No 0 0020h Alarm number in alarm history most recent alarm 0 Alarm No that occurred in past 0 0021h Alarm number in alarm history first recent alarm 0022h Alarm number in alarm histo...

Page 85: ...it2 bit6 TL1 bitA CSL bitE bit3 DI5 bit7 PC bitB INC bitF 0042h Input device status 2 Reads the statuses OFF ON of the input devices Bit 0 to bit F indicate the OFF ON statuses of the corresponding input devices Refer to section 3 5 1 for the meanings of the abbreviations bitF bit0 bit0 bit4 bit8 bitC bit1 bit5 bit9 bitD bit2 bit6 bitA RES bitE bit3 bit7 bitB bitF 0050h Output device status 0 Read...

Page 86: ...tio of load inertia moment to servo motor shaft inertia moment Return unit times Ratio of load inertia moment 00B0h Home position within 1 revolution position lower 16bit CYC0 Reads the lower 16 bits of the cycle counter value of the absolute home position Return unit pulses Cycle counter value 00B1h Home position within 1 revolution position upper 16bit CYC0 Reads the upper 16 bits of the cycle c...

Page 87: ...ameter Reads the data format of each No of the parameter group read with code No 0200h The decimal value converted from the 2 lower digits of the code No corresponds to the parameter No If the instruction code is set outside the range set in parameter No PA19 an error code is returned and the data cannot be read The value set in the parameter No corresponding to the requested group name is stored ...

Page 88: ...iliary function of point table No 1 to 255 The decimal value converted from the 2 lower digits of the code No corresponds to the point table No The Auxiliary function set to the requested point table No is returned 2 Write instruction codes Set the data which was requested to be written with the instruction code 8010h to 91FFh Set the instruction code No corresponding to the item to Instruction co...

Page 89: ...imal before setting 8401h to 84FFh 8501h to 85FFh Position data RAM command of point table Writes the position data of point table No 1 to 255 to RAM These values are cleared when power is switched off Convert the values into hexadecimal before setting Point A set of the upper and lower bits makes position data When changing the data always set the data of both lower and upper bits in order of low...

Page 90: ...verted from the 2 lower digits of the code No corresponds to the point table No Convert the values into hexadecimal before setting 8B01h to 8BFFh 8C01h to 8CFFh Position data EEP ROM command of point table Writes the position data of point table No 1 to 255 to EEP ROM Written to EEP ROM these values are held if power is switched off Convert the values into hexadecimal before setting Point A set of...

Page 91: ... are held if power is switched off The decimal value converted from the 2 lower digits of the code No corresponds to the point table No Convert the values into hexadecimal before setting 9001h to 90FFh Dwell data EEP ROM command of point table Writes the dwell data of point table No 1 to 255 to EEP ROM Written to EEP ROM these values are held if power is switched off The decimal value converted fr...

Page 92: ...specified 0 1 2 3 Error related to instruction code writing code Code No Error detail Details Normal answer Code error Parameter selection error Out of writing data range Unavailable parameter No is specified A value out of the setting range is set Successfully executed An incorrect code No is specified 0 1 2 3 Error related to position command data point table No Code No Error detail Details Norm...

Page 93: ...roke end reverse rotation stroke end and proximity dog are preset to be usable as the CN6 external input signals 0 Initial value BIN HEX Device name 0 0 Servo on SON 0 0 Reset RES Forward rotation stroke end LSP Reverse rotation stroke end LSN Reverse rotation start ST2 Internal torque limit selection TL1 Gain changing CDP Parameter No PD12 BIN 0 Used in CC Link BIN 1 Used as CN6 external input si...

Page 94: ...IN 1 Used as CN6 external input signal 0 Initial value BIN HEX Device name 0 0 0 Temporary stop Restart TSTP 0 Initial value BIN HEX Device name 0 0 0 0 Automatic manual selection MD0 8 Initial value BIN HEX Device name 0 0 0 1 Proximity dog DOG 0 Parameter No PD14 ...

Page 95: ...a Data are all hexadecimal numbers At this time Monitoring RXn8 turns to ON at the same time Monitor data 1 RWrn Data demanded by Monitor 1 RWwn Monitor data 2 RWrn 1 Data demanded by Monitor 2 RWwn 1 For 32 bit data set the lower 16 bits of the monitor code to Monitor 1 RWwn and the upper 16 bits to Monitor 2 RWwn 1 and read them simultaneously The monitor data set to the remote register are alwa...

Page 96: ...ecimal numbers At this time Monitoring RXn8 turns to ON at the same time Monitor data 1 lower 16 bit RWrn Lower 16 bits of data demanded by Monitor 1 RWwn Monitor data 1 upper 16 bit RWrn 1 Upper 16 bits of data demanded by Monitor 1 RWwn Monitor data 2 lower 16 bit RWrn 5 Lower 16 bits of data demanded by Monitor 2 RWwn 1 Monitor data 2 upper 16 bit RWrn 6 Upper 16 bits of data demanded by Monito...

Page 97: ...ead code to Reading data RWrn 3 Data are all hexadecimal numbers At this time Instruction code execution completion RXn9 turns to ON at the same time Read the read data set to Reading data RWrn 3 while Instruction code execution completion RXn9 is ON The data set to Reading data RWrn 3 is held until the next read instruction code is set and Instruction code execution demand RYn9 is turned to ON If...

Page 98: ... to be executed to Writing data RWwn 3 in hexadecimal and turn Instruction code execution demand RYn9 to ON Turning instruction code execution completion to ON sets the data set in Wiring data RWwn 3 to the item corresponding to the write instruction code When write is executed Instruction code execution completion RXn9 turns to ON If the instruction code not in the specifications is set to Instru...

Page 99: ... to enable point table No setting operation Note Data reserved 6ms Forward reverse rotation start RYn1 RYn2 Position command execution demand RY n 2 0 Point table No RWwn 4 Point table No designation Position command execution completion RX n 2 0 Respond code RWrn 2 OFF ON OFF ON OFF ON Note This data is stored into RAM of the servo amplifier Hence the data is cleared when power is switched off Se...

Page 100: ...a reserved Note This data is stored into RAM of the servo amplifier Hence the data is cleared when power is switched off Set the lower 16 bits of the Position command data to Position command data lower 16 bit RWwn 4 the upper 16 bits of the Position command data to Position command data upper 16 bit RWwn 5 and point table for Speed command No to point table No RWwn 6 and turn Position command exe...

Page 101: ...the servo amplifier Hence the data is cleared when power is switched off Set the lower 16 bits of the Position command data to Position command data lower 16 bit RWwn 4 the upper 16 bits of the Position command data to Position command data upper 16 bit RWwn 5 and Speed command data to Speed command data RWwn 6 and turn Position command execution demand RY n 2 0 and Speed command execution demand ...

Page 102: ...30 to Y3F Terminating resistor X20 to Servo amplifier 1 station occupied Terminating resistor Servo amplifier 2 stations occupied 2 Master station network parameter setting In the programming examples network parameters are set as below Item Setting condition Item Setting condition Start I O No 0000 Remote register RWr W0 Data link disorder station settings Clear Refresh device Operational setting...

Page 103: ...PU X100F to X1000 X101F to X1010 X102F to X1020 X103F to X1030 X104F to X1040 X105F to X1050 X106F to X1060 X107F to X1070 Y100F to Y1000 Y101F to Y1010 Y102F to Y1020 Y103F to Y1030 Y104F to Y1040 Y105F to Y1050 Y106F to Y1060 Y107F to Y1070 RX0F to RX00 RX1F to RX10 RY0F to RY00 RY1F to RY10 RX2F to RX20 RX3F to RX30 RX4F to RX40 RX5F to RX50 RY2F to RY20 RY3F to RY30 RY4F to RY40 RY5F to RY50 R...

Page 104: ...s the devices actually used For writing W100 W101 W102 W103 W104 W105 W106 W107 W108 W109 W10A W10B W10C W10D W10E W10F For reading W000 W001 W002 W003 W004 W005 W006 W007 W008 W009 W00A W00B W00C W00D W00E W00F RWw0 RWw1 RWw2 RWw3 RWr0 RWr1 RWr2 RWr3 RWw4 RWw5 RWw6 RWw7 RWw8 RWw9 RWwA RWwB RWr4 RWr5 RWr6 RWr7 RWr8 RWr9 RWrA RWrB Programmable controller CPU Remote device Station No 1 1 station occ...

Page 105: ... amplifier status RX0F to RX00 RX1F to RX10 Remote input 1 station Set 0 or 1 as the bit is not used Servo amplifier status 1 station occupied X1000 Ready RD X1001 In position INP X1002 Rough match CPO X1003 Home position return completion ZP X1004 Limiting torque TLC X1005 X1006 Electromagnetic brake interlock MBR X1007 Temporary stop PUS X1008 Monitoring MOF X1009 Instruction code execution comp...

Page 106: ... 0 1 0 0 0 1 1 1 0 0 1 1 Remote output Y100F b15 b10 b5 Y1000 b0 Y101F b15 Point table selection bit1 Operation command Automatic manual selection Forward rotation start Servo on Y1010 b0 b5 b10 Operation command 1 ON 0 OFF Set 0 as the bit is not used RY0F to RY00 RY1F to RY10 Station No 1 Operation commands 1 station occupied Y1000 Servo on SON Y1001 Forward rotation start ST1 Y1002 Reverse rota...

Page 107: ...ifier of station 2 to D1 Data No Description H000A Cumulative feedback pulse data hexadecimal Read the cumulative feedback pulse monitor by turning on X20 Checks data link status of station No 2 Sets monitor code H000A of feedback pulse in RWw4 Turns on Monitor output execution demand RY28 Reads feedback pulse RWr4 RWr5 to D10 and D11 when monitoring RX28 turns on Read command ...

Page 108: ... Turns on instruction code execution demand RY29 Turns off instruction code execution demand RY29 when instruction code execution completion RX29 turns on Writes parameter No PA04 read H0204 to RWw6 Checks data link status of station No 2 Reads function selection A 1 RWr7 and respond code RWr6 to D1 and D2 when instruction code execution demand RX29 turns on Turns on instruction code execution dem...

Page 109: ...l Read current alarms by turning on X20 The respond code at instruction code execution is set to D2 Checks data link status of station No 2 Writes current alarm read H0010 to RWw6 Turns on instruction code execution demand RY29 Reads current alarm RWr7 and respond code RWr6 to D1 and D2 when instruction code execution demand RX29 turns on Turns off instruction code execution demand RY29 Read comma...

Page 110: ... when one station is occupied Code No Description H8D01 Write of servo motor speed data of point table No 1 hexadecimal Set data Description K100 Servo motor speed data of point table No 1 decimal Write the data to the servo motor speed data of point table No 1 by turning on X20 The respond code at instruction code execution is set to D2 Turns on instruction code execution demand RY29 Reads respon...

Page 111: ...escription K100 Set data decimal Write the data to the parameter No PC12 by turning on X20 The respond code at instruction code execution is set to D2 Checks data link status of station No 2 Writes parameter group No write H8200 to RWw6 and parameter group PC H0002 to RWw7 Turns on instruction code execution demand RY29 Turns off instruction code execution demand RY29 when instruction code executi...

Page 112: ...Reset command b Deactivate the alarm of the servo amplifier of station 2 using the instruction code Code No Description H8010 Alarm reset command hexadecimal Set data Description H1EA5 Execution data hexadecimal Reset the servo amplifier by turning on X20 The respond code at instruction code execution is set to D2 Writes alarm reset command H8010 to RWw6 and execution data H1EA5 to RWw7 Turns on i...

Page 113: ...rotation JOG operation by turning on X22 Start the reverse rotation JOG operation by turning on X23 Checks data link status of station No 1 Servo on command RY00 Forward rotation start RY01 Reverse rotation start RY02 Sets monitor code H0001 of current position lower 16 bits to RWw0 Sets monitor code H0002 of current position upper 16 bits to RWw1 Turns on monitor command RY08 Reads current positi...

Page 114: ... RY40 In position Operation command Checks data link status of station No 2 Servo on command RY20 Automatic operation mode selection RY26 Position speed specifying system selection RY4A Writes position command data K100000 to RWw8 RWw9 and speed data K1000 to RWwA Turns on position instruction demand RY40 Turns on speed instruction demand RY41 Reads respond code RWr6 to D2 when Position command ex...

Page 115: ...d RY20 Incremental value selection RY4B Turns on position instruction demand RY40 Point table establishment time 4ms 1 Turns off position instruction demand RY40 In position Operation command Automatic operation mode selection RY26 Position speed specifying system selection RY4A Reads respond code RWr6 to D2 when Position command execution completion RX40 turns on Turns on forward rotation start c...

Page 116: ...d Executes a forward JOG operation in the manual operation mode X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode X24 Automatic manual selection OFF Manual operation mode ON Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode X26 Proxim...

Page 117: ...set command Servo on command Automatic manual selection Home position return command Proximity dog command Home position return completion Forward rotation start request Reverse rotation start request Automatic operation mode selection RY06 Manual operation mode selection RY06 Home position return request Forward rotation start request Forward rotation start request reset Proximity dog command RY0...

Page 118: ...est reset Command request time 6ms 1 Point table establishment time 4ms 1 Sets monitor code H001 of current position lower 16 bits in RWw0 Sets monitor code H002 of current position upper 16 bits in RWw1 Turns on monitor output execution demand RY08 Reads current position Rwr0 RWr1 to D120 and D121 when monitoring RX08 turns on 1 This is when the high speed timer limit is set to 1ms Setting time f...

Page 119: ...JOG command Executes a forward JOG operation in the manual operation mode X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode X24 Automatic manual selection OFF Manual operation mode ON Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode ...

Page 120: ...tomatic manual selection Home position return command Home position return completion Automatic manual selection Forward rotation JOG command Reverse rotation JOG command Proximity dog command Forward rotation start request Reverse rotation start request Automatic operation mode selection RY06 Manual operation mode selection RY06 Home position return request Forward rotation start request Forward ...

Page 121: ...tes position command data K50000 to RWw4 RWw5 and speed data K100 to RWw6 Reads respond code RWr2 to D2 when Position command execution completion RX20 and Speed command execution completion RX21 turn on Position and speed data establishment time 4ms 1 Reverse rotation start RY02 Sets monitor code H0016 of motor speed to RWw0 Turns on monitor output execution demand RY08 Reads motor speed RWr0 RWr...

Page 122: ...ly Otherwise the servo motor may operate unexpectedly resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the em...

Page 123: ...nfigure a circuit that shuts down the power supply on the side of the servo amplifier s power supply If a magnetic contactor is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions Use the malfunction ALM to switch power off Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire N terminal is no...

Page 124: ... Encode cable 3 phase 200 to 230VAC Forced stop Note 6 Malfunction RA Forced stop Note 6 Note 1 Always connect P1 and P2 Factory wired When using the power factor improving DC reactor refer to section 14 11 2 Always connect P and D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of...

Page 125: ...d P2 Factory wired When using the power factor improving DC reactor refer to section 14 11 2 Always connect P and D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 ...

Page 126: ...ory wired The power factor improving DC reactor cannot be used 2 Always connect P and D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 6 Configure the circuit whic...

Page 127: ...ing DC reactor refer to section 14 11 2 Always connect P and D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 6 Stepdown transformer is required for coil voltage o...

Page 128: ...g DC reactor refer to section 14 11 2 Always connect P and D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 6 A cooling fan is attached to the HA LP601 and the HA ...

Page 129: ...er to section 14 11 2 When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 6 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class 7 A cooling f...

Page 130: ...erative resistor When using the regenerative option refer to section 14 2 3 For the encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 6 BW is not available when a 1 phase power supply is used 7 For the cooling fan power supply refer to section...

Page 131: ...e option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 4 8 3 5 Refer to section 4 10 6 Servo amplifiers do not have BW when the cooling fan power supply is 1 phase 7 For the cooling fan power supply refer to section 4 10 2 3 b 8 Stepdown tra...

Page 132: ...e in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 150mA current for interfaces from the outside 150mA is the value applicable when all I O signals are used The current capacity can be...

Page 133: ...68 compliant cable 10BASE T cable etc RS 232C RS 422 conversion cable Recommended product Interface cable DSV CABV Diatrend Personal computer Servo amplifier or To RS232C connector 9 For the sink I O interface For the source I O interface refer to section 4 8 3 ...

Page 134: ...regenerative resistor connect P and D Factory wired When using regenerative option disconnect P and D and connect regenerative option to P and C 2 MR J3 350T4 500T 4 700T 4 MR J3 350T4 500T 4 and 700T 4 do not have D When using servo amplifier built in regenerative resistor connect P and C Factory wired When using regenerative option disconnect P and C and connect regenerative option to P and C 3 ...

Page 135: ...he warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on RYn0 about 2 to 2 5s after the main circuit power supply is switched on Therefore when servo on RYn0 is switched on simultaneously with the main circuit power supply the base circuit will switch on in about 2 to 2 5s and the ready RD will switch on in further about 5ms making the servo...

Page 136: ...rvo forced stop warning AE6 During ordinary operation do not use the external forced stop EMG to alternate stop and run The servo amplifier life may be shortened Also if the forward rotation start RYn1 and reverse rotation start RYn2 are on or a pulse train is input during a forced stop the servo motor will rotate as soon as the warning is reset During a forced stop always shut off the run command...

Page 137: ...ote Servo amplifier power supply connectors Connector for CNP1 54928 0670 Molex Applicable cable example Cable finish OD to 3 8mm Connector for CNP2 54928 0520 Molex Connector for CNP3 54928 0370 Molex CNP1 CNP2 CNP3 Servo amplifier Note These connectors are of insert type As the crimping type the following connectors Molex are recommended For CNP1 51241 0600 connector 56125 0118 terminal For CNP2...

Page 138: ...Contact 2 Manufacturer WAGO c The twin type connector for CNP2 L11 L21 721 2105 026 000 WAGO Using this connector enables passing a wire of control circuit power supply Refer to appendix 2 for details of connector L21 L11 L21 L11 Power supply or Front axis Rear axis CNP2 Twin type connector for CNP2 2 MR J3 200TN MR J3 60T4 to MR J3 200T4 a Servo amplifier power supply connectors Applicable cable ...

Page 139: ...te 1 AI TWIN2 1 5 10BK Note 1 Variocrimp 4 206 204 2 14 216 205 Note 2 Note 1 Manufacturer Phoenix Contact 2 Manufacturer WAGO c The twin type connector for CNP2 L11 L21 721 2105 026 000 WAGO Using this connector enables passing a wire of control circuit power supply Refer to appendix 2 for details of connector L21 L11 L21 L11 Power supply or Front axis Rear axis CNP2 Twin type connector for CNP2 ...

Page 140: ...t caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together Cable size Bar terminal type Crimping tool Manufacturer mm2 AWG For 1 cable For 2 cables 1 25 1 5 16 AI1 5 8BK AI TWIN2 1 5 8BK 2 0 2 5 14 AI2 5 8BU AI TWIN2 2 5 10BU CRIMPFOX ZA3 Phoenix Contact 3 5 12 AI4 10Y 2 CNP...

Page 141: ...e to be inserted to the connector depending on wire size or bar terminal configuration In this case change the wire type or correct it in order to prevent the end of bar terminal from widening and then insert it How to connect a cable to the servo amplifier power supply connector is shown below a When using the supplied cable connection lever 1 The servo amplifier is packed with the cable connecti...

Page 142: ...ach the cable connection lever to the housing Detachable 2 Push the cable connection lever in the direction of arrow 3 Hold down the cable connection lever and insert the cable in the direction of arrow 4 Release the cable connection lever Cable connection lever ...

Page 143: ...3 Approx 22 Approx R0 3 3 to 3 5 2 When using the flat blade screwdriver part 1 1 Insert the screwdriver into the square hole Insert it along the top of the square hole to insert it smoothly 2 If inserted properly the screwdriver is held 3 With the screwdriver held insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Page 144: ...Insert the screwdriver into the square window at top of the connector 2 Push the screwdriver in the direction of arrow 3 With the screwdriver pushed insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Page 145: ...ot tightened enough to the connector the cable or connector may generate heat because of the poor contact When using a cable of 1 5mm2 or less two cables may be inserted into one opening Secure the connector to the servo amplifier by tightening the connector screw For securing the cable and the connector use a flat blade driver with 0 6mm blade edge thickness and 3 5mm diameter Recommended flat bl...

Page 146: ...youts of the other servo amplifiers 1 2 3 4 5 6 8 7 9 PP 4 2 8 6 1 P5 5 10 3 7 9 CN2 LG MRR MDR MR MD BAT CN6 DOG EMG ALM RD 15 14 16 LSP 17 ZP LSN DOCOM 18 DICOM 19 OPC NP 20 21 22 10 23 11 LG 24 12 LA 25 LAR LB 13 LBR 26 LZ LZR CN5 USB connector Personal computer CN3 MR PRU03 parameter module CN1 CC Link communication The frames of the CN2 and CN6 connectors are connected to the PE earth termina...

Page 147: ... to section 4 8 2 for the I O interfaces symbols in the I O Division field in the table of the corresponding connector pins Pin type CN6 connector pin No I O division Device in initial status Parameter of change target device Input only pins 1 DI 1 Forced stop EMG 2 Proximity dog DOG No PD06 3 Forward rotation stroke end LSP No PD07 4 Reverse rotation stroke end LSN No PD08 Output only pins 14 DO ...

Page 148: ...c manual selection MD0 Temporary stop Restart TSTP Internal torque limit selection TL1 Proportion control PC Gain switching CDP Reset RES Clear CR Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or more When the parameter No PD22 setting is 1 the pulses are always cleared while CR is on Manual pulse generator multiplication 1 TP0 Use...

Page 149: ...warning BWNG Movement completion MEND dynamic brake interlock DB DB turns off when the dynamic brake needs to operate When using an external dynamic brake with the servo amplifier of 11kW or more this device is required Refer to section 14 6 The logic is opposite to RXnD For the servo amplifier of 7kW or less it is not necessary to use this device Position range POT For details of the device refer...

Page 150: ...d at default 4 5 2 Input signals Device Symbol Connector pin No Functions Applications Manual pulse generator PP CN6 6 Used to connect the manual pulse generator MR HDP01 Refer to section 14 18 NP CN6 19 4 5 3 Output signals Refer to section 4 8 2 for the output interfaces symbols in the I O Division field in the table of the corresponding connector pins Signal Symbol Connector pin No Functions Ap...

Page 151: ...otation start temporary stop restart 1 A forward rotation start RYn1 or a reverse rotation start RYn2 should make the sequence which can be used after the main circuit has been established These signals are invalid if it is switched on before the main circuit is established Normally it is interlocked with the ready signal RD 2 A start in the servo amplifier is made when a forward rotation start RY...

Page 152: ...between the position command generated in the servo amplifier and the movement completion RYnC This timing can be changed using parameter No PA10 in position range RYnC turns ON in the servo on status Forward rotation start RYn1 or reverse rotation start RYn2 Position command and servo motor speed 3ms or less In position range Servo motor speed Position command OFF ON OFF ON Forward rotation 0r mi...

Page 153: ...start RYn1 or reverse rotation start RYn2 When more than 0 is set in parameter No PC11 3 In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor This timing can be changed using parameter No PA10 in position range Turns on RYn1 in the servo on status Forward rotation start RYn1 or reverse rotation start RYn2 Servo motor speed In po...

Page 154: ...eter No PA12 Torque Torque limit value in parameter No PA11 2 Torque limit value selection As shown below the forward rotation torque limit parameter No PA11 reverse rotation torque limit parameter No PA12 or internal torque limit 2 parameter No PC35 can be chosen using the external torque limit selection RY n 2 6 Note RY n 2 6 Limit value status Torque limit to be enabled CCW driving CW regenerat...

Page 155: ...he main circuit power as soon as an alarm occurs 2 Changes depending on the operating status 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent A32 overload 1 A50 or overload 2 A51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Se...

Page 156: ...RA RA USB D GND VBUS D 1 2 3 5 CN5 ALM DOCOM 24VDC 3 2 4 7 8 MR MRR MD MDR LG E M CN2 16 ZP 23 LG Servo amplifier Isolated Servo motor Encoder Note 2 Note 1 Approx 5 6 Note 1 2 Differential line driver output 35mA or less Note 1 Devices assigned to these pins can be changed in the parameter settings 2 For this sink I O interface For the source I O interface refer to section 4 8 3 ...

Page 157: ...0mA DICOM EMG etc Approx 5 6k Servo amplifier 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40mA or less maximum current 50mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the servo amplifier Refer to section 4 8 3 fo...

Page 158: ...put current 35mA LA LB LZ LAR LBR LZR LG SD LA LB LZ LAR LBR LZR SD Servo amplifier Servo amplifier Am26LS32 or equivalent High speed photocoupler 150 100 b Output pulse Servo motor CCW rotation LA LAR LB LBR LZR T 2 Time cycle T is determined by the settings of parameter No PA15 and PC19 LZ 400 s or more ...

Page 159: ...ital input interface DI 1 Servo amplifier Approx 5 6 EMG etc DICOM Switch 24VDC 10 Approx 5mA VCES ICEO 1 0V 100 A 150mA 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the servo amplifier Servo amplifier ALM etc DOCOM Note 24VDC 10 150mA Load If polarity of diode is reversed servo amplifier will fail Note If the voltage drop maximum of 2 6V interferes with the relay opera...

Page 160: ...or of the cable to the ground plate as shown in this section and fix it to the connector shell Insulator Insulator Strip the insulator External conductor Core External conductor Pull back the external conductor to cover the insulator 1 For CN6 connector 3M connector Screw Screw Ground plate Cable 2 For CN2 connector 3M or Molex connector Screw Cable Ground plate ...

Page 161: ... occur POINT Refer to section 14 1 for the selection of the encoder cable This section indicates the connection of the servo motor power output U V W Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor When the options are not available use the recommended products Refer to section 14 1 for details of the options 1 For grounding con...

Page 162: ... cable Note Relay connector for extension cable a Note Relay connector for motor power supply cable b MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 AWG 19 red AWG 19 white AWG 19 black U V W Servo motor Servo amplifier Extension cable 50m or less 2m or less U V W M AWG 19 green yellow Note Use of the following connectors is recom...

Page 163: ...power supply connector and the electromagnetic brake connector are separately provided B RA1 RA2 M U V W U V W 24VDC Servo amplifier 50m or less Servo motor CN6 DOCOM DICOM ALM MBR Note 2 Note 3 MBR RA2 Note 1 B1 B2 Note 4 RA3 Malfunction ALM RA1 Electromagnetic brake interlock Electromagnetic brake 24VDC power supply Note 1 There is no polarity in electromagnetic brake terminals B1 and B2 2 When ...

Page 164: ...nal allotment Connectors which connect to the servo motors are available as option Refer to section 14 1 If selecting connectors other than listed as option refer to chapter 3 in Servo Motor Instruction Manual Vol 2 Servo motor Servo motor side connectors Encoder Power supply Electromagnetic brake HF SP52 4 to 152 4 CM10 R10P DDK MS3102A18 10P CM10 R2P DDK HF SP51 81 HF SP202 4 to 502 4 MS3102A22 ...

Page 165: ...N SHD P R LG S P5 T Brake connector signal assignment CE05 2A22 23PD B Power supply connector signal assignment CE05 2A24 10PD B Brake connector signal assignment CM10 R2P F E D H G A B C View b Terminal No Signal F E D G C B A View b Terminal No Signal 1 2 View c Terminal No Signal A U A U 1 B1 B V B V Note C W C W 2 B2 D D Note earth earth Note Supply electromagnetic brake power 24VDC There is n...

Page 166: ...D WIRING Brake connector signal assignment MS3102A10SL 4P A B View c Terminal No Signal A B1 Note B B2 Note Note For the motor with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity ...

Page 167: ...hermal Note 7 RA3 Malfunction ALM RA1 MBR RA2 Electromagnetic brake interlock Note 1 There is no polarity in electromagnetic brake terminals B1 and B2 2 BW is not available when a 1 phase power supply is used 3 Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal 4 For the cooling fan power supply refer to 3 b of this section 5 When using...

Page 168: ...VAC Note 1 There is no polarity in electromagnetic brake terminals B1 and B2 2 BW is not available when a 1 phase power supply is used 3 Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal 4 For the cooling fan power supply refer to 3 b in this section 5 When using a servo motor with an electromagnetic brake assign the electromagnetic br...

Page 169: ...No Signal 1 MR 1 B1 Note 2 MRR 3 2 B2 Note 4 BAT 5 LG Note For the motor with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity 6 7 8 P5 9 10 SHD Inside the terminal box HA LP601 4 701M 4 11K2 4 Motor power supply terminal block U V W M6 screw Earth terminal M6 screw Thermal sensor terminal block OHS1 OHS2 M4 screw Cooling fan terminal block BU BV M4 screw Enco...

Page 170: ...R10P Motor power supply terminal block U V W M8 screw Terminal block signal arrangement U V W BU BV OHS1OHS2 BW Inside the terminal box HA LP15K1 4 20K1 4 22K1M 4 U V BU W BW BV OHS1 OHS2 Motor power supply terminal block U V W M8 screw Encoder connector CM10 R10P Earth terminal M6 screw BU BV BW M4 screw Cooling fan terminal block OHS1 OHS2 M4 screw Thermal sensor terminal block Terminal block si...

Page 171: ... M4 screw OHS2 OHS1 BW BV BU W V U Motor power supply terminal block U V W M10 screw Encoder connector CM10 R10P M6 screw Earth terminal Cooling fan terminal block OHS1 OHS2 M4 screw Thermal sensor terminal block Terminal block signal arrangement BV U V W BU BW OHS1OHS2 ...

Page 172: ...76 60Hz 0 18 50Hz 0 17 60Hz HA LP15K1 20K1 22K1M 65 50Hz 85 60Hz 0 20 50Hz 0 22 60Hz HA LP25K1 120 50Hz 175 60Hz 0 65 50Hz 0 80 60Hz HA LP6014 701M4 11K24 400V class 1 phase 200 to 220VAC 50Hz 1 phase 200 to 230VAC 60Hz 42 50Hz 54 60hz 0 21 50Hz 0 25 60Hz HA LP8014 12K14 11K1M4 15K1M4 15K24 22K24 3 phase 380 to 440VAC 50Hz 3 phase 380 to 480VAC 60Hz 62 50Hz 76 60Hz 0 14 50Hz 0 11 60Hz HA LP15K14 2...

Page 173: ...nstruction Manual Vol 2 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Refer to Servo Motor Instruction Manual Vol 2 for the selection of a surge absorber for the electromagnetic brake Note the following when the servo motor equipped with an electromagnetic brake is used 1 Do not share the 24VDC interface power supply between the interfac...

Page 174: ...ion start RYn2 Electromagnetic brake Release delay time and external relay Note 2 Note 3 ON OFF Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay For the release delay time of electromagnetic brake refer to Servo M...

Page 175: ...vated OFF Electromagnetic brake is activated 4 Both main and control circuit power supplies off RX n 1 A or RX n 3 A Electromagnetic brake Dynamic brake Electromagnetic brake Dynamic brake Note 1 15 to 60ms 10ms ON Forward rotation ON OFF ON OFF Note 2 0r min No Yes OFF ON OFF OFF No Yes ON 10ms Electromagnetic brake operation delay time Electromagnetic brake interlock MBR Servo motor speed Base c...

Page 176: ...UP series HC LP series HF JP series servo motors refer to section 4 10 2 2 1 When cable length is 10m or less MR BKS1CBL M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H B Note 3 Note 1 AWG20 AWG20 Servo motor Note 2 B1 B2 10m or less Electromagnetic brake 24VDC power supply Electromagnetic brake MBR Note 5 Malfunction ALM Note 4 RA Note 1 Connect a surge absorber as close to the servo...

Page 177: ...ector for extension cable Note 2 b Relay connector for motor brake cable Note 1 Connect a surge absorber as close to the servo motor as possible 2 Use of the following connectors is recommended when ingress protection IP65 is necessary Relay connector Description IP rating a Relay connector for extension cable CM10 CR2P DDK Wire size S M L IP65 b Relay connector for electromagnetic brake cable IP6...

Page 178: ...of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 MCCB W V U M U V W L11 L1 L2 L3 L21 MC Control box Power supply Note Line filter Servo amplifier CN2 CN3 Servo motor Encoder Protective earth PE Programmable controller Ensure to connect it to PE terminal of the servo amplif...

Page 179: ...4 58 4 SIGNALS AND WIRING MEMO ...

Page 180: ...tc Refer to section 5 1 2 Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor Refer to section 5 1 3 Parameter setting Set the parameters as necessary such as the used control mode and regenerative option selection with the MR PRU03 parameter unit or MR Configurator Refer to chapter 6 Test operation of servo motor alone in test operation mode For ...

Page 181: ...amplifier should not be connected to the servo motor power output U V W To do so will fail the connected servo amplifier and servo motor M U V W U V W L1 L2 L3 Servo amplifier Servo motor 3 The earth terminal of the servo motor is connected to the protective earth PE terminal of the servo amplifier Reduce the auto tuning response parameter No PA09 M Servo amplifier Servo motor 4 P1 P2 For 11kW or ...

Page 182: ...ction 14 3 4 The power factor improving DC reactor should be connected P1 and P2 For 11kW or more P1 and P Refer to section 14 11 Servo amplifier Note P1 P2 Power factor improving DC reactor Note Always disconnect P1 and P2 For 11kW or more P1 and P 2 I O signal wiring a The I O signals should be connected correctly Use DO forced output to forcibly turn on off the pins of the CN6 connector This fu...

Page 183: ...cur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Power off 1 Make sure that the Forward rotation start RYn1 and Reverse rotation start RYn2 are off 2 Switch off the Servo on RYn0 3 Switch off the main circuit power supply and control circuit power supply 5 2 2 Stop In any of the following statuses the servo amplifier interrupts and stops...

Page 184: ...ted from the controller to switch on the forward rotation start RYn1 or reverse rotation start RYn2 the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal Test operation with servo motor and machine connected In this step connect the servo motor wi...

Page 185: ... setting parameters first Generally operation can be performed by merely setting this parameter group In this parameter group set the following items Control mode selection Regenerative option selection Absolute position detection system selection Feeding function selection Servo motor speed setting unit selection Electronic gear setting Auto tuning selection and adjustment In position range setti...

Page 186: ...celeration time constant Set the acceleration time constant Deceleration time constant Set the deceleration time constant Dwell Set the waiting time when performing automatic continuous operation Auxiliary function Set when performing automatic continuous operation Refer to section 5 4 2 for details of the point table 5 2 6 Actual operation Start actual operation after confirmation of normal opera...

Page 187: ...pears Note 3 Not ready Servo on Note 3 Ready Servo amplifier power off Note 1 When alarm warning No is displayed At occurrence of overload Flicker display At occurrence of overload warning Note 2 Flicker display During forced stop Flicker display Alarm reset or warning Note 1 Only alarm and warning No are displayed but no station No is displayed 2 If warning other than AE6 occurs during the servo ...

Page 188: ...curred Note 2 A Alarm Warning The alarm No warning No that occurred is displayed Refer to section 11 4 8 8 8 CPU error CPU watchdog error has occurred Note 3 0 0 d Note 3 Test operation mode JOG operation positioning operation programmed operation DO forced output single step feed 0 0 C Note 1 d Motor less operation C Note 1 denotes any of numerals 00 to 16 and what it means is listed below Descri...

Page 189: ...ess to the target address Setting range 0 to 999999 10STM m STM feed length multiplication parameter No PA05 Current address Target address Position data target address current address 2 Point table a Point table setting Up to 255 point tables may be set Set the point tables using the MR Configurator Software the MR PRU03 parameter unit or CC Link write instruction code The following table lists w...

Page 190: ... of CC Link When 2 stations are occupied the point table No can be selected by remote register setting Refer to section 3 6 3 RY of CC Link 0 OFF 1 ON Selected point table No 2 stations occupied 1 station occupied RY n 2 5 RY n 2 4 RY n 2 3 RYnE RYnD RYnC RYnB RYnA 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 1 3 0 0 0 0 0 1 0 0 4 1 1 1 1 1 1 1 0 254 1 1 1 1 1 1 1 1 255 ...

Page 191: ... the RY of CC Link It cannot be used when the point table No is selected using the remote register of CC Link Set 0 in the auxiliary function to make the dwell invalid Set 1 in the auxiliary function and 0 in the dwell to perform continuous operation When the dwell is set the position command of the selected point table is completed and after the set dwell has elapsed the position command of the n...

Page 192: ... 10 9999 99 to 9999 99 2 100 99999 9 to 99999 9 3 1000 999999 to 999999 c Operation Choosing the point table using RYnA to RYnE RY n 2 3 to RY n 2 5 and turning RYn1 ON starts positioning to the position data at the preset speed acceleration time constant and deceleration time constant At this time reverse rotation start RYn2 is invalid Item Setting method Description Automatic operation mode sele...

Page 193: ...e input signal or the RY of CC Link It cannot be used when the point table No is selected using the remote register of CC Link Set 0 in the auxiliary function to make the dwell invalid Set 1 in the auxiliary function and 0 in the dwell to perform continuous operation When the dwell is set the position command of the selected point table is completed and after the set dwell has elapsed the position...

Page 194: ...99 9 3 1000 0 to 999999 c Operation Choosing the point table using RYnA to RYnE RY n 2 3 to RY n 2 5 and turning RYn1 ON starts a motion in the forward rotation direction over the moving distance of the position data at the preset speed and acceleration time constant Turning RYn2 ON starts a motion in the reverse rotation direction according to the values set to the selected point table Item Setti...

Page 195: ...ion RXn1 Rough match RXn2 Point table No output RX n 2 2 to RX n 2 9 Ready RXn0 Trouble ALM 6ms or more 3ms or less Point table No 1 Point table No 2 Movement completion RXnC Forward rotation start RYn1 Reverse rotation start RYn2 Note 1 Note 2 4ms or more 4ms or more 6ms or more Note 1 Reverse rotation start RYn2 is invalid in the absolute value command system 2 Configure a sequence that changes ...

Page 196: ...Point table setting Dwell Auxiliary function 0 1 1 or more 1 b Varied speed operation Speed during positioning operation can be changed by setting the auxiliary function of the point table Use the number of point tables equal to the number of speeds to be set By setting 1 to the auxiliary function operation is performed at the speed set in the next point table during positioning The position data ...

Page 197: ... motor speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Note 1 Auxiliary function 1 5 00 3000 100 150 0 1 2 3 00 2000 Invalid Invalid 0 3 3 10 00 1000 Invalid Invalid 0 1 4 6 00 500 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When point table is used in abso...

Page 198: ...0 150 0 1 2 7 00 2000 Invalid Invalid 0 1 3 8 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When point table is used in absolute value command system 1 When point table is used in incremental value command system ON OFF 0 5 00 12 00 1 0r min 7 00 1 8 00 Servo motor speed Reverse rota...

Page 199: ...0 3000 100 150 0 1 2 6 00 2000 Invalid Invalid 0 1 3 3 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 to the auxiliary function of the last point table among the consecutive point tables ON OFF 0r min 0 5 00 11 00 14 00 1 5 00 6 00 3 00 Servo motor speed Position address Selected point table No Speed 2000 Speed 3000 Speed 1000 Forward rotation Point table No out put RX n 2 2...

Page 200: ... is rotating ON OFF ON OFF ON OFF 0r min OFF OFF ON ON OFF ON Forward rotation Servo motor speed Point table Forward rotation start RYn1 or reverse rotation start RYn2 Temporary stop Restart RYn7 Temporary stop RXn7 Rough match RXn2 In position RXn1 Remaining distance Point table No out put RX n 2 2 to RX n 2 9 No n Acceleration time constant of point table No n Deceleration time constant of point...

Page 201: ... specifying system is selected In the case always set an acceleration deceleration time constant in the point table No 1 Position data Position command data lower 16 bit RWwn 4 Set the lower 16 bits of position data to RWwn 4 and the upper 16 bits to RWwn 5 Setting range 999999 to 999999 Position command data upper 16 bit RWwn 5 Servo motor speed Speed command data RWwn 6 Set the servo motor speed...

Page 202: ...Y n 2 A Incremental value absolute value selection RY n 2 B Position data RWwn 4 RWwn 5 Speed data RWwn 6 Forward rotation Reverse rotation Note 1 Note 1 Incremental value data 1 Incremental value data 2 Note 2 Position command execution demand RY n 2 0 Position command execution completion RX n 2 0 Note 2 Speed command execution demand RY n 2 1 Speed command execution completion RX n 2 1 Trouble ...

Page 203: ... A Turn RY n 2 A ON Command system Parameter No PA01 0 Absolute value command system is selected Remote register based position speed specifying system selection Parameter No PC30 2 Remote register based position speed specifying system is selected Position data Position command data lower 16 bit RWwn 4 Set the lower 16 bits of position data to RWwn 4 and the upper 16 bits to RWwn 5 Setting range ...

Page 204: ...lue selection RY n 2 B Position data RWwn 4 RWwn 5 Speed data RWwn 6 Ready RD Trouble ALM Note 2 Position command execution demand RY n 2 0 Position command execution completion RX n 2 0 Note 2 Speed command execution demand RY n 2 1 Speed command execution completion RX n 2 1 Forward rotation start RYn1 Forward rotation Reverse rotation Note 1 Note 1 Incremental value data 1 Incremental value dat...

Page 205: ...peed specifying system selection Parameter No PC30 2 Remote register based position speed specifying system is selected In the case always set an acceleration deceleration time constant in the point table No 1 Position data Position command data lower 16 bit RWwn 4 Set the lower 16 bits of position data to RWwn 4 and the upper 16 bits to RWwn 5 Setting range 0 to 999999 Position command data upper...

Page 206: ...m selection RY n 2 A Position data RWwn 4 RWwn 5 Speed data RWwn 6 Trouble ALM Note 1 Note 1 Incremental value data 1 Incremental value data 2 Note 2 Position command execution demand RY n 2 0 Position command execution completion RX n 2 0 Note 2 Speed command execution demand RY n 2 1 Speed command execution completion RX n 1 Reverse rotation start RYn2 Forward rotation Reverse rotation Note 1 Co...

Page 207: ...o PC12 Set the speed of the servo motor Acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constants in point table No 1 2 Servo motor rotation direction Parameter No PA14 setting Servo motor rotation direction Forward rotation start RYn1 ON Reverse rotation start RYn2 ON 0 CCW rotation CW rotation 1 CW rotation CCW rotation Parameter No PA14 0 Paramete...

Page 208: ...g to the purpose of use In this case the point table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 are invalid Item Setting method Description Manual operation mode selection Automatic manual selection RYn6 Turn RYn6 OFF Manual pulse generator multiplication Parameter No PA05 For more information refer to 3 in this section Servo motor rotation direction Parameter No PA14 Refer to 2 in this...

Page 209: ...gnals for setting devices Set the pulse generator multiplication 1 TP0 and the pulse generator multiplication 2 TP1 to the CN6 connector pins in the parameters of Nos PD06 to PD08 Note Pulse generator multiplication 2 TP1 Note Pulse generator multiplication 1 TP0 Multiplication ratio of servo motor rotation to manual pulse generator rotation Moving distance 0 0 Parameter No PA05 setting valid 0 1 ...

Page 210: ...tallation the current position is retained if power is switched off Hence home position return is not required when power is switched on again This servo amplifier has the home position return methods given in this section Choose the most appropriate method for your machine structure and application This servo amplifier has the home position return automatic return function which executes home pos...

Page 211: ...ince the machine part collides with the machine be fully lowered The machine and stopper strength must be increased Home position ignorance Servo on position as home position The position where servo is switched on is defined as a home position Dog type rear end reference The position where the axis which had started decelerating at the front end of a proximity dog has moved the after proximity do...

Page 212: ...direction in which the address is incremented from the current position or 1 to start home position return in the direction in which the address is decremented 0 Parameter No PC03 0 0 Home position return direction 0 Address increment direction 1 Address decrement direction c Choose the polarity at which the proximity dog is detected with parameter No PD16 Input polarity setting Set 0 to detect th...

Page 213: ...n direction Parameter No PC03 Refer to section 5 6 1 2 and choose home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and choose dog input polarity Home position return speed Parameter No PC04 Set speed until detection of dog Creep speed Parameter No PC05 Set speed after detection of dog Home position shift distance Parameter No PC06 Set when shifting the h...

Page 214: ...No PC07 Movement completion RXnC Home position return completion RXn3 ZP Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC07 home position return position data setting value is the positioning address after the home position return is completed 4 Adjustment In dog type home position return adjust to ensu...

Page 215: ...based position speed setting Only when two stations are occupied Position speed specifying system selection RY n 2 A Turn RY n 2 A ON Count type home position return Parameter No PC02 1 Count type home position return is selected Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and choose home position return direction Dog input polarity Parameter No PD16 Refer to section ...

Page 216: ...tant Home position return speed parameter No PC04 Point table No 1 deceleration time constant Creep speed parameter No PC05 Home position shift distance parameter No PC06 Home position address parameter No PC07 Moving distance after proximity dog parameter No PC08 Movement completion RXnC Home position return completion RXn3 ZP Note Configure a sequence that changes the point table selection earli...

Page 217: ...turn Parameter No PC02 2 Data setting type home position return is selected Home position return position data Parameter No PC07 Set the current position at home position return completion 2 Timing chart 0 Automatic manual selection RYn6 Selected point table No Forward rotation start RYn1 Reverse rotation start RYn2 Servo motor speed Rough match RXn2 Movement completion RXnC Home position return c...

Page 218: ...rn RY n 2 A ON Stopper type home position return Parameter No PC02 3 Stopper type home position return is selected Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and choose the home position return direction Home position return speed Parameter No PC04 Set the speed till contact with the stopper Stopper time Parameter No PC09 Time from when the part makes contact with th...

Page 219: ...Home position return completion RXn3 ZP Note 1 Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication 2 Turns ON when the torque reaches the value set to Forward rotation torque limit parameter No PA11 Reverse rotation torque limit parameter No PA12 or Internal torque limit parameter No PC35 3 The torque limit that is enabled at this...

Page 220: ...scription Home position ignorance Parameter No PC02 4 Home position ignorance is selected Home position return position data Parameter No PC07 Set the current position at home position return completion 2 Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF 0r min Rough match RXn2 Servo motor speed Ready RD Servo on RYn0 Home position address parameter No PC07 Movement completion RXnC Home position ret...

Page 221: ...nA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Remote register based position speed setting Only when two stations are occupied Position speed specifying system selection RY n 2 A Turn RY n 2 A ON Dog type rear end reference home position return Parameter No PC02 5 Select the dog type rear end reference Home position return direction Parameter No PC03 Refer to sec...

Page 222: ...ard rotation 0r min 0 4ms or more Note Movement completion RXnC Home position return completion RXn3 ZP Automatic manual selection RYn6 Proximity dog DOG Proximity dog Reverse rotation start RYn2 Home position address parameter No PC07 Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC17 home position ret...

Page 223: ...t table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Remote register based position speed setting Only when two stations are occupied Position speed specifying system selection RY n 2 A Turn RY n 2 A ON Count type dog front end reference home position return Parameter No PC02 6 Select the count type dog front end reference Home position ret...

Page 224: ...d rotation 0r min 0 4ms or more Note Home position address parameter No PC07 Movement completion RXnC Home position return completion RXn3 ZP Automatic manual selection RYn6 Reverse rotation start RYn2 Proximity dog DOG Proximity dog DOG Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC07 home position r...

Page 225: ... Turn RY n 2 A ON Dog cradle type home position return Parameter No PC02 7 Select the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and select the dog input polarity Home position return speed Parameter No PC04 Set the speed till the dog is detecte...

Page 226: ...letion RXn3 ZP OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 4ms or more Note 6ms or more Home position return speed Creep speed Home position shift distance Home position address parameter No PC07 Proximity dog 3ms or less Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC07 home position retur...

Page 227: ...occupied Position speed specifying system selection RY n 2 A Turn RY n 2 A ON Dog cradle type home position return Parameter No PC02 8 Select the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and select the dog input polarity Home position return s...

Page 228: ...No 0 4ms or more Note ON OFF Z phase Home position address parameter No PC07 Movement completion RXnC Home position return completion RXn3 ZP Automatic manual selection RYn6 Reverse rotation start RYn2 Proximity dog DOG Proximity dog Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC07 home position retur...

Page 229: ...YnA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Remote register based position speed setting Only when two stations are occupied Position speed specifying system selection RY n 2 A Turn RY n 2 A ON Dog cradle type home position return Parameter No PC02 9 Select the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select...

Page 230: ...more 3ms or less Reverse rotation start RYn2 Selected point table No 0 4ms or more Note Home position shift distance Creep speed Home position return completion RXn3 ZP Movement completion RXnC Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC07 home position return position data setting value is the pos...

Page 231: ...ion speed specifying system selection RY n 2 A Turn RY n 2 A ON Dog cradle type home position return Parameter No PC02 A Select the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Home position return speed Parameter No PC04 Set the speed till the Z phase is detected Creep speed Parameter No PC05 Set the speed ...

Page 232: ...table No 0 4ms or more Note Home position shift distance Creep speed Home position return completion RXn3 ZP Movement completion RXnC Automatic manual selection RYn6 Reverse rotation start RYn2 Note Configure a sequence that changes the point table selection earlier considering the delay time of CC Link communication The parameter No PC07 home position return position data setting value is the pos...

Page 233: ...a position before the proximity dog then executes home position return at this position 2 When the current position is beyond the proximity dog At a start a motion is made in the home position return direction and an automatic return is made on detection of the stroke end LSP or LSN The motion stops past the front end of the proximity dog and home position return is resumed at that position If the...

Page 234: ...n return mode selection Automatic manual selection RYn6 Turn RYn6 ON Point table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Home position return speed Parameter No PC04 Set the speed till the dog is detected Home position return acceleration deceleration time constants Point table No 1 Use the acceleration deceleration time constant of po...

Page 235: ...clear selection 1 1 Select roll feed display Enable the electronic gear fraction clear 2 Roll feed display function At start up the roll feed display function clears the status display of the current position and command position to zero 0 Start 0 Start 10 00 8 00 Servo motor speed Forward rotation 0r min Display of current position or command position 3 Operation procedure Changes are made only o...

Page 236: ...etting parameters enable absolute position detection system to be configured 1 Restrictions An absolute position detection system cannot be configured under the following conditions 1 Stroke less coordinate system e g rotary shaft infinite positioning 2 Operation performed in incremental value command type positioning system 2 Specifications Item Description System Electronic battery backup system...

Page 237: ...eeps it battery backed independently of whether the general purpose programmable controller power is on or off Therefore once the home position is defined at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy MR J3BAT LSO I O circuit Position data speed data current position read EEP ROM ...

Page 238: ...se the absolute position data Replacing battery with the control circuit power on will not erase the absolute position data Refer to section 5 8 3 for mounting procedure of battery to the servo amplifier To replace battery with the control circuit power off refer to section 2 2 When replacing battery with the control circuit power off Replacing battery with the control circuit power off will erase...

Page 239: ...4 Insert connector into CN4 For MR J3 350T or less MR J3 200T4 or less For MR J3 500T or more MR J3 350T4 or more 5 8 4 Procedure to replace battery with the control circuit power off 1 Preparation for battery replacement For the battery replacement a backup battery is required separately from the battery to be replaced Prepare the following batteries Product name Applications Quantity Remarks MR ...

Page 240: ... MR J3BAT New MR J3BAT Step 2 Remove old MR J3BAT from the servo amplifier MR J3BTCBL03M CN4 CN2 MR J3BAT for backup Servo amplifier New MR J3BAT Step 3 Mount new MR J3BAT to the servo amplifier Then connect the lead wire plug of MR J3BAT to the C4 connector of the servo amplifier CN4 CN2 MR J3BAT for backup MR J3BTCBL03M Servo amplifier New MR J3BAT Step 4 Remove the MR J3BAT for backup from the ...

Page 241: ...5 62 5 OPERATION MEMO ...

Page 242: ...on setting parameters No PC These parameters are inherent to the MR J3 T servo amplifier I O setting parameters No PD Use these parameters when changing the I O devices of the servo amplifier Mainly setting the basic setting parameters No PA allows the setting of the basic parameters at the time of introduction 6 1 Basic setting parameters No PA 6 1 1 Parameter list No Symbol Name Initial value Un...

Page 243: ...ith the setting of parameter No PA19 write can be disabled to prevent accidental changes The following table indicates the parameters which are enabled for reference and write by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 setting Setting operation Basic setting parameters No PA Gain Filter parameters No PB Extension setting parameters No...

Page 244: ...nufactured earlier than June 2009 are used enabling the 350 maximum torque setting causes parameter error A37 Select the 350 maximum torque setting and command method for the HF KP series servo motors When the 350 maximum torque setting is enabled the maximum torque of the HF KP series servo motor can be increased from 300 to 350 To operate at the maximum torque of 350 operate within the range of ...

Page 245: ...option is not used For servo amplifier of 100W regenerative resistor is not used For servo amplifier of 200 to 7kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW 01 FR BU2 H FR RC H FR CV H 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan i...

Page 246: ...rameter is made valid when power is switched off then on after setting If this parameter is made valid the home position is not lost in the servo off or forced stop state and the operation can be resumed when the servo on RYn0 or forced stop EMG is deactivated Parameter No PA04 0 0 0 Servo on RYn0 off forced stop EMG off follow up for absolute value command in incremental system 0 Invalid 1 Valid ...

Page 247: ...min unit Setting to 1 will be as follows The setting value of the servo motor speed will be limited to 6553 5r min The Servo motor speed status will be displayed as 0 1r min unit Setting of this digit is available with servo amplifiers with software version A4 or later Feed length multiplication factor STM times Manual pulse generator multiplication factor 0 1 time 1 10 times 2 100 times 6 1 8 Ele...

Page 248: ...ng examples are used to explain how to calculate the electronic gear value POINT The following specification symbols are needed for electronic gear calculation Pb Ball screw lead mm 1 n Reduction ratio Pt Servo motor encoder resolution pulse rev S Travel per servo motor revolution mm rev a Ball screw setting example Machine specifications Ball screw lead Pb 10 mm Reduction ratio 1 n Z1 Z2 1 2 Z1 N...

Page 249: ...Z2 Number of gear teeth on load side r 160 mm Servo motor encoder resolution 262144 pulse rev 1 n Z2 Z1 1 n Z1 Z2 1 3 Servo motor encoder resolution Pt 262144 pulse rev CMX CDV pt S 32768 20944 167551 61 262144 pt 262144 n r 1000 1 3 160 1000 Reduce CMX and CDV to the setting range or less and round off the first decimal place Hence set 32768 to CMX and 20944 to CDV ...

Page 250: ...gain adjustment mode Gain adjustment mode setting Parameter No PA08 0 0 0 Setting Gain adjustment mode Automatically set parameter No Note Interpolation mode Auto tuning mode 1 Auto tuning mode 2 Manual mode 0 1 2 3 PB06 PB08 PB09 PB10 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10 Note The parameters have the following names Parameter No Name PB06 Ratio of load inertia moment to servo motor inertia...

Page 251: ... 2 26 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 Middle response 59 6 32 Middle response 400 0 6 1 10 In position range Parameter Initial value Unit Setting range No Symbol Name PA10 INP In position range 100 m pulse 0 to 10000 Set the range where In position RXn1 and Movement completion RXnC are output in the command pulse unit before calculation...

Page 252: ...um torque is 100 Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode Set this parameter to 0 0 to generate no torque 6 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 a...

Page 253: ... of pulses The maximum output frequency is 4 6Mpps after multiplication by 4 Use this parameter within this range 1 For output pulse designation Set 0 initial value in parameter No PC19 Set the number of pulses per servo motor revolution Output pulse set value pulses rev For instance set 5600 to Parameter No PA15 the actually output A B phase pulses are as indicated below 4 5600 A B phase output p...

Page 254: ...arameter No PC19 to 2 The feedback pulses from the servo motor encoder are processed and output as shown below The feedback pulses can be output in the same pulse unit as the command pulses CDV CMX Parameter No PA06 PA07 Motor Encoder A phase B phase output pulses Feedback pulses ...

Page 255: ...r PB18 LPF Low pass filter 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting 100 0 Hz PB21 For manufacturer setting 0 00 PB22 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control selection 0000h PB25 For manufacturer setting 0000h PB26 CDP Gain switching...

Page 256: ...tive tuning mode selection 0000h Setting Adaptive tuning mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after the predetermined number of positioning operations is executed for the predetermined period of ...

Page 257: ...ppression control OFF Note 1 Vibration suppression control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values When this parameter is set to 1 the tuning is completed after the predetermined number of positioning operations are executed for the predetermined period of time and the setti...

Page 258: ...o tuning is automatically used 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Set a gain of the speed loop Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is automatically ...

Page 259: ...5 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid 4500 Hz 100 to 4500 PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 0 1 2 3 0 2 1 3 2 4 3 5 0 Machine resonance suppression filter 2 selection 0 Invalid 1 V...

Page 260: ...requency setting Set the resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting parameter No PB02 vibration suppression control tuning mode to 1 automatically changes this parameter When parameter No PB02 is set to 2 this parameter can be set manually 100 0 Hz 0 1 to 100 0 PB21 For manufacturer setting Do not change thi...

Page 261: ...n item Refer to section 10 6 10 kpps pulse r min 0 to 9999 PB28 CDT Gain switching time constant Used to set the time constant at which the gains will switch in response to the conditions set in parameters No PB26 and PB27 Refer to section 10 6 1 ms 0 to 100 PB29 GD2B Gain switching ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo mot...

Page 262: ...B39 0 PB40 0 PB41 1125 PB42 1125 PB43 0004h PB44 0000h PB45 0000h 6 3 Extension setting parameters No PC 6 3 1 Parameter list No Symbol Name and function Initial value Unit PC01 For manufacturer setting 0000h PC02 ZTY Home position return type 0000h PC03 ZDIR Home position return direction 0001h PC04 ZRF Home position return speed 500 r min PC05 CRF Creep speed 10 r min PC06 ZST Home position shif...

Page 263: ...ifying system selection 0000h PC31 LMPL Software limit 0 10STM m PC32 LMPH PC33 LMNL Software limit 0 10STM m PC34 LMNH PC35 TL2 Internal torque limit 2 100 0 PC36 For manufacturer setting 0000h PC37 LPPL Position range output address 0 10STM m PC38 LPPH PC39 LNPL Position range output address 0 10STM m PC40 LNPH PC41 For manufacturer setting 0000h PC42 0000h PC43 0000h PC44 0000h PC45 0000h PC46 ...

Page 264: ...e and function column PC04 ZRF Home position return speed Used to set the servo motor speed for home position return Refer to section 5 6 500 r min 0 to permissible speed PC05 CRF Creep speed Used to set the creep speed after proximity dog detection Refer to section 5 6 10 r min 0 to permissible speed PC06 ZST Home position shift distance Used to set the travel distance from the home position Refe...

Page 265: ...tion For the home position ignorance servo on position as home position this function compensates for the number of backlash pulses in the opposite direction to the first rotating direction after establishing the home position by switching ON the servo on RYn0 In the absolute position detection system this function compensates for the backlash pulse count in the direction opposite to the operating...

Page 266: ... setting Used to specify the station number of the servo amplifier for RS 422 communication Always set one station to one axis of servo amplifier If one station number is set to two or more stations normal communication cannot be made 0 station 0 to 31 PC21 SOP RS 422 communication function selection Select the communication I F and select the RS 422 communication conditions 0 0 RS 422 communicati...

Page 267: ...splay method of the current position and command position Electronic gear fraction clear selection 0 Invalid 1 Valid By setting it to 1 the fraction of the last command by the electronic gear is cleared when starting automatic operation 0 0 Current position and command position display selection 0000h Refer to name and function column Setting value Display method Operation mode Status display Curr...

Page 268: ...ection 6 3 6 Set the same sign to parameters No PC31 and No PC32 Setting of different signs will result in a parameter error Set address Upper 3 digits Lower 3 digits Parameter No PC31 Parameter No PC32 The software limit is a set of upper digits and lower digits To change the value set in the order of lower digits to upper digits 0 10STM m 999999 to 999999 PC32 LMPH PC33 LMNL Software limit Used ...

Page 269: ...or Set address Upper 3 digits Lower 3 digits Parameter No PC39 Parameter No PC40 Position range output address is a set of upper digits and lower digits To change the value set in the order of lower digits to upper digits 0 10STM m 999999 to 999999 PC40 LNPH PC41 For manufacturer setting 0000h PC42 Do not change this value by any means 0000h PC43 0000h PC44 0000h PC45 0000h PC46 0000h PC47 0000h P...

Page 270: ...ange 0 to 1000ms 6 3 4 Alarm history clear The alarm history can be confirmed by using the MR Configurator The servo amplifier stores last six alarms from when its power is switched on first To control alarms which will occur during operation clear the alarm history using parameter No PC18 alarm history clear before starting operation Clearing the alarm history automatically returns to 0 This para...

Page 271: ...stopped and servo locked This function is made valid at power on but made invalid during home position return This function is made invalid when the software limit setting is the same as the software limit setting A parameter error A37 will occur if the software limit setting is less than the software limit setting Current position Unmovable Movable Movable area Software limit Inhibited area ...

Page 272: ...4 0002h PD10 DO2 Output signal device selection 2 CN6 15 0003h PD11 DO3 Output signal device selection 3 CN6 16 0024h PD12 DIN1 External DI function selection 1 0C00h PD13 For manufacturer setting 0000h PD14 DIN3 External DI function selection 3 0800h PD15 For manufacturer setting 0000h PD16 DIAB Input polarity selection 0000h PD17 For manufacturer setting 0000h PD18 0000h PD19 DIF Response level ...

Page 273: ...HEX Device name 0 0 Initial value BIN HEX Proportion control PC Initial value BIN HEX Servo on SON 0 0 0 0 Forward rotation stroke end LSP 0 0 0 0 0 0 Reverse rotation stroke end LSN BIN 0 Used in CC Link or as external input signal BIN 1 Automatic ON Device name Device name 0 Initial value BIN HEX 0 0 0 0 Forced stop EMG Device name For example to turn ON SON the setting is 4 0000h Refer to name ...

Page 274: ... column PD04 DIA4 Input signal automatic ON selection 4 Select the input devices to be automatically turned ON 0 0 Initial value BIN HEX Device name Point table No selection 2 DI1 0 BIN 0 Used in CC Link or as external input signal BIN 1 Automatic ON 0 0 Point table No selection 1 DI0 Point table No selection 3 DI2 Point table No selection 4 DI3 0 0 Initial value BIN HEX Device name Point table No...

Page 275: ...al selection MD0 24 Manual pulse generator multiplication 1 TP0 25 Manual pulse generator multiplication 2 TP1 27 Temporary stop restart TSTP 2B Proximity dog DOG Note The other setting values than shown in this table are for manufacturer setting 002Bh Refer to name and function column PD07 DI3 Output signal device selection 3 CN6 3 Any input device can be assigned to the CN6 3 pin The devices tha...

Page 276: ...lection CDPS 23 Rough match CPO 24 Home position return completion ZP 25 Position range POT 26 Temporary stop PUS 27 Movement completion MEND 38 Point table No output 1 PT0 39 Point table No output 2 PT1 3A Point table No output 3 PT2 3B Point table No output 4 PT3 3C Point table No output 5 PT4 3D Point table No output 6 PT5 3E Point table No output 7 PT6 3F Point table No output 8 PT7 Note The o...

Page 277: ...e CN6 connector part is for manufacturer setting Do not set the value by any means 0 Initial value BIN HEX Device name 0 0 Initial value BIN HEX Servo on SON 0 0 0 0 0 0 0 1 C Initial value BIN HEX Internal torque limit TL1 0 1 0 Forward rotation stroke end LSP 0 Initial value BIN HEX BIN 0 Used in CC Link BIN 1 Used in CN6 external input signal 0 0 0 0 Gain changing CDP Reverse rotation stroke en...

Page 278: ... 0 0 0800h Refer to name and function column PD15 For manufacturer setting Do not change this value by any means 0000h PD16 DIAB Input polarity selection Used to set the proximity dog input polarity Refer to section 5 6 0 Proximity dog input polarity 0 OFF indicates detection of the dog 1 ON indicates detection of the dog 0 0 0000h Refer to name and function column PD17 For manufacturer setting Do...

Page 279: ...ning move distance clear As in the following parameter settings when the home position is lost by the forward rotation stroke end reverse rotation stroke end or the software limit detection the home position return completion ZP turns on by turning OFF ON the servo on RYn0 In this case there is no need to perform the home position return again 1 In absolute position detection system Parameter No P...

Page 280: ...0 1 Selection of output device at warning occurrence Select the warning RXnA and trouble RX n 1 A or RX n 3 A output status at warning occurrence Setting Note Device status RX of CC Link Output device RX of CC Link Output device RXnA RX n 1 A or RX n 3 A WNG ALM RXnA RX n 1 A or RX n 3 A WNG ALM ON OFF ON OFF OFF ON OFF ON Warning occurred Warning occurred Note 0 OFF 1 ON 0000h ...

Page 281: ...limit of the setting range 0000h ms 0000h to 03E8h CAUTION If not detecting CC Link communication error A8D use the initial setting value for the communication time out detection time When you change the setting value do not set an unnecessarily long time period Doing so interferes swift stop operation at an occurrence of CC Link communication error A8D This parameter is available with servo ampli...

Page 282: ...ulse With S pattern acceleration deceleration Without S pattern acceleration deceleration LSP or LSN Servo motor speed 0r min ON OFF Moves for the amount of droop pulse and stops Erases the home position A difference occurs between the command position and the current position Execute a home position return again 2 Decelerates to stop Acceleration Deceleration time constant Acceleration Decelerati...

Page 283: ...detected Servo motor speed 0r min With S pattern acceleration deceleration Without S pattern acceleration deceleration Amount of droop pulse Moves for the amount of droop pulse and stops Erases the home position A difference occurs between the command position and the current position Execute a home position return again 2 Software limit detected Servo motor speed 0r min Decelerates to stop Accele...

Page 284: ...600 Monitor Display I O interface display high speed monitor trend graph Alarm Display history amplifier data Diagnostic No motor rotation system information tuning data absolute encoder data Axis name setting Parameters Parameter list device setting turning change list detailed information Test operation Jog operation positioning operation motor less operation Do forced output program operation s...

Page 285: ...ws R XP Home Edition Professional 512MB or more Windows Vista R Home Basic 1GB or more Windows Vista R Home Premium Business Ultimate Enterprise Windows R 7 Starter Home Premium Professional Ultimate Enterprise Hard Disk 130MB or more of free space Browser Windows R Internet Explorer R 4 0 or more Display One whose resolution is 1024 768 or more and that can provide a high color 16 bit display Con...

Page 286: ...c For use of RS 422 to make multidrop connection To RS 232C connector RS 422 232C conversion cable DSV CABV Diatrend Personal computer Note 2 Note 2 Note 2 CN3 CN3 Servo amplifier CN3 Note 3 Servo amplifier Servo amplifier Note 1 Note 1 Refer to section 15 1 for cable wiring 2 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 3 The final axis must be terminated between ...

Page 287: ...are made the following window appears a 1 Station number selection Choose the station number in the combo box a POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication 2 Closing of the station selection window Click the OK button to close the window ...

Page 288: ...e write a Click the parameter whose setting was changed and press the Write button to write the new parameter setting to the servo amplifier 2 Parameter value verify b Click the Verify button to verify all parameter values being displayed and the parameter values of the servo amplifier 3 Parameter value batch read c Click the Read All button to read and display all parameter values from the servo ...

Page 289: ... amplifier Select a parameter to be changed enter a new value to Set value and click Enter 10 I O setting parameters k Used to change the I O device of the servo amplifier Select a parameter to be changed enter a new value to Set value and click Enter 11 Parameter block l Used to set the availability of parameter write 12 Parameter data file read Used to read and display the parameter values store...

Page 290: ...e menu When the above choices are made the following window appears e c a b h d g f 1 Point table data write a Click the point table data changed and press the Write button to write the new point table data to the servo amplifier 2 Point table data verify b Click the Verify button to verify all data being displayed and the data of the servo amplifier 3 Point table data batch read c Click the Read ...

Page 291: ... data to be changed enter a new value into the Enter input field and press the enter key or Enter Data button 8 Point table data file read Used to read and display the point table data stored in the file Use the Project menu on the menu bar to read 9 Point table data storage Used to store all point table data being displayed on the window into the specified file Use the Project menu on the menu ba...

Page 292: ...signal the settings for the parameter No PD12 and PD14 are required after the device is assigned according to the device setting described below 1 How to open the setting screen Click Parameters on the menu bar and click Device setting in the menu Making selection displays the following window ...

Page 293: ...nd display all functions assigned to the pins from the servo amplifier 2 Write of function assignment b Click the Write button to write all pins in which the functions are assigned to the servo amplifier 3 Verify of function assignment c Click the Verify button verifies the function assignment in the servo amplifier with the device information on the screen 4 Initial setting of function assignment...

Page 294: ...ointer to the place of the function to be assigned Drag and drop it as is to the pin you want to assign in the DIDO device setting window 1 Assignment checking automatic ON setting a Press this button to display the screen that shows the assignment list and enables auto ON setting Refer to 2 c in this section for more information 2 Quitting Click Close button to exit from the window b ...

Page 295: ...ment a Click Read button reads the functions set for auto ON from the interface unit and extension IO unit 2 Auto ON write of function assignment b Click Write button writes the functions currently set for auto ON to the interface unit and extension IO unit 3 Auto ON verify of function assignment c Click Verify button verifies the current auto ON setting in the interface unit and extension IO unit...

Page 296: ...ff Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG Refer to section 7 6 When an alarm occurs the JOG operation is automatically canceled Click Test on the menu bar and choose Jog on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button...

Page 297: ...Reverse button the servo motor rotates in the CW rotation direction 5 Servo motor stop e a When stopping the operation by pressing the Stop or Software forced stop button Click the Stop button to stop the rotation of the servo motor b When operating the servo motor only while pressing the button Release the Forward or Reverse button to stop the rotation of the servo motor 6 LSP LSN stroke end auto...

Page 298: ...ss these signals and DOCOM Refer to section 7 6 Click Test on the menu bar and click Positioning on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button to display the setting screen of the Positioning operation During the servo on the confirmation window indicating that the next operation is in the stop status is displayed After confirmin...

Page 299: ...n 5 Temporary stop of servo motor f Click the Pause button to stop the servo motor temporarily 6 Servo motor restart g Click the Restart button during the temporary stop to restart the rotations for the remaining move distance Enter a new value into the Motor speed input field and press the enter key 7 Move distance clear h Click the Remaining distance clear during the temporary stop to clear the ...

Page 300: ...tor rotation immediately When the Software forced stop button is enabled the Forward and Reverse buttons cannot be used Click the Software forced stop button again to make the Forward and Reverse buttons enabled 12 Positioning operation window closing m Click the Close button to cancel the positioning operation mode and close the window 13 Switching to CC Link operation mode To switch from the tes...

Page 301: ...equence of the programmable controller PC can be checked without connection of a servo motor Click Test on the menu bar and click Operation w o Motor on the menu When the above choices are made the following window appears b a 1 Execution of motor less operation a Click Start to perform motor less operation 2 Termination of motor less operation b Click Close to close the window Note that just clic...

Page 302: ...orced output on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button to display the setting screen of the DO forced output During the servo on the confirmation window indicating that the next operation is in the stop status is displayed After confirming that the operation is in the stop status click the OK button to display the setting scr...

Page 303: ... Single step feed POINT The servo motor will not operate if the forced stop EMG forward rotation stroke end LSP and reverse rotation stroke end LSN are off Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG Refer to section 7 6 The single step feed operation cannot be used in indexer positioning...

Page 304: ...put field and press the enter key 2 Servo motor start b Click the Start button to rotate the servo motor 3 Temporary stop of servo motor c Press the Pause button to stop the servo motor temporarily 4 Servo motor stop c Click the Pause button again during a temporary stop of the servo motor to clear the remaining travel distance 5 Servo motor restart d Click the Restart button during the temporary ...

Page 305: ...s enabled the Start button cannot be used Click the Software forced stop button again to make the Start button enabled 8 Single step feed window closing g Click the Close button to cancel the single step feed mode and close the window 9 Switching to CC Link operation mode To switch from the test operation mode to the CC Link operation mode turn OFF the power of the servo amplifier ...

Page 306: ...arm occurrence the following message window appears The example given here is the window that indicates an occurrence of Encoder error 1 A16 The current alarm can be displayed To display the current alarm click Alarm on the menu bar and click Display on the menu When the above choices are made the following window appears b a ...

Page 307: ...ton to reset the current alarm and clear alarms on the window The alarm at this time is stored as the latest alarm 3 Closing the current alarm window b Click the Close button to close the window 7 8 2 Batch display of data at alarm occurrence Monitor data during alarm occurrence is displayed To display monitor data click Alarm on the menu bar and click Amplifier data on the menu When the above cho...

Page 308: ...7 25 7 MR Configurator Click the Read button to read the monitor data at error occurrence from the servo amplifier Read results are displayed as follows ...

Page 309: ... made the following window appears b a 1 Alarm history display The most recent six alarms are displayed The smaller numbers indicate newer alarms 2 Alarm history clear a Click the Clear button to clear the alarm history stored in the servo amplifier 3 Closing of alarm history window b Click the Close button to close the window ...

Page 310: ...ER UNIT MR PRU03 POINT Do not use MR PRU03 parameter unit and MR Configurator together Perform simple data setting test operation parameter setting etc without MR Configurator by connecting the MR PRU03 parameter unit to the servo amplifier ...

Page 311: ...n at one step upper hierarchical level not the pervious screen Used to display the setting selection screen the initial screen of the monitor mode Scroll key Used to move the cursor across the screen or scroll the screen Press this key while holding down the SHIFT key to move to the previous or next screen Used to change parameter No or point table No Enter key Forward rotation key Used to start t...

Page 312: ...formation Alarm mode Current alarm Alarm history Test operation mode Jog operation Positioning operation DO forced output Motor less operation Single step feed Point table mode Point data Servo motor speed Acceleration deceleration time constant Dwell Auxiliary function Display section LCD system 16 characters 4 lines Environment Ambient temperature 10 to 55 14 to 131 non freezing Ambient humidity...

Page 313: ...It is recommended to use the following cable Servo amplifier CN3 Parameter unit MR PRU03 10BASE T cable etc EIA568 compliant cable 2 Cable internal wiring diagram GND TXD 7 1 2 3 4 5 6 10m or less 7 1 2 3 4 5 6 8 Parameter unit MR PRU03 connector side RXD RXD TXD GND NC Servo amplifier CN3 connector RJ45 connector LG RDP P5D SDN SDP RDN LG NC 5V 8 ...

Page 314: ...rvo amplifier CN3 Servo amplifier CN3 Servo amplifier CN3 Note 3 Note 1 Parameter unit MR PRU03 Note 1 Note 1 Note 2 Note 2 Note 2 Note 1 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 2 Use the 10BASE T cable EIA568 compliant etc 3 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo amplifier with a 150 resistor ...

Page 315: ...DP RDN Note 2 Note 1 7 Axis n servo amplifier CN3 connector RJ45 connector Note 3 30m or less GND RDP SDN SDP RDN GND 5V NC Note 5 7 1 2 3 4 5 6 8 Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving s...

Page 316: ... procedure in each mode 8 5 1 Outline of screen transition ESC DATA PARAM ALM DGN Monitor mode Alarm Diagnosis mode Parameter mode Initializing Servo amplifier power ON Note MON TEST Test operation mode MR PRU03 parameter unit setting SHIFT Point table mode DATA PARAM Normal transition i e no communication error is detected Note If initialization communication fails a communication error is displa...

Page 317: ...ection Contrast adjustment Buzzer Software Version info Press the keys to select and press the key to set Press the keys to select from 0 to 63 and press the key to set Press the 1 key to select ON or the 0 key to select OFF and press the key to set PRU03 software number is displayed ESC Note Press the SHIFT key and ESC key together on any screen to return to the station number setting screen ...

Page 318: ...ance 4 Point table No 5 Cumulative feedback pulses 6 Servo motor speed 7 Droop pulses 8 9 10 13 Peak load ratio 14 Instantaneous torque 15 Within one revolution position 16 ABS counter 17 Load inertia moment ratio 18 Bus voltage 19 20 21 MON 11 Regenerative load ratio 12 Effective load ratio For manufacturer setting For manufacturer setting For manufacturer setting For manufacturer setting For man...

Page 319: ...The number of pulses displayed is in the encoder pulse unit 999999999 to 999999999 Regenerative load ratio Regn Load The ratio of regenerative power to permissible regenerative power is displayed in When regenerative option is used the ratio to the permissible regenerative power is displayed 0 to 100 Effective load ratio Effc Load The continuous effective load current is displayed The effective va...

Page 320: ... mode selected Alarms are reset by the error reset command Press the 1 key to execute or the 0 key to cancel For six alarms including the latest alarm and five other alarms in alarm history 0 to 5 their alarm numbers and energization time elapsed before the alarm occurrence are displayed The alarm history can be cleared Refer to 2 in this section ON OFF status of DIDO is displayed ON OFF The param...

Page 321: ...occur during operation clear the alarm history before starting operation ALM DGN STOP RESET 1 Select ALM Hist For six alarms including the latest alarm and five other alarms in alarm history 0 to 5 their alarm numbers and energization time elapsed before the alarm occurrence are displayed The alarm history clear menu is displayed Select 1 to clear the alarm history ...

Page 322: ...umber is displayed e g To select the gain filter parameter press Write Write is completed The following message appears if switching power off or on is needed to enable the setting e g To select parameter No PB10 press 1 0 e g To set setting value 1234 press 1 2 3 4 The parameter number abbreviation and setting value are displayed Press the Fn key to display the range ...

Page 323: ... Auxiliary function display Select a point table No Position data display e g To set point table No 255 press Table read screen 4 5 6 7 8 9 1STEP 2 5 5 Select an item with the keys or numeric keys Enter e g To set setting value 0 press 0 Enter Note Press the Fn key to display the range Point table data is displayed POS SPD ACC DEC DWELL AUX Point data Servo motor speed Acceleration time constant D...

Page 324: ...step feed operation cannot be used in indexer positioning operation and speed control operation Exiting test JOG operation positioning operation motor less operation DO forced stop single step feed can be performed in this mode The following shows how to set each operation When the servo motor equipped with an electromagnetic brake is used make sure to program a sequence circuit which will operate...

Page 325: ...n screen Acceleration deceleration time constant Acceleration deceleration time constant in JOG operation is displayed 4 0 0 e g 4000r min is set 0 4 0 0 e g 4000ms is set 0 Fn FWD REV This screen is also displayed when RESTORE is selected in the initial screen of the test operation mode with no test operation being performed Returns to the initial screen of the test operation mode Select RESTORE ...

Page 326: ...oning operation is displayed Pulse unit Acceleration deceleration time constant in positioning operation is displayed 1 5 0 e g 1500r min is set 0 2 0 0 0 Move distance Move distance is displayed 1 0 0 e g To set move distance 10000 press 0 STOP RESET 0 Select a unit of pulse move distance 0 CMD in command pulse unit 1 ENC in encoder pulse unit ESC Test operation mode cancel Returns to the initial...

Page 327: ...sking whether to execute motor less operation Motor less operation Being executed To cancel motor less operation turn ON the power of the servo amplifier and switch to the CC Link operation mode once b Status display You can monitor the status display even during motor less operation 4 DO forced output Each output signal can be forced on off independently of the servo status This function is used ...

Page 328: ... Take off the key to stop immediately When stopped the remaining distance is cleared After the start press the key while holding down the key to stop temporarily Press the and keys to start Fn 1STEP STOP RESET Fn Fn e g To select point table No 255 press 8 6 Error message list When using the MR PRU03 parameter unit the following error messages may be displayed When displayed refer to this section ...

Page 329: ... external factor Reading settings specified for the parameter write disable parameter No PA19 was attempted In the test operation the ESC key was pressed while the Fn key was held down to switch the screen to the MR PRU03 parameter unit setting screen The ready cannot be turned ON due to alarm etc Operation mode can be switched to the test operation mode at servo on Station number change was attem...

Page 330: ...ith the results execute auto tuning mode 2 and manual mode in this order 1 Gain adjustment mode explanation Gain adjustment mode Parameter No PA08 setting Estimation of load inertia moment ratio Automatically set parameters Manually set parameters Auto tuning mode 1 initial value 0001 Always estimated GD2 parameter No PB06 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC param...

Page 331: ...Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter You can automa...

Page 332: ...rformed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torqu...

Page 333: ...inertia moment ratio is already known or if estimation cannot be made properly set the auto tuning mode 2 parameter No PA08 0002 to stop the estimation of the load inertia moment ratio Switch in above diagram turns off and set the load inertia moment ratio parameter No PB06 manually From the preset load inertia moment ratio parameter No PB06 value and response level parameter No PA09 the optimum l...

Page 334: ...cedure is as follows Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable No Yes Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Yes No Choose the auto tuning mode 2 parameter No PA08 0002 and set the load inertia moment ratio parameter No PB06 manually Adjust response level setting so that desired res...

Page 335: ...filter parameter No PB13 to PB16 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 10 2 and 10 3 for adaptive tuning mode and machine resonance suppression filter Setting of parameter No PA09 Response level setting Machine characteristic Machine rigidity Machine resonance frequency guideline Guideline of corres...

Page 336: ... to servo motor inertia moment If the estimate value with auto tuning is correct setting change is not required 4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the s...

Page 337: ...et the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms Speed loop gain s...

Page 338: ...gral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensation within the vibration free range and return slightly if vibration takes place Decrease the time constant of the speed integral compensation 7 Increase the position loop gain and return ...

Page 339: ...ment the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression 2000 to 3000 Speed integral compensation setting ms 1 setting ratio of load inertia moment to servo motor inertia moment Speed loop gain setting 3 Position loop gain PG2 Parameter No PB08 This parameter determines the response level to the disturb...

Page 340: ...mode Select the auto tuning mode 1 2 During operation increase the response level setting parameter No PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check the values of model loop gain Check the upper setting limits 4 Set the interpolation mode parameter No PA08 0000 Select the interpolation mode 5 Set the model loop gain of all the axes to be interpolated to t...

Page 341: ...ance frequency Hz Parameter No PA09 setting Guideline for machine resonance frequency Hz 1 10 0 2 11 3 3 12 7 1 15 4 14 3 5 16 1 6 18 1 2 20 7 20 4 8 23 0 3 25 9 25 9 4 30 10 29 2 11 32 9 5 35 12 37 0 13 41 7 6 45 14 47 0 7 55 15 52 9 16 59 6 8 70 17 67 1 18 75 6 9 85 19 85 2 20 95 9 A 105 21 108 0 22 121 7 B 130 23 137 1 C 160 24 154 4 25 173 9 D 200 26 195 9 27 220 6 E 240 28 248 5 29 279 9 F 30...

Page 342: ...tting 10 2 Adaptive filter 1 Function Adaptive filter adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechani...

Page 343: ...ing mode parameter No PB01 Filter tuning mode selection 0 0 0 Parameter No PB01 Setting Adaptive tuning mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values ...

Page 344: ...01 turns to 0002 or 0000 Decrease the response until vibration or unusual noise is resolved End Yes No No Yes Increase the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set parameter No PB01 to 0001 If assumption fails after tuning is executed at a...

Page 345: ...nction The machine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency gain decreasing depth and width Mechanical system response level Machine resonance point Frequency Notch depth Notch frequency Frequency Notch width Notch dep...

Page 346: ...be set regardless of setting values of adaptive tuning mode parameter No PB01 POINT The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set ...

Page 347: ...ning mode parameter No PB02 0 0 0 Vibration suppression control tuning mode Parameter No PB02 Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF Note 1 Vibration suppression control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initi...

Page 348: ...kpiece end device increased Has vibration of workpiece end device been resolved Using the machine analyzer or from machine side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as machine side vibration has not been transmitted to the motor side The response of the model loop gain has increased to the machine side vibration frequency vibration supp...

Page 349: ...yzer on MR Configurator or external equipment 1Hz 90degrees 100Hz Gain characteristic Phase Resonance of more than 100Hz is not the target of control Vibration suppression control vibration frequency Anti resonance frequency Parameter No PB19 Vibration suppression control resonance frequency Parameter No PB20 b When vibration can be confirmed using monitor signal or external sensor t t Position co...

Page 350: ...y can be confirmed using the machine analyzer or external device do not set the same value but set different values to improve the vibration suppression performance A vibration suppression control effect is not produced if the relationship between the model loop gain parameter No PB07 value and vibration frequency is as indicated below Make setting after decreasing model loop gain PG1 e g reduce t...

Page 351: ...B18 2 Parameter Set the low pass filter selection parameter No PB23 0 0 0 Parameter No PB23 Low pass filter selection 0 Automatic setting initial value 1 Manual setting parameter No PB18 setting 10 6 Gain switching function This function can change the gains You can change between gains during rotation and gains during stop or can use an input device to change gains during operation 10 6 1 Applica...

Page 352: ...se frequency Droop pulses Model speed Input device CDP CDP Parameter No PB26 CDL Parameter No PB27 Comparator Changing GD2 Parameter No PB06 GD2B Parameter No PB29 PG2 Parameter No PB08 PG2B Parameter No PB30 VG2 Parameter No PB09 VG2B Parameter No PB31 VIC Parameter No PB10 VICB Parameter No PB32 VRF1 Parameter No PB19 VRF1B Parameter No PB33 VRF2 Parameter No PB20 VRF2B Parameter No PB34 Valid G...

Page 353: ...a moment after changing PB30 PG2B Gain switching position loop gain rad s Used to set the value of the after changing position loop gain PB31 VG2B Gain switching speed loop gain rad s Used to set the value of the after changing speed loop gain PB32 VICB Gain switching speed integral compensation ms Used to set the value of the after changing speed integral compensation PB26 CDP Gain switching sele...

Page 354: ... first digit here you can use the gain switching RY n 2 input device for gain switching Gain changing selection Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB34 settings 0 Invalid 1 Gain changing RY n 2 is ON 2 Command frequency Parameter No PB27 setting 3 Droop pulse value Parameter No PB27 setting 4 Servo motor speed Parameter No PB27 setting G...

Page 355: ... Gain switching selection 0001 Changed by ON OFF of Input device PB28 CDT Gain switching time constant 100 ms PB33 VRF1B Gain switching vibration suppression control vibration frequency setting Used to set the value of the after changing vibration suppression control vibration frequency setting Hz PB34 VRF2B Gain switching vibration suppression control resonance frequency setting Used to set the v...

Page 356: ...1 PB30 PG2B Gain switching position loop gain 84 rad s PB31 VG2B Gain switching speed loop gain 4000 rad s PB32 VICB Gain switching speed integral compensation 50 ms PB26 CDP Gain switching selection 0003 Changed by droop pulses PB27 CDS Gain switching condition 50 pulse PB28 CDT Gain switching time constant 100 ms b Changing timing chart 0 Droop pulses pulses Change of each gain CDS CDS Before ch...

Page 357: ...10 16 10 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 358: ...rm occurs Remove cause Section 14 4 2 Switch on servo on signal Alarm occurs Remove cause Section 14 4 Servo motor shaft is not servo locked is free 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal indication to see if the servo on signal is ON 1 Servo on is not on Wiring mistake 2 Interface power supply 24VDC is not supplied Section 8 5 4 3 Gai...

Page 359: ...ceived for a given period of time SD Lit when send data is 0 RD Lit when the carrier of receive data is detected L ERR Lit when the data addressed to the host is in CRC or abort error Note Communication alarm display LED Fault L RUN SD RD L ERR Normal communication is made but a CRC error sometimes occurs due to noise Normal communication Hardware fault Hardware fault Receive data results in CRC e...

Page 360: ...rning 1 A13 Clock error A9E CC Link warning 2 A15 Memory error 2 EEP ROM A9F Battery warning A16 Encoder error 1 At power on AE1 Overload warning 1 A17 Board error AE6 Servo emergency stop warning A19 Memory error 3 AE8 Cooling fan speed reduction warning Flash ROM A1A Motor combination error AE9 Main circuit off warning A20 Encoder error 2 during runtime AEC Overload warning 2 A21 Encoder error 3...

Page 361: ...servo amplifier servo motor to fail Remove the cause of occurrence and leave a cooling time of 30 minutes or longer before resuming operation Regenerative error A30 Main circuit device overheat A45 Servo motor overheat A46 Overload 1 A50 Overload 2 A51 For the alarm deactivation method refer to section 11 4 1 Parameter error A37 is not recorded in the alarm history When an alarm occurs the trouble...

Page 362: ... circuit power failure of 60ms or longer 1 5 Faulty parts in the servo amplifier Check method 1 The alarm occurs even if the power is switched on after disconnection of all cables except the control circuit power supply cables 2 Check that the bus voltage is the following value or more 200V class 200VDC 100V class 158VDC 400V class 380VDC Change the servo amplifier 6 The power supply voltage is di...

Page 363: ... MR J3 series was connected Check the combination of the servo amplifier and servo motor 63 6 External noise caused a communication error Check method 1 Check that the encoder cable and the power cable run in parallel 2 Check if the environment is affected by the noise of surrounding electromagnetic valve magnetic contactor relay etc 3 Check the servo amplifier and servo motor for grounding 4 Chec...

Page 364: ...g response level 8 4 Encoder fault Change the servo motor 5 External noise caused a communication error Check method 1 Check that the encoder cable and the power cable run in parallel 2 Check if the environment is affected by the noise of surrounding electromagnetic valve magnetic contactor relay etc 3 Check the servo amplifier and servo motor for grounding 4 Check if there is a factor causing sur...

Page 365: ...thod The alarm does not occur if power is switched on after disconnection of servo motor power lines in external dynamic brake side terminal 1 Check the parameter and dynamic brake sequence 2 Replace the external dynamic brake 6 External noise caused the overcurrent detection circuit to misoperate Check method 1 Check if the environment is affected by the noise of surrounding electromagnetic valve...

Page 366: ...ect correctly 4 5 Built in regenerative resistor or regenerative option faulty Change the servo amplifier or regenerative option Regenerative transistor fault 6 Servo amplifier fault Regenerative transistor faulty Check method 1 The regenerative option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative resistor or regenerative option Change the servo ampli...

Page 367: ... brake side terminal 1 Check the parameter and dynamic brake sequence 2 Change the external dynamic brake 3 Servo amplifier fault Check method Alarm occurs even if the power is switched on after disconnection of servo motor power lines from the servo motor power output U V and W Change the servo amplifier 4 Servo motor fault Check method The alarm does not occur when the power is switched on after...

Page 368: ...tive resistor or regenerative option is insufficient Add regenerative option or increase capacity 6 The jumper across BUE SD of the FR BU2 brake unit is removed Fit the jumper across BUE SD 7 Impedance in the power supply line is high and leak current from the servo motor power lines is large Use a regenerative option Product without built in regenerative resistor 8 Ground fault occurred in the se...

Page 369: ... No PC37 to PC40 correctly 8 The number of write times to EEP ROM exceeded 100 000 due to parameter write etc Change the servo amplifier 1 2 9 The torque limit switching dog system or torque limit switching data set system is selected for home position return in the point table positioning operation Parameter No PC02 These home position return types cannot be used Set parameter No PC02 correctly 1...

Page 370: ...ed overload protection characteristic of servo amplifier 1 Servo amplifier is used in excess of its continuous output current 1 Reduce the load 2 Check operation pattern 3 Check if the electromagnetic brake is released 4 Check the friction of machine 5 Use a servo amplifier and a servo motor that provide larger output 1 2 After Overload 2 A51 occurred and the alarm was cleared by the power supply ...

Page 371: ...ning response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Check the coupling with servo motor shaft for looseness 3 Machine collision 1 Check operation pattern 2 Install limit switches 3 Check if the electromagnetic brake is released 4 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly...

Page 372: ... rotated by external force 1 When torque is limited increase the limit value 2 Reduce the load 3 Use servo motor that provides larger output 6 Machine collision 1 Check operation pattern 2 Install limit switches 7 Encoder fault Change the servo motor 8 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 9 Wire ...

Page 373: ...unication error occurred between servo amplifier and communication device e g personal computer 1 Communication cable error Open cable or short circuit Repair or change the communication cable 1 2 2 Communication device e g personal computer setting faulty Check the communication setting of the communication device e g personal computer 3 The character codes are incorrect Check the character codes...

Page 374: ...on return speed could not be decreased to the creep speed 3 Limit switch was actuated during home position return starting at other than position beyond dog Check home position return speed creep speed moving distance after proximity dog In absolute position detection system Positioning operation was performed without home position setting 1 Positioning operation was performed without home positio...

Page 375: ...st noise 2 Incorrect wiring of CC Link twisted cable 1 Change the CC Link twisted cable 2 Connect the cable or connector correctly 3 CC Link twisted cable faulty 4 The CC Link connector has come off 5 The termination resistor is not connected Connect the termination resistor correctly 6 Noise entered the CC Link twisted cable A9F Battery warning Voltage of battery for absolute position detection s...

Page 376: ...in any of the U V and W phases of the servo motor occurred repeatedly exceeding the warning level 1 Reduce the positioning frequency 2 Reduce the load 3 Change the servo amplifier servo motor to the one with larger capacity AED Output watt excess warning The status in which the output wattage speed torque of the servo motor exceeded the rated output continued steadily Continuous operation was perf...

Page 377: ...rned on while the main circuit power of servo amplifier is off Turn on the main circuit power Check if a servo alarm or warning is occurring A servo alarm occurred Check the alarm content and remove its cause Check the on off states of servo on and reset Servo on is off Turn on servo on Reset is on Turn off reset Check the setting of parameter No PA01 control mode The setting of parameter No PA01 ...

Page 378: ... Turn on the power of electromagnetic brake to release the brake The servo motor vibrates with low frequency If the servo motor can be driven safely repeat acceleration and deceleration three times or more to complete auto tuning Failed to estimate the load to motor inertia ratio by auto tuning When the auto tuning mode 2 or the manual mode is used the setting of load to motor inertia ratio Parame...

Page 379: ...the load and check for a noise only on the servo motor If there is noise the bearing is at the end of its life Change the servo motor The backlash of the machine part is increasing if there is no unusual noise Maintain the machine For a servo motor with an electromagnetic brake check the dragging of the brake 1 The sequence of releasing the electromagnetic brake is incorrect 2 The power supply for...

Page 380: ...lses are being miscounted due to superimposed noise in the encoder cable Take countermeasures against noise by laying the encoder cable apart from power cables etc Check if there is a backlash on the machine part There is a backlash between the servo motor and the machine such as a gear and coupling Adjust the backlash on the coupling and the machine part Check the mounting part of the servo motor...

Page 381: ...repeat acceleration and deceleration three times or more to complete auto tuning 2 Increase auto tuning response Parameter No PA09 Except for the manual mode 1 The servo gain is low 2 The auto tuning response is low Increase the auto tuning response and readjust the gain Refer to chapter 9 The servo motor starts rotating upon the power on of the servo amplifier the servo motor starts rotating upon...

Page 382: ...ulses does not match Cumulative command pulses electronic gear setting value The power line was disconnected temporarily Review the wiring 1 The servo gain is low 2 The auto tuning response is low 3 Settling time is delayed Increase the auto tuning response and readjust the gain Refer to chapter 9 1 Forward rotation stroke end LSP or reverse rotation stroke end LSN was turned off A99 occurred 2 Cl...

Page 383: ...tion ratio For positioning operation after the home position return the position mismatch does not occur The maximum speed 3000r min at a power failure was exceeded during servo amplifier power off Review the machine configuration so that the servo motor will not rotate at speed of 3000r min or higher during power off Overshoot undershoot occurs 1 Check the velocity waveform with Graph command of ...

Page 384: ...he monitor values of MR Configurator Check if the model selection is set correctly Check with the system setting command of Setup menu The model being connected differs from the model set in the model selection Set the model correctly For a servo motor with an electromagnetic brake the brake went out Remove the servo motor and all the wiring from the machine and check if the servo motor shaft can ...

Page 385: ...11 28 11 TROUBLESHOOTING MEMO ...

Page 386: ...ase 200 to 230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout For 3 phase or 1 phase 200 to 230VAC L1 L2 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 For 1 phase 100 to 120VAC Mounting screw Screw size M5 T...

Page 387: ...pply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout P C D L11 L21 U V W CNP3 CNP2 For 3 phase or 1 phase 200 to 230VAC L1 L2 N P1 P2 CNP1 For 1 phase 100 to 120VAC Mounting screw Screw size M5 Tightening torque 3 24 N m ...

Page 388: ...2 CNP3 60 6 156 161 168 6 CNP2 CNP1 12 CN1 Approx 14 Mass 1 4 kg 1 2 N m 10 6 lb in U V W CNP3 P C D CNP2 N CNP1 Terminal signal layout PE terminal L1 L2 L3 P1 P2 L11 L21 Screw size M4 Tightening torque Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 3 M5 screw Approx 12 42 0 3 Approx 40 Approx 6 Approx 168 156 0 5 Approx 6 Approx 6 ...

Page 389: ...prox 68 Approx 25 5 Approx 80 Approx 14 Mass 1 4 kg U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout PE terminal 42 0 3 Approx 12 Mounting hole process drawing 3 M5 screw Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 40 Approx 6 Approx 168 156 0 5 Approx 6 Approx 6 ...

Page 390: ... 195 6 6 6 78 6 168 6 156 45 90 85 400Vclass 6 Cooling fan intake Exhaust Approx 68 Approx 25 5 Approx 80 With MR J3BAT Rating plate CNP3 CNP2 CNP1 CN1 Approx 14 6 mounting hole Mass 2 1 kg U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout PE terminal 3 M5 screw Approx 90 78 0 3 Mounting hole process drawing Mounting screw...

Page 391: ...nting hole With MR J3BAT Rating plate Cooling fan intake 168 13 hole Mass 2 3 kg U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Terminal signal layout PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in 3 M5 screw Approx 90 78 0 3 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 6 Approx 168 156 0 5 Approx 6 Approx 6 Approx 6 ...

Page 392: ...ightening torque 1 2 N m Terminal signal layout PE terminal C U P1 P2 Built in regenerative resistor lead terminal fixing screw Terminal screw M3 5 Note Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in 7 08 lb in 10 6 lb in 10 6 lb in Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier...

Page 393: ...erminal screw M3 5 Note Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Built in regenerative resistor lead terminal fixing screw 10 6 lb in 10 6 lb in 10 6 lb in 7 08 lb in Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier manufactured in April 2007 or later Screw size is M3 for the control t...

Page 394: ...ting hole Rating plate 7 13 91 Cooling fan Intake 236 0 5 4 M10 screw 376 0 5 Mounting hole process drawing MR J3 15KT MR J3 22KT MR J3 11KT 4 MR J3 15KT 4 MR J3 22KT 4 V W N P Terminal signal layout C U Screw size Screw size M6 3 0 M8 6 0 1 2 1 2 MR J3 11KT 4 MR J3 15KT 4 MR J3 22KT 4 Servo amplifier Screw size Tightening torque N m Ib in Mounting screw M10 26 5 234 5 Tightening torque lb in N m ...

Page 395: ...ated here D Connector Shell kit Each type of dimension A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Connector Shell kit Each type of dimension A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 ...

Page 396: ...12 11 12 OUTLINE DRAWINGS 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 397: ...12 12 12 OUTLINE DRAWINGS MEMO ...

Page 398: ...ph In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque When you mount the servo amplifier closely make ambient temperature into 0 to 45 C or use it with 75 or less of effective load torque The MR J3 series servo amplifiers have the servo motor overload p...

Page 399: ...T 4 MR J3 22KT 4 Note 1 If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30 r min or less low speed operation status the servo amplifier may malfunction regardless of the electronic thermal protection 2 The load ratio ranging from 300 to 350 applies when the maximum torque of HF KP s...

Page 400: ...r supply capacity kVA Note 2 Servo amplifier generated heat W Area required for heat dissipation m2 At rated torque At rated output Generated heat in the cabinet when cooled outside the cabinet Note 5 With servo off MR J3 10T 1 HF MP053 0 3 25 15 0 5 HF MP13 0 3 25 15 0 5 HF KP053 13 0 3 25 15 0 5 MR J3 20T 1 HF MP23 0 5 25 15 0 5 HF KP23 0 5 25 15 0 5 MR J3 40T 1 HF MP43 0 9 35 15 0 7 HF KP43 0 9...

Page 401: ...1 0 HA LP801 4 12 390 120 45 7 8 HA LP12K1 4 18 580 175 45 11 6 HA LP11K1M 4 16 530 160 45 11 0 HF JP903 4 13 435 130 45 8 7 HF JP11K1M 4 Note 4 16 530 160 45 11 0 MR J3 15KT 4 HA LP15K2 4 22 640 195 45 13 0 HA LP15K1 4 22 640 195 45 13 0 HA LP15K1M 4 22 640 195 45 13 0 HF JP15K1M 4 Note 4 22 640 195 45 13 0 MR J3 22KT 4 HA LP22K2 4 33 850 260 55 17 0 HA LP20K1 4 30 775 235 55 15 5 HA LP25K1 38 97...

Page 402: ...o Table 13 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the control box is directly mounted on an insulated wall that extra amount must be added to the control box s surface area The required heat dissipation area will vary wit the conditions in the control box If convection in the control box is poor and heat builds up effective heat dissi...

Page 403: ...h the servo motor comes to a stop when the dynamic brake is operated Use equation 13 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant varies with the servo motor and machine operation speeds Refer to 2 a b in this section Dynamic brake time constant Forced stop EMG OFF ON Machine speed Time V0 te Fig 13 3 Dynamic brake operation diagram Lmax 60 V0 JL JM te ...

Page 404: ... min Time constant ms HF MP series HF KP series Speed r min Time constant ms 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 3000 152 20 40 60 80 100 120 0 0 102 202 502 702 352 HF SP1000r min series HF SP2000r min series Speed r min 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 153 503 103 353 203 Time constant ms Sp...

Page 405: ...ed r min 0 0 500 1000 1500 2000 80 60 40 20 11K2 15K2 22K2 502 702 Time constant ms Time constant ms 0 0 52 500 1000 1500 2000 202 200 152 102 160 120 80 40 302 Speed r min HC LP2000r min series HF LP series 80 0 70 60 50 40 30 20 10 500 1000 1500 2000 2500 3000 0 15K1M 11K1M Time constant ms Speed r min 503 353 203 53 103 73 153 260 0 220 180 140 100 60 20 1000 2000 3000 4000 5000 6000 0 703 903 ...

Page 406: ...s Speed r min 0 500 1000 1500 20 16 12 8 4 0 11K1M4 15K1M4 701M4 22K1M4 Time constant ms 0 500 1000 1500 2000 0 40 35 30 25 20 15 10 5 11K24 22K2 15K24 Speed r min HA LP1500r min series HA LP2000r min series 50 0 40 30 25 20 15 10 5 35 45 500 1000 1500 2000 2500 3000 0 11K1M4 15K1M4 Time constant ms Speed r min 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 200 180 160 140 120 100 80 60 40...

Page 407: ... 30 30 MR J3 100T 30 30 30 30 MR J3 200TN 30 30 30 30 30 30 MR J3 350T 16 16 16 16 16 16 Note 3 MR J3 500T 15 15 15 15 15 15 15 Note 3 MR J3 700T 5 Note 1 5 Note 1 5 Note 1 5 Note 1 11 Note 3 MR J3 11KT Note 2 30 30 30 18 Note 3 10 Note 3 MR J3 15KT Note 2 30 30 30 10 Note 3 MR J3 22KT Note 2 30 30 30 Servo amplifier Servo motor HF SP 4 HA LP 14 HA LP 1M4 HA LP 24 HF JP 4 HF JP 1M4 MR J3 60T4 5 No...

Page 408: ...alues provide a little allowance for these values 1 107 5 107 1 108 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 a b Flexing life times 4 7 10 20 40 70 100 200 Flexing radius mm b Standard encoder cable Standard motor power cable Standard motor brake cable a Long flex life encoder cable Long flex life motor power cable Long flex life motor brake cable ...

Page 409: ... 100T 54A Attenuated to approx 12A in 10ms MR J3 200TN 350T 120A Attenuated to approx 12A in 20ms MR J3 500T 44A Attenuated to approx 20A in 20ms 30A Attenuated to approx 0A in 3ms MR J3 700T 88A Attenuated to approx 20A in 20ms MR J3 11KT 235A Attenuated to approx 20A in 20ms MR J3 15KT MR J3 22KT MR J3 60T4 100T4 100A Attenuated to approx 5A in 10ms 40 to 50A Attenuated to approx 0A in 2ms MR J3...

Page 410: ...o amplifier whether the charge lamp is off or not CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 14 1 Cable connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo amplifier or servo motor If the IP rating of the cables connector servo ...

Page 411: ...ength more than 10m IP65 12 13 10 11 14 15 16 17 Junction type cable length more than 10m IP20 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 14 15 10 11 35 36 37 38 39 40 41 42 43 To next page a To next page b CNP2 CNP3 Note 1 Battery MR J3BAT 5 To 24VDC power supply for electromagnetic brake Servo motor HF MP HF KP Power supply connector Brake connector Encoder connector Servo motor HF SP Po...

Page 412: ...C LP Power supply connector Brake connector Encoder connector Servo motor HA LP Servo motor HF JP53 4 to 903 4 Note 2 Power supply connector Brake connector Encoder connector Servo motor HF JP11K1M 4 15K1M 4 Power supply connector Brake connector Encoder connector Note 1 Connectors for 3 5kW or less For 5kW or more terminal blocks 2 Use 41 on HF JP53 to 203 534 to 5034 42 on HF JP353 503 and 43 on...

Page 413: ...CRWH Phoenix Contact Applicable wire Wire size 0 2mm2 AWG24 to 5 5mm2 AWG10 Insulator OD to 5mm REC Lever 54932 0000 Molex Supplied with servo amplifiers of 2kW in 200V class and 2kW or less in 400V class CNP1 connector 721 207 026 000 Plug WAGO CNP2 connector 721 205 026 000 Plug WAGO CNP3 connector 721 203 026 000 Plug WAGO Applicable wire Wire size 0 08mm2 AWG28 to 2 5mm2 AWG12 Insulator OD to ...

Page 414: ... JP53 4 to 903 4 Refer to section 14 1 2 5 for details IP67 Standard life 11 Encoder cable MR J3ENSCBL M H Cable length 2 5 10 20 30 40 50m IP67 Long bending life 12 Encoder cable MR J3JSCBL03M A1 L Cable length 0 3m Encoder connector HF MP series HF KP series Refer to section 14 1 2 4 for details IP65 Load side lead 13 Encoder cable MR J3JSCBL03M A2 L Cable length 0 3m Encoder connector HF MP ser...

Page 415: ... L Cable length 0 3m Encoder connector HF MP series HF KP series Refer to section 14 1 2 3 for details IP20 Opposite to load side lead 22 Encoder connector set MR ECNM For HF MP HF KP series Refer to section 14 1 2 2 for details IP20 23 Motor brake cable MR BKS2CBL03M A1 L Cable length 0 3m Brake connector HF MP series HF KP series Refer to section 14 1 4 for details IP55 Load side lead 24 Motor b...

Page 416: ...gth 2 5 10m Power supply connector HF MP series HF KP series Refer to section 14 1 3 for details IP65 Load side lead EN compliant 32 Servo motor power cable MR PWS1CBL M A1 H Cable length 2 5 10m IP65 Load side lead Long bending life EN compliant 33 Servo motor power cable MR PWS1CBL M A2 L Cable length 2 5 10m Power supply connector HF MP series HF KP series Refer to section 14 1 3 for details IP...

Page 417: ...5 6A22 22D D BSS Cable clamp CE3057 12A 1 D DDK Example of applicable cable Wire size 5 5mm2 AWG10 to 8mm2 AWG8 Overall diameter of cable 12 5 to 16mm For HF SP121 to 301 For HF SP202 to 502 For HF JP353 503 IP67 EN compliant 43 Power supply connector set MR PWCNS3 Plug CE05 6A32 17SD D BSS Cable clamp CE3057 20A 1 D DDK Example of applicable cable Applicable wire size 14mm2 AWG6 to 22mm2 AWG4 Ove...

Page 418: ...Encoder connector set MR ENECNS Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Or Connector set 54599 1019 Molex Plug D MS3106A20 29S D190 Cable clamp CE3057 12A 3 D Backshell CE02 20BS S D DDK IP67 48 IP67 compliant Encoder cable MR ENECBL M H Refer to section 14 1 2 6 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Or Connector set 54599 1019 Molex Plug D MS3106A20 29S D190 Cable clamp ...

Page 419: ...ENCBL M A2 H 2 1 Servo motor HF MP HF KP MR J3ENCBL M A1 L MR J3ENCBL M A1 H or CN2 Cable model 1 For CN2 side connector 2 For encoder side connector MR J3ENCBL M A1 L Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity 9 SHD 7 5 MR 3 P5 1 8 6 LG...

Page 420: ...R EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR J3JCBL03M A1 L or MR J3JCBL03M A2 L is required The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model The cables of the lengths with the symbols are available Cable model Cabl...

Page 421: ...able clamp MTI 0002 Toa Electric Industry MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD Signal layout View seen from wiring side CONT 1 3 7 9 4 2 8 6 10 5 Note Signal layout View seen from wiring side or 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT Note Signal layout View seen from wiring side MRR LG P5 MR BAT MDR MD MDR MD Note Keep open the pins shown with Especially pin 10 is provided for manufacturer...

Page 422: ...M H CN2 side connector Encoder side connector P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD 1 2 8 9 LG MR MRR MDR MD SHD P5 6 CONT BAT BAT Note Plate MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H CN2 side connector Encoder side connector Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system When fabricating the cable use th...

Page 423: ...ide connector Housing 1 172161 9 Connector pin 170359 1 TE Connectivity or equivalent Cable clamp MTI 0002 Toa Electric Industry 3 MR J3JCBL03M A1 L MR J3JCBL03M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR EKCBL M L H is required Cable model Cable length IP rating Bending life Application MR J3JCBL03M A1 L 0 3m IP20 Stan...

Page 424: ...54 1 TE Connectivity MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD Signal layout View seen from wiring side CONT Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity 9 SHD 7 MDR 5 MR 3 P5 1 CONT 8 MD 6 LG 4 MRR 2 BAT View seen from wiring side Signal layout MR J3JCBL03M A2 L b Internal wiring diagram P5 LG 7 8 MR MRR 1 2 1 3 6 S...

Page 425: ...rvo amplifier CN2 1 2 or 1 2 Note MR J3ENSCBLM L H MR J3JSCBL03M A1 L MR J3JSCBL03M A2 L Servo motor HF MP HF KP Servo motor HF MP HF KP Note Refer to 5 in this section for details of this cable However MR J3ENSCBL M L S06 and MR J3ENSCBL M H S06 cannot be used Cable model 1 Junction connector 2 Encoder side connector MR J3JSCBL03M A1 L Receptacle CM10 CR10P M DDK Applicable wire AWG20 or less 1 M...

Page 426: ...life Application 2m 5m 10m 20m 30m 40m 50m MR J3ENSCBL M L 2 5 10 20 30 IP67 Standard For HF MP HF KP HF SP HA LP HC RP HC UP HC LP series HF JP53 4 to 903 4 servo motor MR J3ENSCBL M H 2 5 10 20 30 40 50 IP67 Long bending life MR J3ENSCBL M L S06 2 5 10 20 30 IP67 Standard For HF SP HA LP HC RP HC UP HC LP series HF JP53 4 to 903 4 servo motor Note MR J3ENSCBL M H S06 2 5 10 20 30 40 50 IP67 Long...

Page 427: ...ight plug Socket contact 10m or less Long bending life CMV1 22ASC C1 100 Applicable wire size AWG24 to 20 Crimping tool 357J 53162T Standard CMV1 SP10S M1 20m or more Long bending life CMV1 22ASC C2 100 Applicable wire size AWG28 to 24 Crimping tool 357J 53163T Standard CMV1 SP10S M2 1 2 3 5 LG 4 7 6 10 9 8 MRR MR BAT SHD P5 View seen from wiring side Note Note Keep open the pin shown with an MR J...

Page 428: ... 4 4 8 9 1 2 5 10 Plate P5 LG MR MRR BAT SD Note P5 LG MR MRR BAT SHD CN2 side connector Encoder side connector 1 2 3 4 4 8 9 1 2 5 10 Plate P5 LG MR MRR BAT SD P5 LG MR MRR BAT SHD Note CN2 side connector Encoder side connector 1 2 3 4 4 8 9 1 2 5 10 Plate P5 LG MR MRR BAT SD P5 LG MR MRR BAT SHD Note CN2 side connector Encoder side connector Note Always make connection for use in an absolute pos...

Page 429: ...ote 1 Encoder side connector Straight plug CM10 SP10S VP M Socket contact CM10 22SC S1 D8 100 Applicable wire size AWG20 or less DDK MR J3SCNSA Note 2 Encoder side connector Angle clamp CMV1 AP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG20 or less DDK MR J3SCNSA S06 Note 1 Encoder side connector Angle clamp CM10 AP10S VP M Socket contact CM10 22SC S1 D8 100 Applicable wire size...

Page 430: ...ese cables are encoder cables for the HF JP11K1M 4 15K1M 4 servo motors The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model The cables of the lengths with the symbols are available Cable model Cable length IP rating Bending life Application 2m 5m 10m 20m 30m 40m 50m MR ENECBL M H 2 5 10 20 Note 30 Note 40 Note 50 IP67 Long bending life For HF ...

Page 431: ... L M B C View seen from wiring side 1 3 7 9 4 2 8 6 10 5 or 4 2 8 6 1 5 10 3 7 9 Note Signal layout Note Signal layout View seen from wiring side View seen from wiring side LG P5 MR MD LG P5 MR MD MRR MDR BAT MRR MDR BAT Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Refe...

Page 432: ... connector CN2 side connector Encoder side connector Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system 2 For 30m or more To fabricate use the connector set MR ECNS IP20 compatible or MR ENECNS IP67 compatible Use the following wiring diagram to fabricate a cable up to 50m 1 2 3 4 8 B F S A 7 9 C D R N M P5 LG MR MR...

Page 433: ... HC UP HC LP HF JP series servo motor a Connection of servo amplifier and servo motor Servo amplifier 1 2 Servo motor Note Encoder cable MR J3BTCBL03M 3 Battery CN2 Note For the encoder cable refer to 1 to 6 in this section Cable model 1 CN2 side connector 2 Junction connector 3 Battery connector MR J3BTCBL03M Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Or Connector set 54599 1019 Molex Pl...

Page 434: ...F KP servo motor Opposite to load side lead MR PWS2CBL03M A1 L 03 IP55 Standard For HF MP HF KP servo motor Load side lead MR PWS2CBL03M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor Servo amplifier 1 CNP3 connector supplied with servo amplifier Servo motor HF MP HF KP MR PWS1CBL M A2 L MR PWS1CBL M A2 H MR PWS2CBL03M A...

Page 435: ...T 2 Internal wiring diagram MR PWS1CBL M A2 L MR PWS1CBL M A2 H MR PWS2CBL03M A2 L MR PWS1CBL M A1 L MR PWS1CBL M A1 H MR PWS2CBL03M A1 L U V W Note AWG 19 Red AWG 19 White AWG 19 Black AWG 19 Green yellow Note These are not shielded cables ...

Page 436: ... HF MP HF KP servo motor Opposite to load side lead MR PWS2CBL03M A1 L 03 IP55 Standard For HF MP HF KP servo motor Load side lead MR PWS2CBL03M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor 1 Servo motor HF MP HF KP 24VDC power supply for electromagnetic brake MR BKS1CBL M A2 L MR BKS1CBL M A2 H MR BKS2CBL03M A2 L 1 Se...

Page 437: ...AND AUXILIARY EQUIPMENT 2 Internal wiring diagram AWG 20 AWG 20 B1 B2 Note MR BKS1CBL M A1 L MR BKS1CBL M A1 H MR BKS2CBL03M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A2 H MR BKS2CBL03M A2 L Note These are not shielded cables ...

Page 438: ... MR J3 350T 100 300 500 MR J3 500T 130 300 500 MR J3 700T 170 300 500 Servo amplifier Regenerative power W Built in regenerative resistor MR RB1H 4 82 Note 1 MR RB3M 4 120 Note 1 MR RB3G 4 47 Note 1 MR RB5G 4 47 Note 1 MR RB34 4 26 Note 1 MR RB54 4 26 MR J3 60T4 15 100 300 MR J3 100T4 15 100 300 MR J3 200T4 100 300 500 MR J3 350T4 100 300 500 MR J3 500T4 130 300 500 MR J3 700T4 170 300 500 Servo a...

Page 439: ...psd2 t2 t3 t4 t1 Tpsa2 Tpsd1 Tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy J 1 1 TU TF Tpsa1 9 55 104 JL η JM N0 T1 E1 2 0 1047 N0 T1 Tpsa1 2 T2 TU TF E2 0 1047 N0 T2 t1 3 1 TU TF Tpsd1 9 55 104 JL η JM N0 T3 E3 2 0 1047 N0 T3 Tpsd1 4 8 T4 TU E4 0 No regeneration 5 1 TU TF Tpsa2 9 55 104 JL η JM N0 T5 E5 2 ...

Page 440: ...R J3 70T 80 18 MR J3 15KT 4 90 170 MR J3 100T 80 18 MR J3 22KT 4 90 250 MR J3 100T4 80 12 Inverse efficiency Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allow for about 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in...

Page 441: ... 4 Cooling fan is required 84 MR RB34 4 Cooling fan is required 85 MR RB54 4 Cooling fan is required FA When the supplied regenerative resistors or the regenerative option is cooled by the cooling fan to increase the ability with the servo amplifier of 11 k to 22 kW The following are setting values for regenerative resistor and regenerative option which are used with a servo amplifier of 11k to 22...

Page 442: ...ption body Always use twisted wires of max 5m length for connection with the servo amplifier a MR J3 350T or less MR J3 200T4 or less Always remove the wiring from across P D and fit the regenerative option across P C The G3 and G4 terminals act as a thermal sensor G3 G4 is disconnected when the regenerative option overheats abnormally D P C C P Servo amplifier Regenerative option Always remove th...

Page 443: ... P C of servo amplifier built in regenerative resistor Note 2 Note 1 When using the MR RB51 MR RB3G 4 MR RB5G 4 MR RB34 4 or MR RB54 4 forcibly cool it with a cooling fan 92 92 minimum air flow 1 0m3 2 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4V...

Page 444: ...ILIARY EQUIPMENT The drawing below shows the MR J3 350T4 and MR J3 500T 4 Refer to section 12 1 6 Outline drawings for the position of the fixing screw for MR J3 700T 4 Built in regenerative resistor lead terminal fixing screw ...

Page 445: ... improves the regeneration capability In this case set FA in parameter No PA02 Cooling fan P C Servo amplifier Note Series connection P1 Do not remove the short bar 5m or less Note The number of resistors connected in series depends on the resistor type The thermal sensor is not mounted on the attached regenerative resistor An abnormal heating of resistor may be generated at a regenerative circuit...

Page 446: ...option is used with 11k to 22kW servo amplifier Cooling the regenerative option with cooling fans improves regenerative capability The G3 and G4 terminals are for the thermal protector G3 G4 is opened when the regenerative option overheats abnormally Servo amplifier Regenerative option 5m or less C P C P Note Do not remove the short bar G3 G4 Configure up a circuit which shuts off main circuit pow...

Page 447: ...inimum air flow 1 0m3 MR RB5E 9P 9F 6B 4 60 4 6K 4 Top Bottom TE1 G4 G3 C P TE 2 cooling fans 5 Outline dimension drawings a MR RB12 Unit mm 5 Approx 20 Approx 6 156 168 144 2 6 6 6 mounting hole 40 36 15 TE1 169 149 TE1 Terminal block G3 G4 P C Applicable wire size 0 2mm2 to 2 5mm2 AWG24 to AWG12 Tightening torque 0 5 to 0 6 N m 4 to 5 lb in Mounting screw Screw size M5 Tightening torque 3 24 N m...

Page 448: ...ative option Variable dimensions Mass kg Ib A B MR RB30 MR RB31 17 335 MR RB32 2 9 6 4 MR RB34 4 MR RB3M 4 23 341 MR RB3G 4 c MR RB50 MR RB51 MR RB54 4 MR RB5G 4 Unit mm A B 8 12 7 Approx 30 Intake Cooling fan mounting screw 2 M3 screw On opposite side 49 82 5 82 5 133 350 162 5 12 5 162 5 12 5 7 14 slot 120 108 200 2 3 Terminal block G3 G4 P C Terminal screw M4 Tightening torque 1 2 N m 10 62 lb ...

Page 449: ...ning torque 13 2 N m 116 83 lb in Regenerative option Mass kg Ib MR RB5E 10 22 0 MR RB9P 11 24 3 MR RB9F 11 24 3 MR RB6B 4 10 22 0 MR RB60 4 11 24 3 MR RB6K 4 11 24 3 e GRZG400 1 5 GRZG400 0 9 GRZG400 0 6 GRZG400 5 0 GRZG400 2 5 GRZG400 2 0 standard accessories 1 6 Approx 47 9 5 40 411 385 10 Approx C Approx 2 4 40 Approx 330 Approx A Approx K Regenerative resistor Variable dimensions Mounting scr...

Page 450: ...ue 0 5 to 0 6 N m 4 43 to 5 31 lb in Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 1 kg g MR RB032 Unit mm Approx 20 6 6 5 TE1 6 mounting hole 99 1 6 119 30 15 168 144 12 Approx 6 Approx 12 156 TE1 terminal block G3 G4 P C Applicable wire size 0 2mm2 to 2 5mm2 AWG24 to AWG12 Tightening torque 0 5 to 0 6 N m 4 43 to 5 31 lb in Mounting screw Screw size M5 Tightening torque 3 24 N m...

Page 451: ...m the ambient temperature condition of the servo amplifier between 0 32 and 55 131 Configure the circuit to shut down the power supply with the alarm output of the brake unit and resistor unit under abnormal condition Use the brake unit with a combination indicated in section 14 3 1 For executing a continuous regenerative operation use FR RC H power regeneration converter or FR CV H power regenera...

Page 452: ...Note 1 The combination is limited only when using with the servo motors HC LP302 HC RP353 HA LP502 or HC UP352 2 When using capacity selection software to select a brake unit brake units other than these combinations may be displayed Refer to the combinations displayed on the capacity selection software for details 14 3 2 Brake unit parameter setting Normally when using the FR BU2 H changing param...

Page 453: ... P2 terminals P1 and P for the servo amplifier of 11k to 22kW Factory wired When using the power factor improving DC reactor refer to section 14 11 4 Connect the P and N terminals of the brake unit to a correct destination Wrong connection results in servo amplifier and brake unit malfunction 5 For 400VAC class a step down transformer is required 6 Contact rating 1b contact 110VAC_5A 220VAC_3A Nor...

Page 454: ...ults in alarm occurrence or malfunction Always connect the master and slave terminals MSG and SD of the two brake units Do not connect the servo amplifier and brake units as below Connect the cables with a terminal block to distribute as indicated in this section N P Brake unit Servo amplifier P N N P Brake unit Connecting two cables to P and N terminals N P Brake unit Servo amplifier P N N P Brak...

Page 455: ...ong connection results in servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110VAC_5A 220VAC_3A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 6 Contact rating 230VAC_0 3A 30VDC_0 3A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 For the servo motor with thermal sensor c...

Page 456: ...r is required 5 Contact rating 1a contact 110VAC_5A 220VAC_3A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 6 Contact rating 230VAC_0 3A 30VDC_0 3A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one cable to each P and N terminals of the servo amplifier 8 Always con...

Page 457: ...or less 5m or less Servo amplifier Brake unit 10m or less 10m or less P N P N P PR PR P N P PR P PR Twist Resistor unit Resistor unit P N Twist P 4 Cables a Cables for the brake unit For the brake unit HIV wire 600V Grade heat resistant polyvinyl chloride insulated wire is recommended 1 Main circuit terminal Brake unit Main circuit terminal screw size Crimping terminal Tightening torque N m Ib in ...

Page 458: ...umper Terminal block Core 6mm Insulator Wire the stripped cable after twisting to prevent the cable from becoming loose In addition do not solder it Screw size M3 Tightening torque 0 5N m to 0 6N m Wire size 0 3mm2 to 0 75 mm2 Screw driver Small flat blade screwdriver Tip thickness 0 4mm Tip width 2 5mm b Cables for connecting the servo amplifier and a distribution terminal block when connecting t...

Page 459: ...D8 6 Japan Solderless Terminal a FR BU2 30K 1 FVD5 5 6 Japan Solderless Terminal c FR BU2 55K 1 FVD14 6 Japan Solderless Terminal b MR J3 22KT FR BU2 55K 1 FVD14 8 Japan Solderless Terminal b 400V MR J3 500T4 FR BU2 H30K 1 FVD5 5 S4 Japan Solderless Terminal c class MR J3 700T4 FR BU2 H30K 1 FVD5 5 S4 Japan Solderless Terminal c MR J3 11KT4 FR BU2 H30K 1 FVD5 5 6 Japan Solderless Terminal c FR BU2...

Page 460: ... 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 H30K 129 5 5 59 18 5 Rating plate 52 2 5 hole Screw size M4 5 108 6 6 96 FR BU2 55K FR BU2 H55K H75K 18 5 Rating plate 52 72 5 142 5 5 6 158 6 170 2 5 hole Screw size M4 ...

Page 461: ...unit W W1 H H1 H2 H3 D D1 C Approximate mass kg Ib 200V class FR BR 15K 170 100 450 410 20 432 220 3 2 6 15 33 1 FR BR 30K 340 270 600 560 20 582 220 4 10 30 66 1 FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 154 400V class FR BR H30K 340 270 600 560 20 582 220 4 10 30 66 1 FR BR H55K 480 410 700 620 40 670 450 3 2 12 70 154 3 MT BR5 H resistor unit Unit mm 4 15 mounting hole 300 75 75 450 7 5 7 ...

Page 462: ...n The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the 5k to 22kW Power regeneration converter Nominal regenerative power kW Servo amplifier 0 50 75 100 150 500 300 200 100 50 30 20 Continuous energization time sec Nominal regenerative power FR RC 15K 15 MR J3 500T MR J3 700T FR RC 30K 30 MR J3 11KT MR J3 15KT FR RC 55K 55 MR J...

Page 463: ...the lead of built in regenerative resistor connected to P terminal and C terminal 3 For sink input output interface Refer to section 4 8 3 for source input output interface 4 P1 and P2 are connected by default 5 The diagram is for when outputting the malfunction ALM is enabled by changing the parameter If disabling malfunction ALM output configure the power supply circuit which switches off the ma...

Page 464: ...270 600 582 195 10 10 8 3 2 90 31 68 343 FR RC 30K FR RC H30K FR RC 55K 480 410 700 670 250 12 15 15 3 2 135 55 121 3 FR RC H55K 4 Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole having the following dim...

Page 465: ... connected to the same DC power supply line When using the power regeneration common converter set parameter No PA02 to 01 1 Model Symbol Voltage class None 200V class H 400V class Symbol Capacity kW 7 5K 7 5 11K 11 15K 15 22K 22 30K 30 37K 37 55K 55 Capacity 2 Selection The power regenerative common converter FR CV can be used for the servo amplifier of 200V class with 3 5k to 22kW and that of 40...

Page 466: ...er of connected servo amplifiers 1 2 Total of connectable servo amplifier capacities kW 11 15 18 5 27 5 Total of connectable servo motor rated currents A 43 57 71 110 Maximum servo amplifier capacity kW 11 15 15 22 When using the FR CV H always install the dedicated stand alone reactor FR CVL H Power regeneration common converter Dedicated stand alone reactor FR CV 7 5K AT FR CVL 7 5K FR CV 11 K A...

Page 467: ... off main circuit power when the thermal sensor operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For the FR CV the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 5 Configure a sequence that will make a ...

Page 468: ...es 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV H is ready 4 For the FR CV H the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 5 Configure a sequence that will make a stop with the emergency stop input of the servo sy...

Page 469: ...plifier capacities kW Wires mm2 1 or less 2 2 3 5 5 5 5 7 8 11 14 15 22 22 50 The following table indicates the connection wire sizes of the DC power supply P N terminals between the FR CV H and servo amplifier Total of servo amplifier capacities kW Wires mm2 1 or less 2 2 3 5 5 5 5 7 8 11 8 15 22 22 22 2 Grounding For grounding use the wire of the size equal to or greater than that indicated in t...

Page 470: ... 2 0kW 27 5kW P N P N P N 22mm2 8mm2 2mm2 22mm2 8mm2 3 5mm2 2mm2 Junction terminals Wire as short as possible Second unit 22mm2 assuming that the total of servo amplifier capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW Third unit 8mm2 assuming that the total of servo amplifier capacities is 7kW since 3 5kW 2 0kW 5 5kW Fourth unit 2mm2 assuming that the total of servo amplifier capacities is 2kW si...

Page 471: ...kW 5 5kW Fourth unit 2mm2 assuming that the total of servo amplifier capacities is 2kW since 2 0kW 2 0kW Servo amplifier 15kW 5 Other precautions a When using the FR CV H always install the dedicated stand alone reactor FR CVL H Do not use the power factor improving AC reactor FR BAL H or power factor improving DC reactor FR BEL H b The inputs outputs main circuits of the FR CV H and servo amplifi...

Page 472: ... N80 S N95 S N125 Power regeneration common converter FR CV H Item 22K 30K 37K 55K Total of connectable servo amplifier capacities kW 11 15 18 5 27 5 Maximum servo amplifier capacity kW 11 15 15 22 Output Total of connectable servo motor rated currents A 43 57 71 110 Regenerative braking torque Short time rating Total capacity of applicable servo motors 300 torque 60s Note1 Continuous rating 100 t...

Page 473: ...vo forced stop warning AE6 and when the power is turned off The dynamic brake is an emergency stop use function so do not use it for normal stop For a machine operating at the recommended load to motor inertia ratio or less the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes Be sure to enable Forced ...

Page 474: ... 22kW make sure to connect P1 and P Factory wired When using the power factor DC reactor refer to section 14 11 3 Assign the dynamic brake interlock DB in the parameters No PD09 PD10 PD11 4 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers 5 Refer to section 1 2 for the power supply specification 6 The power supply voltage o...

Page 475: ...circuit Control circuit Power Dynamic brake Interlock DB Dynamic brake Valid OFF Invalid ON OFF ON OFF ON OFF ON Valid OFF Invalid ON OFF ON 0r min Forward rotation Coasting Dynamic brake Electromagnetic brake interlock Note 1 7ms 10ms Note 2 15 to 60ms Electromagnetic brake operation delay time Note 1 When powering off dynamic brake interlock DB will be turned off and the base circuit will be tur...

Page 476: ...tening torque 1 2 N m External dynamic brake A B C D E F G Mass kg Ib Note Connection wire mm2 U V and W Other than U V and W DBU 11K 200 190 140 20 5 170 163 5 2 4 41 5 5 AWG10 2 AWG14 DBU 15K 22K 250 238 150 25 6 235 228 6 13 23 5 5 AWG10 2 AWG14 Note Selection condition of wire size is as follows Wire type 600V Polyvinyl chloride insulated wire IV wire Construction condition One wire is constru...

Page 477: ...nal block TE1 b 13 14 Screw M3 5 Tightening torque 0 8 N m W V U TE2 Screw M4 Tightening torque 1 2 N m External dynamic brake Note Connection wire mm2 U V and W Other than U V and W DBU 11K 4 5 5 AWG10 2 AWG14 DBU 22K 4 5 5 AWG10 2 AWG14 Note Selection condition of wire size is as follows Wire type 600V Polyvinyl chloride insulated wire IV wire Construction condition One wire is constructed in th...

Page 478: ... 3 for the fitting method etc 2 Year and month when MR J3BAT is manufactured The year and month when MR J3BAT is manufactured are written down in Serial No on the rating plate of the battery back face The year and month of manufacture are indicated by the last one digit of the year and 1 to 9 X 10 Y 11 Z 12 For October 2004 the Serial No is like SERIAL 4X MELSERVO 3 6V 2000mAh SERIAL 4X MR J3BAT M...

Page 479: ...t dimensions fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions The heat sink outside mounting attachment of MR J...

Page 480: ...plifier Attachment Servo amplifier Punched hole Control box a Assembling the heat sink outside mounting attachment b Installation to the control box 4 Outline dimension drawing Unit mm 236 280 Approx 260 20 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 481: ...s for power supply wiring POINT Use 600V grade heat resistant polyvinyl chloride insulated wires HIV wires for HF JP series servo motors The following diagram shows the wires used for wiring Use the wires given in this section or equivalent C P U V W L11 L21 U V W L1 L2 L3 B1 B2 1 Main circuit power supply lead Servo amplifier 3 Motor power supply lead Servo motor Power supply Motor Electro magnet...

Page 482: ... f 5 5 AWG10 k MR J3 60T4 1 25 AWG16 MR J3 100T4 2 AWG14 1 25 AWG16 2 AWG14 MR J3 200T4 2 AWG14 MR J3 350T4 2 AWG14 g 1 25 AWG16 h 2 AWG14 g 2 AWG14 g MR J3 500T4 Note 2 5 5 AWG10 a 5 5 AWG10 a MR J3 700T4 Note 2 2 AWG14 Note 3 1 25 AWG16 Note 3 MR J3 11KT4 Note 2 8 AWG8 l 8 AWG8 l 3 5 AWG12 j MR J3 15KT4 Note 2 14 AWG6 c 1 25 AWG16 g 22 AWG4 d 5 5 AWG10 j 2 AWG14 1 25 AWG16 MR J3 22KT4 Note 2 14 ...

Page 483: ...3 11KT Note 2 14 AWG6 c 14 AWG6 c 3 5 AWG12 j 1 25 AWG16 MR J3 15KT Note 2 22 AWG4 d 1 25 AWG16 g 22 AWG4 d 1 25 AWG16 1 25 AWG16 MR J3 22KT Note 2 38 AWG1 p 38 AWG1 p 5 5 AWG10 k MR J3 60T4 1 25 AWG16 MR J3 100T4 2 AWG14 1 25 AWG16 2 AWG14 MR J3 200T4 2 AWG14 MR J3 350T4 2 AWG14 g 1 25 AWG16 h 2 AWG14 g 2 AWG14 g MR J3 500T4 Note 2 3 5 AWG12 a 3 5 AWG12 a MR J3 700T4 Note 2 5 5 AWG10 a 1 25 AWG16...

Page 484: ... Note 1 b 8 4NS YHT 8S c FVD14 6 YF 1 E 4 YNE 38 DH 112 DH 122 d FVD22 6 DH 113 DH 123 Note 1 e 38 6 YPT 60 21 TD 112 TD 124 YF 1 E 4 YET 60 1 Note 1 f R60 8 YPT 60 21 TD 113 TD 125 YF 1 E 4 YET 60 1 g FVD2 4 YNT 1614 h FVD2 M3 j FVD5 5 6 YNT 1210S k FVD5 5 8 l FVD8 6 YF 1 E 4 YNE 38 DH 111 DH 121 m FVD14 8 DH 112 DH 122 n FVD22 8 DH 113 DH 123 Note 1 p R38 8 YPT 60 21 TD 112 TD 124 YF 1 E 4 YET 6...

Page 485: ...1 Bando Densen AWG22 2 17 0 16 28 7 or less 1 50 20 30 AWG23 12 6 pairs 12 0 18 63 6 or less 1 2 8 2 0 3 Note 3 20276 VSVPAWG 23 6P KB 0492 Bando Densen MR EKCBL M H 2 to 10 0 2mm2 12 6 pairs 40 0 08 105 or less 0 88 7 2 Note 3 A14B2339 6P Junkosha 20 AWG24 12 6 pairs 40 0 08 105 or less 0 88 7 2 Note 3 TPE SVP 40 0 08 AWG 24 or equivalent 6P KB 1928 2 Bando Densen 30 to 50 AWG24 14 7 pairs 40 0 0...

Page 486: ...75 mm2 4 150 0 08 29 1 or less 1 63 5 7 0 5 Note 4 RMFES A CL3X AWG19 4 cores Dyden MR PWS1CBL M A2 H 2 to 10 MR PWS2CBL03M A1 L 0 3 AWG19 4 30 0 18 25 8 or less 1 64 Note 3 5 J11B2330 UL10125 Junkosha MR PWS2CBL03M A2 L 0 3 Motor brake cable MR BKS1CBL M A1 L 2 to 10 AWG20 2 21 0 18 34 6 or less 1 35 4 7 0 1 Note 4 HRZFEV A CL3 AWG20 2 cores Dyden MR BKS1CBL M A2 L 2 to 10 MR BKS1CBL M A1 H 2 to ...

Page 487: ...e Insulator Conductor Inclusion Ground wire Fig 14 1 Structure Model FANC 110SBH Manufacturer Kuramo Electric Application For fixed parts Size 20AWG 3 Insulator material Polyethylene foam Insulator color Blue white and yellow Sheath material Oil resistant vinyl Sheath color Brown Operating temperature range Note 0 to 75 32 to 167 Tensile strength 49N Minimum bend radius 35mm Overall diameter Appro...

Page 488: ...0A 30A frame 30A 70 S N20 S T21 MR J3 500T 50A frame 50A 50A frame 40A 125 S N35 MR J3 700T 100A frame 75A 50A frame 50A 150 S N50 MR J3 11KT 100A frame 100A 100A frame 75A T 200 S N65 MR J3 15KT 125A frame 125A 100A frame 100A 250 S N95 MR J3 22KT 225A frame 175A 225A frame 150A 350 S N125 MR J3 60T4 30A frame 5A 30A frame 5A 600Y 347V 10 600 S N10 S T10 MR J3 100T4 30A frame 10A 30A frame 10A 15...

Page 489: ...11kW or more disconnect between P1 and P If it remains connected the effect of the power factor improving DC reactor is not produced When used the power factor improving DC reactor generates heat To release heat therefore leave a 10cm or more clearance at each of the top and bottom and a 5cm or more clearance on each side Unit mm Rating plate L H B or less E A or less Terminal box screw size G Mou...

Page 490: ...8 AWG8 MR J3 11KT Fig 14 3 22 AWG4 MR J3 15KT FR BEL 22K 185 119 182 2 6 165 7 15 M8 70 M6 5 4 11 91 30 AWG2 MR J3 22KT FR BEL 30K 185 119 201 2 6 165 7 15 M8 70 M6 6 7 14 77 60 AWG2 0 MR J3 60T4 FR BEL H1 5K 130 63 89 1 6 115 6 12 M3 5 32 M5 0 9 1 98 MR J3 100T4 FR BEL H2 2K 130 63 101 1 6 115 6 12 M3 5 32 M5 1 1 2 43 2 AWG14 MR J3 200T4 FR BEL H3 7K Fig 14 2 150 75 102 2 135 6 12 M4 40 M5 1 7 3 ...

Page 491: ...roving reactor to each servo amplifier If using only one power factor improving reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated R XSY T Z Y Z S T MC MCCB MC MCCB MC MCCB X R X Y Z R S T X Y Z R S T W C Installation screw W1 D1 H 5 D 5 FR BAL H FR BAL FR BAL L2 Blank L1 L3 L2 L1 L3 L2 L1 Servo amplifier 3 phase 200V class or 3 phase 400V...

Page 492: ...240 301 219 190 5 25 M8 M8 43 94 80 MR J3 60T4 FR BAL H1 5K 160 145 140 87 70 0 2 5 7 5 M4 M3 5 5 3 11 68 MR J3 100T4 FR BAL H2 2K 160 145 140 91 75 0 2 5 7 5 M4 M3 5 5 9 13 01 MR J3 200T4 FR BAL H3 7K 220 200 190 90 70 0 2 5 10 M5 M3 5 8 5 18 74 MR J3 350T4 FR BAL H7 5K 220 200 192 120 100 5 10 M5 M4 14 30 87 MR J3 500T4 FR BAL H11K 280 255 226 130 100 5 12 5 M6 M5 18 5 40 79 MR J3 700T4 FR BAL H...

Page 493: ...dle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the servo amplifier servo motor etc together at one point refer to section 4 12 b Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sour...

Page 494: ... main circuit cables and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Magnetic induction noise Static induction noise Noises transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply ca...

Page 495: ...ected signal cables and the I O cables of the servo amplifier 3 Avoid laying signal cables and power lines the I O cables of the servo amplifier side by side or do not bundle them together 4 Use shielded wires for signal and power lines or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises pr...

Page 496: ...AC V C F 20 R 30 Test voltage Outline drawing Unit mm 300 or more 300 or more CR 50500 Edge soldering Mounting band AWG18 Twisted wire 3 6 18 5 2 1 18 5 5 Max 16 1 6 1 6 1 15 1 48 1 5 250 0 5 50 1 2W Between terminals 625VAC 50 60Hz 60s Between terminal and case 2000VAC 50 60Hz 60s Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the dr...

Page 497: ...nd plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the ground plate Unit mm 40 Cable clamp A B Cable Ground plate cutter cable Strip the cable sheath of the clamped area External conductor Clamp section diagram Outline drawing Unit mm 3 7 C A 6 6 Ground plate 2 5 hole mounting hole 17 5 24 0 0 2 B 0 3 Note M4 screw 35 35 22 11 Unit mm 3...

Page 498: ...uld be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filter or the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required number of passes as shown in Example 2 ...

Page 499: ...on diagram Outline drawing Unit mm Make the connection cables as short as possible Grounding is always required When using the FR BIF with a single phase power supply always insulate the wires that are not used for wiring MR J3 350T or less MR J3 200T4 or less Servo amplifier MC MCCB Power supply Terminal block L1 L2 L3 Radio noise filter MR J3 500T or more MR J3 350T4 or more Servo amplifier MC M...

Page 500: ...tor Maximum rating Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power AC Vrms DC V 8 20 s A 2ms J W A V pF V 100V class TND20V 431K 275 350 10000 1 time 195 1 0 100 710 1300 430 387 to 473 200V class TND20V 471K 300 385 7000 2 times 215 775 1200 470 423 to 517 400V class TND20...

Page 501: ...arth leakage current breaker K Type Mitsubishi products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV L 1 General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 14 4 Ig2 Leakage current on the electric channel from the output terminals o...

Page 502: ...0T MR J3 10T1 to MR J3 40T1 MR J3 60T4 to MR J3 350T4 15 MR J3 500T 4 30 MR J3 700T 4 50 MR J3 11KT 4 to MR J3 22KT 4 100 2 Selection example Indicated below is an example of selecting an earth leakage current breaker under the following conditions M 0 4kW NV 2mm2 5m 2mm2 5m Servo amplifier Servo motor HF KP43 Igm Ig2 Iga Ig1 Use an earth leakage current breaker generally available Find the terms ...

Page 503: ...2 MR J3 60T4 to MR J3 100T4 TF3005C TX 5 500 5 5 6 MR J3 200T4 to MR J3 700T4 TF3020C TX 20 MR J3 11KT4 TF3030C TX 30 7 5 MR J3 15KT4 TF3040C TX 40 12 5 MR J3 22KT4 TF3060C TX 60 Note A surge protector is separately required to use any of these EMC filters 2 Connection example 1 2 3 4 5 6 E 1 2 3 1 2 3 Note 1 Power supply MCCB EMC filter MC Servo amplifier L1 L2 L3 L11 L21 Note 2 Surge protector 1...

Page 504: ... Unit mm M4 IN 3 M4 65 4 258 4 3 M4 Approx 41 4 5 5 7 110 4 85 2 32 2 273 2 288 4 300 5 HF3030A UN HF 3040A UN J 2 H 2 G 1 F 2 E 1 D 2 3 L 6 K 3 L M C 1 B 2 A 5 C 1 Model Dimensions mm A B C D E F G H J K L M HF3030A UN 260 210 85 155 140 125 44 140 70 R3 25 length 8 M5 M4 HF3040A UN ...

Page 505: ...F3100A 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 Approx 12 2 3 M4 16 16 6 R3 25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx 67 5 3 Approx 160 170 5 M4 3 M4 100 1 ...

Page 506: ...3060C TX Unit mm K 2 Approx L J H 5 M6 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 C 2 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 190 180 Approx 91 5 R3 25 length 8 M6 TF3060C TX ...

Page 507: ...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 0 200 30 0 28 1 0 41 1 0 4 5 0 5 Unit mm 1 2 3 4 ...

Page 508: ...age 4 5 to 13 2VDC Current consumption 60mA or less interface Output current max 20mA for open collector output Pulse signal form A phase B phase 2 signals of 90 phase difference Pulse resolution 100pulse rev Max speed 600r min moment 200r min normally Operating temperature range 10 to 60 14 to 140 Storage temperature range 30 to 80 22 to 176 2 Connection example DICOM 5 A B 6 24VDC Manual pulse g...

Page 509: ...V Common for power and signal A A phase pulse output B B phase pulse output 4 Installation 6 2 2 0 72 0 2 3 4 8 Equally spaced Panel cut 5 Outline drawing 8 89 7 6 0V A B 5V to P C D72 equally spaced MANUAL TYPE SERIALNO 3 6 16 20 50 80 1 Unit mm 3 M4 stud L10 M3 6 may only be installed 12V Packing t2 0 60 0 1 27 0 0 5 70 ...

Page 510: ...owing cable Servo amplifier CN3 To RS 232C connector Personal computer RS 422 232C conversion cable DSV CABV Diatrend 10m or less 2 Multidrop connection a Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus To RS 232C connector RS 422 232C conversion cable DSV CABV Diatrend Personal computer Note 1 Note 1 Note 1 CN3 CN3 Servo amplifier CN3 No...

Page 511: ...7 Axis n servo amplifier CN3 connector RJ45 connector Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Note 3 30m or less RDN 150 RDP Note 8 Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo amplifier with a 150 resistor 3 The overall l...

Page 512: ...nds a reply in response to the instruction servo amplifier is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description Baud rate 9600 19200 38400 57600 115200 asynchronous system Transfer code Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex commun...

Page 513: ...nication speed of the sending end master station Communication baud rate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps Parameter No PC21 2 RS 422 communication response delay time Set the time from when the servo amplifier slave station receives communication data to when it sends back data Set 0 to send back data in less than 800 s or 1 to send back data in 800 s or more Parameter N...

Page 514: ... the servo amplifier which must provide the return data 1 Transmission of data from the controller to the servo S O H S T X E T X S T X E T X Data No Data Check sum 10 frames data Station number or group Error code Check sum 6 frames Positive response Error code A Negative response Error code other than A Servo side Slave station Controller side Master station Command Station number or group 2 Tra...

Page 515: ...0 1 0 0 4 4 D T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O _ o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify the stations Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 ...

Page 516: ...ata No error Data No not existing in the specifications was transmitted 15 3 4 Checksum The checksum is an ASCII coded hexadecimal representing the lower two digits of the sum of ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH Check Checksum range ETX STX or SOH Station number or group S T X 02H 0 30H A 41H 1 31H 2 32H 5 35H F 46H E T X 5 2 03H 30H...

Page 517: ...tion number or group Station number or group Station number or group Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times 15 3 7 Initialization After the slave station is s...

Page 518: ... STX ETX 3 3 Yes No Yes No No No Yes Yes Yes No 0 3 3 1 0 0 Axis No Command Data No Data Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receive Is there receive data 3 consecutive times Error processing Other than error code A a Receive data analysis End 300ms elapsed 3 consecutive times Error processing 100ms after EOT tran...

Page 519: ...tor speed 0 6 Droop pulses 0 7 0 8 0 9 0 A Regenerative load ratio 0 B Effective load ratio 0 C Peak load ratio 0 D Instantaneous torque 0 E Position within one revolution 0 F ABS counter 1 0 Load inertia moment ratio 1 1 Bus voltage 8 0 Status display data value and processing information Current position 12 8 1 Command position 8 2 Command remaining distance 8 3 Point table No 8 4 Cumulative fee...

Page 520: ...ameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 8 0 8 0 1 to F F Abbreviations of parameters ...

Page 521: ...alue and processing information at alarm occurrence Current position 12 8 1 Command position 8 2 Command remaining distance 8 3 Point table No 8 4 Cumulative feedback pulses 8 5 Servo motor speed 8 6 Droop pulses 8 7 8 8 8 9 8 A Regenerative load ratio 8 B Effective load ratio 8 C Peak load ratio 8 D Instantaneous torque 8 E Position within one revolution 8 F ABS counter 9 0 Load inertia moment ra...

Page 522: ...scription Frame length 6 0 0 1 to F F Dwell read The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 8 11 Point table auxiliary function Command 6 4 Command Data No Description Frame length 6 4 0 1 to F F Auxiliary function read The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 8 12 Group setting Command 1 F Command Data...

Page 523: ...ata No value hexadecimal corresponds to the parameter number Depending on the parameter 8 8 5 0 0 Parameter group write 0000 Basic setting parameter No PA 0001 Gain filter parameter No PB 0002 Extension setting parameter No PC 0003 I O setting parameter No PD 0000 to 0003 4 3 External I O signal Command 9 2 Command Data No Description Setting range Frame length 9 2 6 0 Communication input device s...

Page 524: ... length C A 0 1 to F F Dwell write The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 0 to 20000 8 11 Point table auxiliary function Command C B Command Data No Description Setting range Frame length C B 0 1 to F F Auxiliary function write The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 0 to 3 8 12 External input sign...

Page 525: ...F 8 2 0 Sets the travel distance in the test operation mode JOG operation positioning operation 00000000 to 7FFFFFFF 8 2 1 Selects the positioning direction of test operation positioning operation 0 Forward rotation direction 1 Reverse rotation direction 0 Command pulse unit 1 Encoder pulse unit 0 0 0000 to 0001 4 4 0 Test operation positioning operation start command 1EA5 4 4 1 Used to make a tem...

Page 526: ...rom hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the d...

Page 527: ...is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point pos...

Page 528: ... back the status display data requested 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position 0 No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 3 St...

Page 529: ...up a Transmission Send command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Reply The slave station sends back the preset parameter group 0 0 0 Parameter group 0 Basic setting parameter No PA 1 Gain filter parameter No PB 2 Extension setting parameter No PC 3 I O setting parameter No PD 3 Reading the symbol Read the parameter name Specify the parameter group in advance refer to 1 in this section ...

Page 530: ...y format When the display type is 0 hexadecimal and the decimal point position is other than 0 the display type is a special hexadecimal display format and F of the data value is handled as a blank Data 01FFF053 means 053 special hexadecimal display format 1 Read disable is transferred to the Read enable disable section and 000000 is transferred to the data section when the parameter that was read...

Page 531: ...to the parameter number When the data to be written is handled as decimal the decimal point position must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the data after making sure that it is within the upper lower limit value range Read the parameter data to be written confirm the decimal point positi...

Page 532: ...ol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 Override selection OVR 24 Temporary stop Restart TSTP Point...

Page 533: ...4 0 Command Data No 1 2 4 0 b Reply The ON OFF statuses of the input pins are sent back b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the master station as hexadecimal data bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin 0 1 8 16 24 1 2 9 17 25 2 3 10 18 26 3 4 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 ...

Page 534: ...ta No 6 1 Device name Symbol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 24 Temporary stop Restart TSTP Po...

Page 535: ...and Data No 1 2 C 0 b Reply The slave station sends back the ON OFF statuses of the output pins b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the master station as hexadecimal data bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin 0 14 8 16 24 1 15 9 17 25 2 16 10 18 26 3 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 ...

Page 536: ...l Device name Symbol 0 Ready RD 1 2 Zero speed ZSP 3 Limiting torque TLC 4 5 In position INP 6 7 Warning WNG 8 Malfunction ALM 9 10 Electromagnetic brake interlock MBR 11 dynamic brake interlock DB 12 13 14 15 Battery warning BWNG 16 Rough match CPO 17 Home position return completion ZP 18 Position range output POT 19 Temporary stop PUS 20 21 22 23 24 Point table No output 1 PT0 25 Variable gain s...

Page 537: ...bit is transmitted to the slave station as hexadecimal data bit Data No 6 0 Data No 6 1 Device name Symbol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selec...

Page 538: ...d LSN cannot be disabled Signal Status Input devices DI OFF 1 Disabling enabling the input devices DI with the exception of EMG LSP and LSN Transmit the following communication commands a Disable Command Data No Data 9 0 0 0 1EA5 b Enable Command Data No Data 9 0 1 0 1EA5 2 Disabling enabling the output devices DO Transmit the following communication commands a Disable Command Data No Data 9 0 0 3...

Page 539: ... 1 Device name Symbol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 24 Temporary stop Restart TSTP Point tab...

Page 540: ... operation mode a Preparation of test operation mode Set the test operation mode type in the following procedure Send the command 8 B data No 0 0 to select the test operation mode Command Data No Transmission Data Test Operation Mode Selection 8 B 0 0 0001 JOG operation 0002 Positioning operation 0003 Motorless operation 0004 DO forced output 0005 Single step feed 2 Confirmation of test operation ...

Page 541: ...d ON Command 8 B Data No 0 0 Data 0000 JOG operation cancel Stop Stop End Command A 0 Data No 1 1 Data Write the acceleration deceleration time constant ms in hexadecimal When LSP LSN was turned OFF by external input signal Acceleration deceleration time constant setting Command A 0 Data No 1 0 Data Write the speed r min in hexadecimal Servo motor speed setting Start Select the JOG operation in th...

Page 542: ...rite the speed r min in hexadecimal Servo motor speed setting Start Select the positioning operation in the test operation mode Set the operation pattern Turn ON Servo on SON to make the servo amplifier ready Command A 0 Data No 2 0 Data 0000 forward rotation direction 0001 reverse rotation Rotation direction selection Command A 0 Data No 2 0 Data Write the movement distance pulse in hexadecimal M...

Page 543: ...top Command Data No Data A 0 4 1 STOP Send the following command data No and data during a temporary stop to make a restart Command Data No Note Data A 0 4 1 GO Note indicates a blank Send the following command data No and data during a temporary stop to stop positioning operation and erase the remaining movement distance Command Data No Note Data A 0 4 1 CLR Note indicates a blank ...

Page 544: ...N Command 9 2 Data No 0 0 Data 00020001 SON MD0 turned ON Make input device valid Make input device valid When LSP LSN was turned OFF by external input signal Turn ON Servo on SON to make the servo amplifier ready Start Cancel the single step feed Command 9 2 Data No 0 0 Data 00020007 SON LSP LSN MD0 turned ON Command 8 B Data No 0 0 Data 0005 Single step feed Command 9 2 Data No 0 1 Data Write th...

Page 545: ...CN6 connector pin bit CN6 connector pin bit CN6 connector pin 0 14 8 16 24 1 15 9 17 25 2 16 10 18 26 3 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 c Canceling DO forced output Transmit command 8 B data No 0 0 data to cancel DO forced output Command Data No Transmission data Description 8 B 0 0 0000 Cancel DO forced output 6 Motorless operation a Performing motorless operation Transmit co...

Page 546: ..._ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to section 15 4 1 b Reply The alarm occurrence time is transferred in hexadecimal He...

Page 547: ...on Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to section 15 4 1 b Reply The slave station sends back the requested status display data at alarm occurrence 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal ...

Page 548: ...h digit 5 Lower fifth digit 6 Lower sixth digit Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Position data write type 0 Valid after write 1 Valid when power is switched on again after write 0 0 b Speed data Read the speed data of the point table 1 Transmission Transmit command 5 0 and any of data No 0 1 to F F corresponding to the point table to be read Refer to ...

Page 549: ...ed Deceleration time constant write type 0 Valid after write 1 Valid when power is switched on again after write 0 0 d Deceleration time constant Read the deceleration time constant of the point table 1 Transmission Transmit command 5 8 and any of data No 0 1 to F F corresponding to the point table to be read Refer to section 15 4 1 2 Reply The slave station sends back the deceleration time consta...

Page 550: ...ell write type 0 Valid after write 1 Valid when power is switched on again after write 0 0 f Auxiliary function Read the auxiliary function of the point table 1 Transmission Transmit command 6 4 and any of data No 0 1 to F F corresponding to the point table to be read Refer to section 15 4 1 2 Reply The slave station sends back the auxiliary function of the requested point table 0 Hexadecimal data...

Page 551: ...al point position which is different from the STM setting When the position data is changed frequently through communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM Write mode 0 EEP ROM RAM write 1 RAM write Decimal point position 0 No decimal point 1 Lower first digit 2 Low...

Page 552: ...sponding to the point table to be written to and the data Refer to section 15 4 2 Command Data No Data C 8 0 1 to F F See below 0 Hexadecimal data Write mode 0 EEP ROM RAM write 1 RAM write When the deceleration time is changed frequently through communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do no...

Page 553: ...n to and the data Refer to section 15 4 2 Command Data No Data C B 0 1 to F F See below 0 Hexadecimal data Write mode 0 EEP ROM RAM write 1 RAM write When the auxiliary function constant is changed frequently through communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM ...

Page 554: ...Group c 4 Group d 5 Group e 6 Group f Response command enable Set whether data can be sent back or not in response to the read command of the master station 0 Response disable Data cannot be set back 1 Response enable Data can be set back 2 Group setting read Read the set group designation value from the slave station a Transmission Transmit command 1 F and data No 0 0 Command Data No 1 F 0 0 b Re...

Page 555: ...rted into decimal For example data 000186A0 is 100000 pulse in the motor side pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Reply The slave station sends back the requested command pulses Absolute value is sent back in hexadecimal in the command unit Must be converted into decimal...

Page 556: ... communication 2 stations occupied Set the speed command data speed by the remote register Speed No input Select a speed and acceleration deceleration time constant by the point table Operation mode Automatic operation mode Rotation direction specifying indexer Positioning operation is executed to the set station Rotation direction can be specified Shortest rotating indexer Positioning operation i...

Page 557: ...yzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a MR Configurator installed personal computer and servo amplifier MR Configurator is necessary for this function Machine simulation Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results MR Configurator is necessary for this function Gain search functio...

Page 558: ... Ready RYn1 Start RXn1 In position RYn2 Rotation direction specifying RXn2 Rough match RYn3 RXn3 Home position return completion to Not available RXn4 Limiting torque RYn5 RXn5 Not available RYn6 Operation mode selection 1 RXn6 Electromagnetic brake interlock RYn7 Operation mode selection 2 RXn7 Not available RYn8 Monitor output execution demand RXn8 Monitoring RYn9 Instruction code execution dema...

Page 559: ...RYnE Next station selection 5 RXnE RYnF to Not available to Not available RX n 1 F RY n 1 F RX n 2 0 Position command execution completion RY n 2 0 Position command execution demand RX n 2 1 Speed command execution completion RY n 2 1 Speed command execution demand RX n 2 2 Station output 1 RY n 2 2 Not available RX n 2 3 Station output 2 RY n 2 3 Next station selection 6 RX n 2 4 Station output 3...

Page 560: ...tant in the point table No 1 16 2 2 Detailed explanation of I O signals 1 Input signals Input devices The note signs in the remarks column indicate the following descriptions Can be automatic turned ON internally by setting parameters No PD01 Signal name Device name Description Device No Remarks 1 station occupied 2 stations occupied Servo on Turning RYn0 ON powers on the base circuit making opera...

Page 561: ...o PA14 Servo motor rotation direction 0 0 CCW 1 CW 1 0 CW 1 CCW Note 0 OFF 1 ON 2 Manual operation mode It is not affected by the parameter No PA14 Note RYn2 Parameter No PA14 Servo motor rotation direction 0 0 CCW 1 1 0 CW 1 Note 0 OFF 1 ON 3 Home position return mode RYn2 is invalid Specify the rotation direction in the home position return mode by using the parameter No PC03 Operation mode sele...

Page 562: ...er RWrn 2 Respond code indicating normal or error RYn8 RYn8 Instruction code execution demand Turning RYn9 ON executes the processing corresponding to the instruction code stored in remote register RWwn 2 After completion of instruction code execution the respond code indicating normal or error is set to RWrn 2 At the same time RXn9 turns ON Refer to section 16 2 4 for details RYn9 RYn9 Next stati...

Page 563: ...integral type to the proportional type If the servo motor at a stop is rotated even one pulse by an external factor it develops torque in an attempt to compensate for a position shift When the shaft is locked mechanically after Movement completion RXnC is turned OFF for example turning Proportion control RY n 2 7 ON as soon as Movement completion RXnC turns OFF allows control of unnecessary torque...

Page 564: ...E Note RY of CC Link Point table No RY n 2 E RY n 2 D RY n 2 C 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8 Note 0 OFF 1 ON Reset Keeping RY n 1 A or RY n 3 A ON for 50ms or longer allows an alarm to be deactivated Some alarms cannot be deactivated by Reset RY n 1 A or RY n 3 A Refer to section 16 12 4 1 If RY n 1 A or RY n 3 A is turned ON with no alarm occurring the base circu...

Page 565: ...n an absolute position detection system RXn3 turns ON when operation is ready to start but turns OFF in any of the following cases 1 Servo on RYn0 is turned OFF 2 Forced stop EMG is turned OFF 3 Reset RY n 1 A or RY n 3 A is turned ON 4 Alarm occurs 5 Forward rotation stroke end RYn4 or Reverse rotation stroke end RYn5 is turned OFF 6 Home position return has not been made after product purchase 7...

Page 566: ... n 2 1 Station output 1 As soon as the movement completion RXnC turns on the station number is output in 8 bit code RX n 2 2 Station output 2 Station No Note 1 RX of CC Link RX n 2 3 RX n 2 9 RX n 2 8 RX n 2 7 RX n 2 6 RX n 2 5 RX n 2 4 RX n 2 3 RX n 2 2 Station output 3 RX n 2 4 Note 2 0 0 0 0 0 0 0 0 Station output 4 0 1 1 1 1 1 1 1 1 RX n 2 5 1 1 1 1 1 1 1 1 0 Station output 5 2 1 1 1 1 1 1 0 1...

Page 567: ...When demanding 32 bit data specifying the lower 16 bit code No and turning RYn8 to ON set the lower 16 bit data to RWwn and the upper 16 bit data to RWrn data is stored in the RXn8 RXn8 turns on at the same time Refer to section 16 2 3 for the item of the monitor code of the status indication Refer to section 16 2 3 RWwn 1 RWwn 1 Monitor 2 Demands the status indication data of the servo amplifier ...

Page 568: ... that the data set to RWrn and RWrn 1 depends on whether 1 station or 2 stations are occupied If you set inappropriate code No or data to the remote register input the error code is set to respond code RWrn 2 Refer to section 3 5 5 for the error code When 1 station is occupied Remote register Signal name Description RWrn Monitor 1 data The data of the monitor code set to RWwn is set RWrn 1 Monitor...

Page 569: ...0006h 0007h 0007h 0008h 0008h Not used in indexer positioning operation 0009h 000Ah 000Ah Feedback pulse value lower 16bit 16bit pulse 000Bh Feedback pulse value upper 16bit 16bit pulse 000Ch 000Dh 000Eh 000Eh Droop pulse value lower 16bit 16bit pulse 000Fh Droop pulse value upper 16bit 16bit pulse 0010h 0010h 0011h 0011h Regenerative load factor 16bit 0012h 0012h Effective load factor 16bit 0013h...

Page 570: ...n the point table set in parameter No PA05 Travel multiplying factor 0300 1000 0200 100 0100 10 0000 1 0010h Current alarm warning reading Reads the alarm No or warning No occurring currently 0 Occurring alarm No warning No 0 0020h Alarm number in alarm history most recent alarm 0 Alarm No that occurred in past 0 0021h Alarm number in alarm history first recent alarm 0022h Alarm number in alarm hi...

Page 571: ...lection 5 6 Operation mode selection 1 F 7 Operation mode selection 2 0041h Input device status 1 Reads the statuses OFF ON of the input devices Bit 0 to bit F indicate the OFF ON statuses of the corresponding input devices bitF bit0 bit Device bit Device 0 Position command 7 Proportion control execution demand 8 Gain switching 1 Speed command 9 execution demand A Position speed specifying 2 syste...

Page 572: ...magnetic brake E interlock F 7 0051h Output device status 1 Reads the statuses OFF ON of the Output devices Bit 0 to bit F indicate the OFF ON statuses of the corresponding output devices bitF bit0 bit Device bit Device 0 Position command 7 Station output 6 execution completion 8 Station output 7 1 Speed command 9 Station output 8 execution completion A 2 Station output 1 B 3 Station output 2 C 4 ...

Page 573: ...revolution position upper 16bit Reads the upper 16 bits of the cycle counter value of the absolute home position Return unit pulses Cycle counter value 00B2h Home position Multi revolution data ABS0 Multi revolution counter value of absolute home position reading Return unit rev Multi revolution counter value 00C0h Error parameter No Point data No reading Reads the parameter No point table No in e...

Page 574: ...et in parameter No PA19 an error code is returned and the data cannot be read The value set in the parameter No corresponding to the requested group name is stored Decimal point position 0 Without decimal point 1 First least significant digit without decimal point 2 Second least significant digit 3 Third least significant digit 4 Fourth least significant digit Data format 0 Used unchanged as hexad...

Page 575: ...ata RAM instruction of parameter Writes the set value of each No of the parameter group written by code No 8200h to RAM These values are cleared when power is switched off The decimal value converted from the 2 lower digits of the code No corresponds to the parameter No An error code is returned if an instruction code outside the range set in parameter No PA19 or a value outside the setting range ...

Page 576: ...EEP ROM command of point table Writes the servo motor speeds of point table No 1 to 255 to EEP ROM Written to EEP ROM these values are held if power is switched off The decimal value converted from the 2 lower digits of the code No corresponds to the point table No Convert the values into hexadecimal before setting 8E01h to 8EFFh Acceleration time constant data EEP ROM command of point table Write...

Page 577: ...onitor code 2 Error related to next station 0 1 2 3 Code No Error detail Details Normal answer Code error Successfully executed An incorrect code No is specified Code No Error detail Details Normal answer Code error Parameter selection error Out of writing data range Successfully executed An incorrect code No is specified Unavailable parameter No is specified A value out of the setting range is se...

Page 578: ...o motor suddenly The forced stop will be reset when EMG is turned on Proximity dog DOG CN6 2 When DOG is turned OFF the proximity dog is detected The polarity of dog detection can be changed using parameter No PD16 Parameter No PD16 Proximity dog DOG detection polarity 0 initial value OFF 1 ON Forward rotation stroke end LSP CN6 3 When starting operation turn LSP LSN to ON Turning it to OFF causes...

Page 579: ...le of 2 The relationships between rotation direction and phase difference of the A and B phase pulses can be changed using parameter No PC19 DO 2 Encoder B phase pulse differential line driver LB LBR CN6 12 CN6 25 Encoder Z phase pulse differential line driver LZ LZR CN6 13 CN6 26 Outputs the zero point signal of the encoder in the differential line driver system One pulse is output per servo moto...

Page 580: ...ocked with the ready signal RD b A start in the servo amplifier is made when a start RYn1 changes from OFF to ON The delay time of the servo amplifier s internal processing is max 3ms The delay time of other devices is max 10ms c When a programmable controller is used the ON time of a start RYn1 should be 6ms or longer to prevent a malfunction d During operation the start RYn1 is not accepted The ...

Page 581: ... completion The following timing charts show the output timing relationships between the position command generated in the servo amplifier and the movement completion RYnC This timing can be changed using parameter No PA10 in position range RYnC turns ON in the servo on status Position command and servo motor speed 3ms or less In position range Servo motor speed Position command ON ON Start RYn1 M...

Page 582: ... When 0 is set in parameter No PC11 ON ON Position command Rough match RXn2 3ms or less Rough match output range Start RYn1 OFF OFF When more than 0 is set in parameter No PC11 c In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor This timing can be changed using parameter No PA10 in position range turns on RYn1 in the servo on...

Page 583: ...00 CW direction Max torque CCW direction Torque Torque limit value in parameter No PA12 Torque limit value in parameter No PA11 b Torque limit value selection As shown below the forward rotation torque limit parameter No PA11 reverse rotation torque limit parameter No PA12 or internal torque limit 2 parameter No PC35 can be chosen using the external torque limit selection RY n 2 6 Note RY n 2 6 Li...

Page 584: ...5 7 4 etc Refer to section 16 4 3 Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor Refer to section 16 4 3 Parameter setting Set the parameters as necessary such as the used control mode and regenerative option selection with the parameter unit or MR Configurator Refer to section 16 11 Test operation of servo motor alone in test operation mode ...

Page 585: ...Servo motor 2 The power supplied to the servo amplifier should not be connected to the servo motor power supply output U V W To do so will fail the connected servo amplifier and servo motor M U V W U V W Servo amplifier L1 L2 L3 Servo motor 3 The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier M Servo amplifier Servo motor 4 P1 P2 For 11kW or more P1 P shou...

Page 586: ... to section 14 3 4 The power factor improving DC reactor should be connected P1 and P2 For 11kW or more P1 and P Refer to section 14 11 Servo amplifier Note Power factor improving DC reactor P1 P2 Note Always disconnect P1 and P2 For 11kW or more P1 and P 2 I O signal wiring a The I O signals should be connected correctly Use DO forced output to forcibly turn on off the pins of the CN6 connector T...

Page 587: ...ur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Power off 1 Make sure that the start RYn1 is off 2 Switch off the Servo on RYn0 3 Switch off the main circuit power supply and control circuit power supply 16 5 2 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to section...

Page 588: ...se rotation stroke end LSN 3 When the point table is designated from the controller to switch on the start RYn1 the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal Test operation with servo motor and machine connected In this step connect the se...

Page 589: ...A Set the basic setting parameters first Generally operation can be performed by merely setting this parameter group In this parameter group set the following items Control mode selection Regenerative option selection Absolute position detection system selection Servo motor speed setting unit selection Electronic gear setting Auto tuning selection and adjustment In position range setting Torque li...

Page 590: ...tor speed may not reach to the set speed depending on the number of stations for indexing Acceleration time constant Set the acceleration time constant Deceleration time constant Set the deceleration time constant Dwell Not used in indexer positioning operation Do not change this value by any means Auxiliary function Not used in indexer positioning operation Do not change this value by any means 1...

Page 591: ...ation beginning Note 3 Note 3 Not ready Ready When alarm occurs alarm code appears Servo on Servo amplifier power off Note 1 At occurrence of overload Flicker display At occurrence of overload warning Note 2 Flicker display During forced stop Flicker display Alarm reset or warning Note 1 Only alarm and warning No are displayed but no station No is displayed 2 If warning other than AE6 occurs durin...

Page 592: ...or an alarm has occurred Note 2 A Alarm Warning The alarm No warning No that occurred is displayed Refer to section 16 12 4 8 8 8 CPU error CPU watchdog error has occurred Note 3 0 0 d Note 3 Test operation mode JOG operation positioning operation programmed operation DO forced output 0 0 C Note 1 d Motor less operation C Note 1 denotes any of numerals 00 to 16 and what it means is listed below De...

Page 593: ...cumference 360 degrees of the machine side into up to 255 using 8 bit device of the next station selection 1 to 8 RYnA to RYnE and RY n 2 3 to RY n 2 5 and execute positioning CW direction Station No 2 Station No 1 Station No 0 Station No 254 Station No 253 Station No 0 is the set home position Set the number of stations in the parameter No PC46 2 Rotation direction There are two types of operatio...

Page 594: ...rameter Setting description Indexer positioning operation selection Parameter No PA01 1 Select the indexer positioning operation Automatic operation mode 1 Rotation direction specifying indexer selection Operation mode selection 1 RYn6 Turn off RYn6 Operation mode selection 2 RYn7 Turn on RYn7 b Other parameter settings 1 Setting the allocation direction of station numbers Select the allocation di...

Page 595: ...uld be equal to or less than the instantaneous permissible speed of the servo motor The servo motor speed may not reach to the set speed depending on the number of stations for indexing Acceleration time constant 0 to 20000 ms Set the time until the rated speed of the servo motor is reached Deceleration time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to ...

Page 596: ...ble Rotation direction of the servo motor is the direction set in the rotation direction specifying RYn2 When one station is occupied RY n 2 C RY n 2 D and RY n 2 E are not available so that the point table number cannot be selected Use point table No 1 when one station is occupied Note Device Point table No RY n 2 E RY n 2 D RY n 2 C 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8...

Page 597: ...FF ON OFF Rotation direction specifying RYn2 Speed selection 1 to 3 RY n 2 C to RY n 2 E ON OFF Movement completion RXnC Station output 1 to 8 RX n 2 2 to RX n 2 9 ON OFF Operation mode selection 1 RYn6 Note 2 Next station selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 Start RYn1 Parameter No PA11 PA12 Parameter No PC35 3 Note 6 Note 6 Note 6 1 2 Note 1 4ms or more Note 3 Point table No 1 Poin...

Page 598: ...torque limit value changes to the parameter No PC35 value can be set in the parameter No PD26 7 After power on if the current position is within the in position range of each station the in position RXn1 turns on 2 When using the remote register Select the station number using the next station RWwn 4 remote register and execute positioning For the speed data during operation select the point table...

Page 599: ...ion time constant 0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop 2 When directly setting the servo motor speed only when two stations are occupied Set the followings because the acceleration time constant and deceleration time constant of the point table No 1 are used Name Setting range Unit Description Servo motor speed 0 to permissible speed r min Setting...

Page 600: ...4 Point table No speed command data RWwn 6 Note 4 Position command execution demand RY n 2 0 Position command execution completion RX n 2 0 Note 4 Speed command execution demand RY n 2 1 Speed command execution completion RX n 2 1 Start RYn1 Rotation direction specifying RYn2 Note 5 Servo motor speed In position RXn1 Rough match RXn2 Movement completion RXnC Station output 1 to 8 RX n 2 2 to RX n ...

Page 601: ...fter the movement completion RXnC turns on 4 For details of the operation timing of RY n 2 0 and RY n 2 1 refer to the section 3 6 2 3 5 The following shows the operation to be executed Operation 1 2 3 Station No 1 No 2 No 3 Servo motor speed Acceleration deceleration time constant Point table No 1 Point table No 1 Point table No 2 Positioning 3 0 1 2 0 1 2 3 2 3 0 1 6 Delay time from when RXn1 tu...

Page 602: ...tart RYn1 Rotation direction specifying RYn2 Note 5 Servo motor speed In position RXn1 Rough match RXn2 Movement completion RXnC Station output 1 to 8 RX n 2 2 to RX n 2 9 Torque limit value to be effective ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation 0r min Reverse rotation No 1 No 3 No 1 Speed 1 Speed 2 Speed 3 Note 1 Note 3 4...

Page 603: ...ement completion RXnC turns on 4 For details of the operation timing of RY n 2 0 and RY n 2 1 refer to the section 3 6 2 3 5 The following shows the operation to be executed Operation 1 2 3 Station No 1 No 3 No 1 Servo motor speed Speed 1 Speed 2 Speed 3 Acceleration deceleration time constant Point table No 1 Point table No 1 Point table No 1 Positioning 3 0 1 2 0 1 2 3 2 3 0 1 6 Delay time from ...

Page 604: ...ion Operation mode selection 1 RYn6 Turn on RYn6 Operation mode selection 2 RYn7 Turn on RYn7 b Other parameter settings Setting the number of stations Set the number of stations in the parameter No PC46 Setting is the same as that for the automatic operation mode 1 Refer to 1 b 2 in section 16 7 2 In the automatic operation mode 2 the station No direction selection parameter No PA14 is not used c...

Page 605: ...sitioning with the speed data set in the point table When one station is occupied RY n 2 C RY n 2 D and RY n 2 E are not available so that the point table number cannot be selected Use the point table No 1 when one station is occupied Note Device Pint table No RY n 2 E RY n 2 D RY n 2 C 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 8 Note 0 OFF 1 ON ...

Page 606: ...ameter No PA11 PA12 Parameter No PA11 PA12 Parameter No PC35 Parameter No PC35 Parameter No PA11 PA12 Parameter No PC35 Parameter No PC35 Note 7 Servo on RYn0 Operation mode selection 2 RYn7 Speed selection 1 to 3 RY n 2 C to RY n 2 E Operation mode selection 1 RYn6 Note 2 Next station selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 Start RYn1 In position RXn1 Rough match RXn2 Note 5 Servo moto...

Page 607: ... torque limit value changes to the parameter No PC35 value can be set in the parameter No PD26 7 After power on if the current position is with the in position range of each station the in position RXn1 turns on 2 When using the remote register Select the station number using the next station RWwn 4 remote register and execute positioning For the speed data during operation select the point table ...

Page 608: ...eration time constant and deceleration time constant of the point table No 1 are used Setting is the same as that for the automatic operation mode 1 Refer to 2 c 2 in section 16 7 2 d Operation 1 When using the speed data of point table Set the station number for positioning by using the next station RWwn 4 remote register Set the point table number in the point table No Speed command data RWwn 6 ...

Page 609: ...n completion RX n 2 0 Note 4 Speed command execution demand RY n 2 1 Speed command execution completion RX n 2 1 Start RYn1 Note 5 Servo motor speed In position RXn1 Rough match RXn2 Movement completion RXnC Station output 1 to 8 RX n 2 2 to RX n 2 9 Torque limit value to be effective ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation 0r min...

Page 610: ...fter the movement completion RXnC turns on 4 For details of the operation timing of RY n 2 0 and RY n 2 1 refer to the section 3 6 2 3 5 The following shows the operation to be executed Operation 1 2 3 Station No 1 No 3 No 1 Servo motor speed Acceleration deceleration time constant Point table No 1 Point table No 1 Point table No 2 Positioning 3 0 1 2 0 1 2 3 2 3 0 1 6 Delay time from when RXn1 tu...

Page 611: ...ion completion RX n 2 1 Start RYn1 Note 5 Servo motor speed In position RXn1 Rough match RXn2 Movement completion RXnC Station output 1 to 8 RX n 2 2 to RX n 2 9 Torque limit value to be effective ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Forward rotation 0r min Reverse rotation No 1 No 3 No 1 Speed 1 Speed 2 Speed 3 Note 1 Note 3 4ms or more 6ms or...

Page 612: ...ement completion RXnC turns on 4 For details of the operation timing of RY n 2 0 and RY n 2 1 refer to the section 3 6 2 3 5 The following shows the operation to be executed Operation 1 2 3 Station No 1 No 3 No 1 Servo motor speed Speed 1 Speed 2 Speed 3 Acceleration deceleration time constant Point table No 1 Point table No 1 Point table No 1 Positioning 3 0 1 2 0 1 2 3 2 3 0 1 6 Delay time from ...

Page 613: ...peration mode selection 2 RYn7 Turn off RYn7 Indexer JOG operation selection Parameter No PC45 Set it to 0 Initial value Station No direction Parameter No PA14 Refer to 2 in this section JOG speed Point table No 1 Use the servo motor speed in the point table No 1 Acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constant in the point table No 1 2 Setti...

Page 614: ...ON OFF ON OFF ON OFF ON OFF No 4 No 4 Parameter No PA11 PA12 Parameter No PC35 No 8 Note 2 4ms or more Current station No No 0 0 1 2 3 4 5 6 7 8 7 6 5 4 8 4 Operation mode selection 2 RYn7 Operation mode selection 1 RYn6 Start RYn1 Rotation direction specifying RYn2 Servo motor speed Forward rotation Reverse rotation 0r min In position RXn1 Station output 1 to 8 RX n 2 2 to RX n 2 9 Note 1 Note 1 ...

Page 615: ...int table No 1 2 Operation Turn on the start RYn1 to operate the servo motor with the servo motor speed set in the parameter No PC12 acceleration time constant and deceleration time constant set in the point table No 1 Turning off RYn1 makes the servo motor decelerate to stop regardless of stations For the rotation direction refer to 2 in section 16 8 1 3 Timing chart The following timing chart sh...

Page 616: ...tion return method Features Torque limit changing dog type home position return With deceleration started at the front end of a proximity dog the position where the first Z phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z phase signal is defined as a home position General home position return method using a proxi...

Page 617: ...Parameter No PC03 0 0 c Choose the polarity at which the proximity dog is detected with parameter No PD16 Input polarity setting Set 0 to detect the dog when the proximity dog device DOG is OFF or 1 to detect the dog when the device is ON 0 0 0 Parameter No PD16 Proximity dog input polarity 0 OFF indicates detection of the dog 1 ON indicates detection of the dog 3 Instructions 1 Before starting ho...

Page 618: ...16 Refer to section 16 9 1 2 and choose dog input polarity Home position return speed Parameter No PC04 Set speed until detection of dog Creep speed Parameter No PC05 Set speed after detection of dog Home position shift distance Parameter No PC06 Set when shifting the home position starting at the first Z phase signal after passage of proximity dog rear end Home position return acceleration decele...

Page 619: ...d Forward rotation 0r min Proximity dog Operation mode selection 1 RYn6 Operation mode selection 2 RYn7 Start RYn1 Proximity dog DOG Rough match RXn2 In position RXn1 Station output 1 to 8 RX n 2 2 to RX n 2 9 Home position return completion RXn3 ZP Note 4ms or more 6ms or more 3ms or less No 0 Parameter No PA11 PA12 Parameter No PC35 Parameter No PC35 Torque limit value to be effective Point tabl...

Page 620: ...pped at the same time when the mode is changed to the home position return mode Home position can be set for any position by rotating the axis with external force The proximity dog DOG cannot be used The proximity dog DOG is disabled even if it is turned off 1 Device Parameter Set the input devices and parameters as indicated below Item Device Parameter Setting description Home position return mod...

Page 621: ...se rotation Makes an automatic return to a position home position return at this position 2 When the current position is beyond the proximity dog At a start a motion is made in the home position return direction and an automatic return is made on detection of the stroke end LSP or LSN The motion stops past the front end of the proximity dog and home position return is resumed at that position If t...

Page 622: ...y and setting parameter values 1 Restrictions In the absolute position detection system the following restriction condition applies for the number of gears on machine side parameter No PA06 CMX and servo motor speed N When CMX 2000 N 3076 7 r min When CMX 2000 N 3276 7 CMX r min When the servo motor is operated at servo motor speed higher than the limited value the absolute position counter warnin...

Page 623: ...revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the general purpose programming controller power is on or off Therefore once the home position is defined at the time of machine installation home position return is not needed when power is s...

Page 624: ...ill erase the absolute position data Replacing battery with the control circuit power on will not erase the absolute position data Refer to section 16 10 3 for mounting procedure of battery to the servo amplifier To replace battery with the control circuit power off refer to 2 of this section 2 When replacing battery with the control circuit power off Replacing battery with the control circuit pow...

Page 625: ...ctor into CN4 Insert connector into CN4 For MR J3 350T or less MR J3 200T4 or less For MR J3 500T or more MR J3 350T4 or more 16 10 4 Procedure to replace battery with the control circuit power off 1 Preparation for battery replacement For the battery replacement a backup battery is required separately from the battery to be replaced Prepare the following batteries Product name Application Quantit...

Page 626: ...o amplifier New MR J3BAT CN4 CN2 MR J3BAT for backup MR J3BTCBL03M Servo amplifier New MR J3BAT Step 1 Connect MR J3BAT for backup to the battery connector of MR J3BTCBL03M Step 2 Remove old MR J3BAT from the servo amplifier Step 3 Mount new MR J3BAT to the servo amplifier Then connect the lead wire plug of new MR J3BAT to the CN4 connector of the servo amplifier Step 4 Remove the MR J3BAT for bac...

Page 627: ... parameter setting valid In this servo amplifier the parameters are classified into the following groups on a function basis Parameter group Main description Basic setting parameters No PA Make basic setting with these parameters Generally the operation is possible only with these parameter settings Gain filter parameters No PB Use these parameters when making gain adjustment manually Extension se...

Page 628: ...selection 0000h PA06 CMX Number of gears on machine side 1 PA07 CDV Number of gears on servo motor side 1 PA08 ATU Auto tuning mode 0001h PA09 RSP Auto tuning response 12 PA10 INP In position range 100 pulse PA11 TLP Forward rotation torque limit 100 0 PA12 TLN Reverse rotation torque limit 100 0 PA13 For manufacturer setting 0002h PA14 POL Rotation direction selection 0 PA15 ENR Encoder output pu...

Page 629: ...ettings With the setting of parameter No PA19 write can be disabled to prevent accidental changes The following table indicates the parameters which are enabled for reference and write by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 setting Setting operation Basic setting parameters No PA Gain Filter parameters No PB Extension setting para...

Page 630: ...e valid when power is switched off then on after setting Select command method maximum torque of the HF KP series servo motor and operation method Command method selection Refer to section 5 4 0 Absolute value command method 1 Incremental value command method 0 Parameter No PA01 Maximum torque selection of the HF KP series servo motor Refer to section 6 1 3 Operation method 0 Point table positioni...

Page 631: ...nerative option is not used For servo amplifier of 100W regenerative resistor is not used For servo amplifier of 200 to 7kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW 01 FR BU2 H FR RC H FR CV H 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cool...

Page 632: ...incremental system 1 Used in absolute position detection system Parameter No PA03 0 0 0 6 Servo motor speed setting unit 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 Select setting units for the servo motor speed 0 0 0 Parameter No P...

Page 633: ...or A37 occurs If the setting of electronic gear ratio is small the servo motor may not operate with the set servo motor speed Setting range of the parameters No PA06 and PA07 for the indexer positioning operation is 1 to 16384 It is different from the setting range for the point table positioning operation Use the parameters No PA06 and PA07 to adjust the rotation amount m on the servo motor shaft...

Page 634: ...o 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 a Auto tuning mode parameter No PA08 Select the gain adjustment mode Gain adjustment mode setting Parameter No PA08 0 0 0 Setting Gain adjustment mode Automatically set parameter No Note Interpolation mode Auto tuning mode 1 Auto tuning mode 2 Manua...

Page 635: ... 18 75 6 3 12 7 19 85 2 4 14 3 20 95 9 5 16 1 21 108 0 6 18 1 22 121 7 7 20 4 23 137 1 8 23 0 24 154 4 9 25 9 25 173 9 10 29 2 26 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 Middle response 59 6 32 Middle response 400 0 9 In position range Parameter Initial value Unit Setting range No Symbol Name PA10 INP In position range 100 pulse 0 to 10000 Set ...

Page 636: ... the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode Set this parameter to 0 0 to generate no torque 11 Station No direction selection Parameter Initial value Unit Setting range No Symbol Name PA14 POL Station No direction selection 0 0 1 POINT This parameter is made valid when power is switched off then on after ...

Page 637: ...et number of pulses The maximum output frequency is 4 6Mpps after multiplication by 4 Use this parameter within this range a For output pulse designation Set 0 initial value in parameter No PC19 Set the number of pulses per servo motor revolution Output pulse set value pulses rev For instance set 5600 to Parameter No PA15 the actually output A B phase pulses are as indicated below 4 5600 A B phase...

Page 638: ...g parameter PB18 LPF Low pass filter 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting 100 0 Hz PB21 For manufacturer setting 0 00 PB22 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control selection 0000h PB25 For manufacturer setting 0000h PB26 CDP Gain...

Page 639: ... 0 Adaptive tuning mode selection 0000h Setting Adaptive tuning mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after the predetermined number of positioning operations are executed for the predetermined pe...

Page 640: ...bration suppression control OFF Note 1 Vibration suppression control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values When this parameter is set to 1 the tuning is completed after the predetermined number of positioning operations are executed for the predetermined period of time and...

Page 641: ...t of auto tuning is automatically used 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Set the gain of the speed loop Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is auto...

Page 642: ...ilter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid 4500 Hz 100 to 4500 PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 0 0 1 2 3 0 2 1 3 2 4 3 5 Notch depth selection Setting Depth Gain Deep to Shallow 40dB 14dB 8dB 4dB Notch width selection Setting Width Standard to Wide Machine resonance suppression filter 2 se...

Page 643: ...er No PB18 setting 0 0 0 0000h Refer to name and function column PB24 MVS Slight vibration suppression control selection Select the slight vibration suppression control When parameter No PA08 auto tuning mode is set to 3 slight vibration suppression control is made valid Slight vibration suppression control selection 0 Invalid 1 Valid 0 0 0 0000h Refer to name and function column PB25 For manufact...

Page 644: ...Configurator is A3 or earlier 20001 or more cannot be set Use the display operation section of the servo amplifier to set 20001 or more 823 rad s 20 to 20000 PB32 VICB Gain switching speed integral compensation Set the speed integral compensation when the gain switching is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 3 33 7 ms 0 1 to 5000 0 PB33 VRF1B Gain s...

Page 645: ...tion 0000h PC20 SNO Station number setting 0 station PC21 SOP RS 422 communication function selection 0000h PC22 COP1 Function selection C 1 0000h PC23 For manufacturer setting 0000h PC24 Not used in indexer positioning operation 0000h PC25 For manufacturer setting 0000h PC26 COP5 Function selection C 5 0000h PC27 For manufacturer setting 0000h PC28 Not used in indexer positioning operation 0000h ...

Page 646: ...tion Home position return direction 0 Station No increment direction 1 Station No decrement direction 0 Parameter No PC03 0 0 0001h Refer to name and function column PC04 ZRF Home position return speed Used to set the servo motor speed for home position return Refer to section 16 9 500 r min 0 to permissible speed PC05 CRF Creep speed Used to set the creep speed after proximity dog detection Refer...

Page 647: ...6 MBR Electromagnetic brake sequence output Used to set the delay time Tb between when the electromagnetic brake interlock MBR switches off and when the base circuit is shut off 100 ms 0 to 1000 PC17 Not used in indexer positioning operation Do not change the parameter 50 PC18 BPS Alarm history clear Used to clear the alarm history Alarm history clear 0 Invalid 1 Valid When alarm history clear is ...

Page 648: ...n selection C 1 Select the encoder cable communication system selection 0 0 0 Encoder cable communication system selection 0 Two wire type 1 Four wire type Incorrect setting will result in an encoder alarm 1 A16 or encoder alarm 2 A20 0000h Refer to the name and function field PC23 For manufacturer setting Do not change this value by any means 0000h PC24 Not used in indexer positioning operation D...

Page 649: ...e acceleration deceleration time constant in the point table No 1 0000h Refer to name and function column PC31 Not used in indexer positioning operation 0 PC32 Do not change the parameter PC33 0 PC34 PC35 TL2 Internal torque limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced 100 0 0 to 100 0 PC36 For manufact...

Page 650: ...the power When the sift distance is larger than the in position range the in position RXn1 does not turn on at power on Set the number of pulses to be shifted after converting it into hexadecimal The setting range is from 2000 to 2000 pulse 0000h pulse Refer to name and function column PC48 For manufacturer setting 0000h PC49 Do not change this value by any means 0000h PC50 COPA Function selection...

Page 651: ...aring the alarm history automatically returns to 0 This parameter is made valid by switching power off then on after setting Parameter No PC18 0 0 0 Alarm history clear 0 Invalid not cleared 1 Valid cleared 4 Rough match output Rough match RXn2 is output when the command remaining distance reaches the value set in parameter No PC11 rough match output range The setting range is 0 to 65535 pulse Ser...

Page 652: ...anufacturer setting 0000h PD14 Not used in indexer positioning operation 0800h PD15 For manufacturer setting 0000h PD16 DIAB Input polarity selection 0000h PD17 For manufacturer setting 0000h PD18 0000h PD19 DIF Response level setting 0002h PD20 DOP1 Function selection D 1 0010h PD21 For manufacturer setting 0000h PD22 Not used in indexer positioning operation 0000h PD23 For manufacturer setting 0...

Page 653: ...me Initial value BIN HEX Forced stop EMG BIN 0 Used for CC Link or an external input signal BIN 1 Automatic ON For example to turn ON SON the setting is C 0000h Refer to name and function column PD02 For manufacturer setting Do not change this value by any means 0000h PD03 Not used in indexer positioning operation 0000h PD04 Do not change the parameter 0000h PD05 For manufacturer setting Do not ch...

Page 654: ...reverse rotation stroke end LSN OFF and the base circuit status at reset RY n 1 A or RY n 3 A ON Selection of base circuit status at reset RY n 1 A or RY n 3 A ON 0 Base circuit not switched off 1 Base circuit switched off 0 0 Stopping method for Forward rotation stroke end LSP off or Reverse rotation stroke end LSN off 0 Sudden stop home position erased 1 Slow stop home position erased 2 Slow sto...

Page 655: ...mal value of 1388h is 10000ms but it is limited to 1000ms which is the upper limit of the setting range 0000h ms 0000h to 03E8h CAUTION If CC Link communication error A8D does not have to be detected use the communication time out detection time in the initial setting When you change the setting value do not set an unnecessarily long time period Doing so interferes swift stop operation at an occur...

Page 656: ...0 Initial value 3 With S pattern acceleration deceleration Without S pattern acceleration deceleration LSP or LSN Servo motor speed 0r min ON OFF LSP or LSN Servo motor speed 0r min ON OFF With S pattern acceleration deceleration Without S pattern acceleration deceleration Clears droop pulses and stops Erases the home position A difference occurs between the command position and the current positi...

Page 657: ...ling is shorted Alarm occurs Remove cause Section 16 12 4 2 Switch on servo on Alarm occurs Remove cause Section 16 12 4 Servo motor shaft is not servo locked is free 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal indication to see if the servo on is on 1 Servo on is not switched on Wiring mistake 2 Interface power supply 24 V DC is not suppli...

Page 658: ...ta is not received for a given period of time SD Lit when send data is 0 RD Lit when the carrier of receive data is detected L ERR Lit when the data addressed to the host is in CRC or abort error Note Communication alarm display LED Error description L RUN SD RD L ERR Normal communication is made but a CRC error sometimes occurs due to noise Normal communication Hardware error Hardware error Recei...

Page 659: ...rror A9E CC Link warning 2 A15 Memory error 2 EEP ROM A9F Battery warning AE0 Excessive regeneration warning A16 Encoder error 1 AE1 Overload warning 1 At power on AE3 Absolute position counter warning A17 Board error AE6 Servo forced stop warning A19 Memory error 3 Flash ROM AE8 Cooling fan speed reduction warning A1A Motor combination error AE9 Main circuit off warning A20 Encoder error 2 during...

Page 660: ... amplifier servo motor to fail Remove the cause of occurrence and leave a cooling time of 30 minutes or longer before resuming operation Regenerative error A30 Main circuit device overheat A45 Servo motor overheat A46 Overload 1 A50 Overload 2 A51 For the alarm deactivation method refer to 1 in this section Parameter error A37 is not recorded in the alarm history When an alarm occurs the malfuncti...

Page 661: ...pply cables 2 Check that the bus voltage is the following value or more 200V class 200VDC 100V class 158VDC 400V class 380VDC Change the servo amplifier 6 The power supply voltage is distorted When power impedance is high the waveform of power supply voltage may be distorted due to the power regeneration current and recognized as undervoltage 1 Set parameter No PC27 to 0001 2 Review the power supp...

Page 662: ...od 1 Check that the encoder cable and the power cable run in parallel 2 Check if the environment is affected by the noise of surrounding electromagnetic valve magnetic contactor relay etc 3 Check the servo amplifier and servo motor for grounding 4 Check if there is a factor causing surrounding static electricity 5 Check shield procedure of the encoder cable Take the grounding and noise reduction t...

Page 663: ... the auto tuning response setting 8 4 Encoder fault Change the servo motor 5 External noise caused a communication error Check method 1 Check that the encoder cable and the power cable run in parallel 2 Check if the environment is affected by the noise of surrounding electromagnetic valve magnetic contactor relay etc 3 Check the servo amplifier and servo motor for grounding 4 Check if there is a f...

Page 664: ...eck method The alarm does not occur when the power is switched on after disconnection of servo motor power lines in external dynamic brake side terminal 1 Check the parameter and dynamic brake sequence 2 Change the external dynamic brake 6 External noise caused the overcurrent detection circuit to misoperate Check method 1 Check if the environment is affected by the noise of surrounding electromag...

Page 665: ...ed Connect correctly 4 5 Built in regenerative resistor or regenerative option faulty Change the servo amplifier or regenerative option Regenerative transistor fault 6 Servo amplifier fault Regenerative transistor is faulty Check method 1 The regenerative option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative resistor or regenerative option Change the s...

Page 666: ... brake side terminal 1 Check the parameter and dynamic brake sequence 2 Change the external dynamic brake 3 Servo amplifier fault Check method The alarm occurs even if the power is switched on after disconnection of the servo motor power lines from the servo motor power output U V and W Change the servo amplifier 4 Servo motor fault Check method The alarm does not occur when the power is switched ...

Page 667: ...supply lines is high and leak current from the servo motor power lines is large Use a regenerative option Products without built in regenerative resistor 8 Ground fault occurred in the servo motor power output U V and W Correct the wiring 9 High power supply voltage Check the power 10 Servo amplifier fault The regenerative transistor fault Change the servo amplifier A37 Parameter error Parameter s...

Page 668: ...ccurred after the power supply is turned on Change the servo amplifier A46 Servo motor overheat Servo motor temperature rise actuated the thermal sensor 1 Ambient temperature of servo motor is over 40 104 Check environment so that ambient temperature is 0 to 40 32 to 104 1 2 10 20 2 Servo motor is overloaded 1 Reduce load 2 Check operation pattern 3 Use servo motor that provides larger output 3 Th...

Page 669: ...ared by the power supply turned OFF and ON the overload operations have been repeated 1 Reduce the load 2 Check operation pattern 3 Use a servo amplifier that provides larger output 1 3 The servo system is unstable and causing hunting or resonance 1 Repeat acceleration decelerati on to execute auto tuning 2 Change the auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment m...

Page 670: ...e auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Check the coupling with servo motor shaft for looseness 3 Machine collision 1 Check operation pattern 2 Install limit switches 3 Check if the electromagnetic brake is released 4 Wrong connection of servo motor Servo amplifier s output terminals U V and W do not match servo motor s input terminals U V and W ...

Page 671: ...shaft was rotated by external force 1 When torque is limited increase the limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine collision 1 Check operation pattern 2 Install limit switches 7 Encoder fault Change the servo motor 8 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 9 ...

Page 672: ...on error Serial communication error occurred between servo amplifier and communication device e g personal computer 1 Communication cable fault Open cable or short circuit Repair or change the cable 1 2 2 Communication device e g personal computer faulty Check the communication setting of the communication device e g personal computer 3 The character codes are incorrect Check the character codes 4...

Page 673: ...vo amplifier is switched OFF ON during the warnings allow more than 30 minutes for cooling before resuming operation Excessive regenerative warning AE0 Overload warning 1 AE1 Always execute a home position return when the forward rotation stroke end LSP or the reverse rotation stroke end LSN turns off Warnings are not recorded in the alarm history When AE6 and AE9 occur the servo turns off When an...

Page 674: ...ction system Positioning operation was performed without home position setting 1 Positioning operation was performed without home position setting Perform home position setting Home position setting ended abnormally 2 Home position return speed could not be decreased to creep speed 3 Limit switch was actuated during home position setting starting at other than position beyond dog Check home positi...

Page 675: ...erse rotation A9D CC Link warning 1 The station number switch or baud rate switch position was changed from the setting at power on 1 The station number switch position was changed from the setting at power on Restore to the setting at the time of power on 2 The baud rate switch position was changed from the setting at power on 3 The occupied station count switch position was changed from the sett...

Page 676: ...g fan 1 Cooling fan life expiration Refer to section 2 5 Change the cooling fan of the servo amplifier 2 The power supply of the cooling fan is broken Change the servo amplifier 3 The cooling fan is clogged with foreign matter and the speed was decreased Remove the foreign matter AE9 Main circuit off warning Servo on SON was switched on with main circuit power off Switch on main circuit power AEC ...

Page 677: ...urs After the parameter No of parameter error A37 the point table error details are displayed Error item Spd speed Acc acceleration time constant Dec deceleration time constant Point table error details For the point table No 1 speed data error A L 3 7 0 0 P B 1 0 P B 1 1 P B 1 2 P B 1 6 Point table No with error S p d 0 0 1 ...

Page 678: ...ng AE9 is occurring The servo on was turned on while the main circuit power of servo amplifier is off Turn on the main circuit power supply Check if a servo alarm or warning is occurring A servo alarm occurred Check the alarm content and remove its cause Check the on off state of servo on and reset Servo on is off Turn on servo on Reset is on Turn off reset Check the setting of parameter No PA01 c...

Page 679: ...etic brake The electromagnetic brake has not been released Turn on the power supply of the electromagnetic brake to release the brake The servo motor vibrates with low frequency If the servo motor can be driven safely repeat acceleration and deceleration three or four times to complete auto tuning Failed to estimate the load to motor inertia ratio by auto tuning If the auto tuning mode 2 or the ma...

Page 680: ...omplete auto tuning 2 Reduce the auto tuning response parameter No PA09 Except for the manual mode 1 The servo gain is too high 2 The auto tuning response is too high Decrease the auto tuning response and readjust the gain Refer to chapter 9 If the servo motor can be driven safely execute the adaptive tuning The machine is vibrating resonating Adjust the machine resonance suppression filter Refer ...

Page 681: ... 1 The servo gain is low 2 The auto tuning response is low Increase the auto tuning response and readjust the gain Refer to chapter 9 Check if the limiting torque TLC is in ON 1 Check with the external I O signal display in the diagnostic mode 2 Check with Input output I F Display command of Monitor menu on MR Configurator An unintended torque limit is enabled When the torque limit is enabled the ...

Page 682: ...of the proximity dog switch The position of the proximity dog switch is deviated or installation of the proximity dog is faulty Adjust the installation of the proximity dog switch Check the controller programs The controller programs are incorrect Check the controller programs The position deviates during operation after the home position return Check the servo alarm and warning 1 A servo alarm oc...

Page 683: ...incorrect 1 Review the point table setting 2 Review the controller programs The input value from the manual pulse generator MR HDP01 and the command position mm do not match Wiring or multiplication setting parameter No PA05 manual pulse generator multiplication 1 TP1 and manual pulse generator multiplication 2 TP2 of the manual pulse generator is incorrect 1 Check the wiring 2 Check if the multip...

Page 684: ... 2 Too large load 1 Reduce the load by changing the mass and shape of the workpiece 2 Reduce the effective load ratio by increasing acceleration deceleration time The setting of the torque limit is incorrect Set with parameter PA11 PA12 PC35 Review the torque limit setting Check if there is a backlash on the machine part There is a backlash between the servo motor and the machine such as a gear an...

Page 685: ...a failure of electromagnetic brake For the life of electromagnetic brake refer to Servo Motor Instruction Manual Vol 2 Change the servo motor The coasting distance of the servo motor became longer Check if the load was increased If the load was increased the permissible load to motor inertia ratio of the dynamic brake was exceeded Refer to section 13 3 1 Reduce the load 2 Change the servo amplifie...

Page 686: ...tion 3 RYnC Speed command data can be directly specified by using the remote register when 2 stations are occupied Set the acceleration time constant and deceleration time constant by specifying the acceleration time constant and deceleration time constant of the point table No 1 to 2 in the device of speed acceleration and deceleration selection RYnD 17 1 2 Servo amplifier standard specifications...

Page 687: ...n Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies Section 9 2 S pattern acceleration deceleration time constant Speed can be increased and decreased smoothly Parameter No PC13 Regenerative option Used when the built in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power ...

Page 688: ...ailable RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF RYn9 Instruction code execution demand COR RXn9 Instruction code execution completion COF RYnA Speed selection 1 SP0 RXnA Warning WNG RYnB Speed selection 2 SP1 RXnB Not available RYnC Speed selection 3 SP2 RXnC Not available RYnD Speed acceleration deceleration selection STAB RXnD Dynamic brake interlock DB RYnE to RY n 1 9 Not ...

Page 689: ... Instruction code execution completion COF RYnA Speed selection 1 SP0 RXnA Warning WNG RYnB Speed selection 2 SP1 RXnB Not available RYnC Speed selection 3 SP2 RXnC Not available RYnD Speed acceleration deceleration selection STAB RXnD Dynamic brake interlock DB RYnE to RY n 1 F Not available RXnE Not available RXnF Zero speed detection ZSP RX n 1 0 to RX n 1 F Not available RY n 2 0 Not available...

Page 690: ... Reading data RWwn 4 Not available RWrn 4 Not available RWwn 5 Not available RWrn 5 Monitor 2 data lower 16 bits RWwn 6 Speed command data Speed selection No Note 3 RWrn 6 Monitor 2 data upper 16 bits RWwn 7 Not available RWrn 7 Not available Note 1 n depends on the station No setting 2 Specify the code of the lower 16 bits as the monitor code of 32 bit data 3 If parameter No PC30 is set to 0 spec...

Page 691: ...nd 0 0 1 CCW direction 1 0 CW direction 1 1 Stop stop when speed command 0 Note 0 OFF 1 ON When RYn1 and RYn2 are turned on or off during operation the servo motor decelerates to a stop In this case the servo will not be locked The servo motor speed will be controlled to 0r min and the stop position will not be maintained Forward rotation stroke end In factory setting an external input signal CN6 ...

Page 692: ...nstruction code execution the respond code indicating normal or error is set to RWrn 2 At the same time RXn9 turns on Refer to section 17 2 4 for details of instruction code RYn9 RYn9 Speed selection 1 Select the servo motor speed in the point table No 1 to 8 using RYnA to RYnC You can also switch the servo motor speed during operation RYnA RYnA 3 Speed selection 2 Point table No Note RY of CC Lin...

Page 693: ...e torque not exceed the rated torque using internal torque limit parameter No PC35 RY n 2 7 2 Gain switching When RY n 2 8 is turned on the load to motor inertia ratio and the corresponding gain values change to the values of parameter No PB29 to PB32 To change the gain using RY n 2 8 disable the auto tuning RY n 2 8 Speed specifying method selection Select how to give a speed command Refer to sec...

Page 694: ... demand RYn9 RXn9 RXn9 Warning When a warning occurs RXnA turns on When no warning occurs turning on the power will turn off RXnA after about 1 s RXnA RXnA Dynamic brake interlock RXnD turns on when the dynamic brake needs to operate When using an external dynamic brake with the servo amplifier of 11kW or more this device is required Refer to section 14 6 For the servo amplifier of 7kW or less it ...

Page 695: ...gned to the CN6 15 pin as an external output signal RX n 1 A or RX n 3 A turns on when the protective circuit is activated to shut off the base circuit When no alarm has occurred RX n 1 A or RX n 3 A turns off within about 1 5 s after power is switched on RX n 1 A RX n 3 A Remote station communication ready This signal turns on at power on and turns off at an alarm occurrence or in the reset RY n ...

Page 696: ...o RWwn 1 and turning on RYn8 stores data to RWrn 5 RXn8 turns on at the same time When requesting 32 bit data specifying the lower 16 bits of the monitor code and turning on RYn8 stores the lower 16 bit data to RWrn 5 and the upper 16 bit data to RWrn 6 RXn8 turns on at the same time Refer to section 17 2 3 for the monitor codes of the status indication Refer to section 17 2 3 RWwn 2 RWwn 2 Instru...

Page 697: ...data Data corresponding to the read code set to RWwn 2 is set When 2 stations are occupied Remote register Signal name Description RWrn Monitor 1 data lower 16 bits The lower 16 bits of the data of the monitor code set to RWwn are set RWrn 1 Monitor 1 data upper 16 bits The upper 16 bits of the data of the monitor code set to RWwn are set A sign is set if there are no data in the upper 16 bits RWr...

Page 698: ... used in speed control operation 0002h 0003h 0003h 0004h 0005h 0005h 0006h 0007h 0007h 0008h 0008h Not used in speed control operation 0009h 000Ah 000Ah Cumulative feedback pulses lower 16 bits 16bit pulse 000Bh Cumulative feedback pulses upper 16 bits 16bit pulse 000Ch 000Dh 000Eh 000Eh Not used in speed control operation 000Fh 0010h 0010h 0011h 0011h Regenerative load ratio 16bit 0012h 0012h Eff...

Page 699: ...Link operation mode 0001 Test operation mode 0010h Current alarm warning reading Reads the alarm No or warning No occurring currently 0 0 Alarm No warning No occurring 0020h Alarm No in alarm history most recent alarm Alarm No that occurred in past 0 0 0021h Alarm No in alarm history first recent alarm 0022h Alarm No in alarm history second recent alarm 0023h Alarm No in alarm history third recent...

Page 700: ... rotation stroke end C Speed selection 3 5 Reverse rotation stroke end D Speed acceleration deceleration selection 6 E 7 F 0041h Input device status 1 Reads the status off on of the input devices Bit 0 to bit F indicate the off on status of the corresponding input device bit F bit 0 bit Device bit Device 0 8 Gain switching 1 Speed command execution demand 9 2 A Speed specifying method selection 3 ...

Page 701: ...ed reached D Dynamic brake interlock 6 Electromagnetic brake interlock E 7 F Zero speed detection 0051h Output device status 1 Reads the status off on of the output devices Bit 0 to bit F indicate the off on status of the corresponding output device bit F bit 0 bit Device bit Device 0 8 1 Speed command execution completion 9 2 A 3 B 4 C 5 D 6 E 7 F 0052h Output device status 2 Reads the status off...

Page 702: ... Returns the number of power on times Power on frequency 00A0h Load to motor inertia ratio Reads the estimated load to motor inertia ratio to servo motor shaft inertia moment Return unit times Ratio of load inertia moment 00C0h Error parameter No Point data No reading Reads the parameter No point table No in error Parameter No or point table No Parameter group 0 Basic setting parameters No PA 1 Ga...

Page 703: ... parameter No PA19 an error code is returned and the data cannot be read The value set in the parameter No corresponding to the requested parameter group is stored 0301h to 03FFh Data format of parameter Reads the data format of each No of the parameter group read with code No 0200h The values of the last 2 digits of the code No are converted to decimal and the decimal value corresponds to the par...

Page 704: ...lay data of the status indication Cumulative feedback pulse to 0 1EA5 8200h Writing parameter group command Writes the group of parameters that are written to with codes No 8201h to 82FFh and 8301h to 83FFh Writes the group of parameters that are read with codes No 0201h to 02FFh and 0301h to 03FFh 0 0 0 Parameter group 0 Basic setting parameters No PA 1 Gain filter parameters No PB 2 Extension se...

Page 705: ...e No corresponds to the point table No Convert the values into hexadecimal before setting 8D01h to 8D08h Servo motor speed data EEP ROM command of point table Writes the servo motor speed of point table No 1 to 8 to EEP ROM The values are written to EEP ROM and therefore stored even if the power is switched off The decimal value converted from the lower two digits of the code No corresponds to the...

Page 706: ...0 Error related to monitor code 1 monitor code 2 Code No Error detail Details Normal return Code error Successfully executed An incorrect code No is specified Code No Error detail Details Normal return Code error Parameter selection error Out of writing data range Successfully executed An incorrect code No is specified An unavailable parameter No is specified A value out of the setting range is se...

Page 707: ...G is turned on Forward rotation stroke end LSP CN6 3 For the details of the devices refer to section 17 2 2 1 Reverse rotation stroke end LSN CN6 4 b Output device POINT The output devices assigned to the CN6 connector pins can be used for CC Link RX Device Device Symbol Connector Pin No Functions Applications Ready RD CN6 14 For the details of the device refer to section 17 2 2 2 Malfunction ALM ...

Page 708: ...e The power supply capacity varies with the number of I O interface points to be used For the sink interface connect of the 24VDC external power supply Digital I F common DOCOM CN6 17 Common terminal of input signals such as DOG and EMG of the servo amplifier This is separated from LG For the source interface connect of the 24VDC external power supply MR HDP01 open collector power input OPC CN6 18...

Page 709: ... PA12 Torque limit value in Parameter No PA11 b Torque limit value selection Torque is limited with the forward rotation torque limit parameter No PA11 the reverse rotation torque limit parameter No PA12 or the internal torque limit 2 parameter No PC35 as follows by using the internal torque limit selection RY n 2 6 Note RY n 2 6 Limit value status Enabled torque limit CCW power running CW regener...

Page 710: ...ommands Test operation with the servo motor and machine connected Gain adjustment Actual operation Stop Check whether the servo amplifier and servo motor are wired correctly using visual inspection DO forced output function section 7 7 4 8 5 7 4 etc Refer to section 17 4 2 Check the surrounding environment of the servo amplifier and servo motor Refer to section 17 4 3 Use the MR PRU03 parameter un...

Page 711: ...or may fail M U V W U V W Servo amplifier Servo motor L1 L2 L3 3 The earth terminal of the servo motor must be connected to the PE terminal of the servo amplifier M Servo amplifier Servo motor 4 P1 and P2 P1 and P for 11kW or more must be connected Servo amplifier P1 P2 c When option and peripheral equipment are used 1 When the regenerative option is used for the 200V class servo amplifier of 3 5k...

Page 712: ...1 and P for 11kW or more Refer to section 14 11 Power factor improving DC reactor Servo amplifier Note P1 P2 Note Always disconnect P1 and P2 P1 and P for 11kW or more 2 I O signal wiring a The I O signals must be connected correctly Use the DO forced output to forcibly turn on off the pins of the CN6 connector This function can be used to perform a wiring check In this case switch on the control ...

Page 713: ...ny of the following conditions occurs the servo amplifier interrupts and stops the operation of the servo motor Refer to section 4 11 for the servo motor with an electromagnetic brake a Servo on RYn0 off The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden ...

Page 714: ...table is designated from the controller to switch on the forward rotation start RYn1 or reverse rotation start RYn2 the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal Test operation with the servo motor and machine connected In this step connect th...

Page 715: ...n filter parameters No PB and I O setting parameters No PD Parameter group Main description Basic setting parameters No PA Set the basic setting parameters first In this parameter group set the following items Control mode selection Regenerative option selection Servo motor speed setting unit selection Auto tuning selection and adjustment Torque limit setting Encoder output pulse setting Gain filt...

Page 716: ...Acceleration time constant Set the acceleration time constant In the speed control operation use the acceleration time constant of the point table No 1 and 2 Deceleration time constant Set the deceleration time constant In the speed control operation use the deceleration time constant of the point table No 1 and 2 Dwell Not used in speed control operation Do not change the parameter Sub function N...

Page 717: ... Note 3 Ready When alarm occurs alarm code appears Servo amplifier power off At occurrence of overload Flicker display At occurrence of overload warning Note 2 Flicker display During forced stop Flicker display Alarm reset or warning Note 1 When alarm warning No is displayed Note 1 Only the alarm and warning No are displayed but no axis No is displayed 2 If warning other than AE6 occurs during ser...

Page 718: ...ccurred Note 2 A Alarm Warning Indicates the alarm No warning No that occurred Refer to section 17 9 4 8 8 8 CPU error Indicates that a CPU watchdog error has occurred Note 3 0 0 d 0 0 C Note 3 Test operation mode JOG operation positioning operation program operation DO forced output Note 1 d Motor less operation C Note 1 denotes any of numerals 00 to 64 and what it means is listed below Descripti...

Page 719: ...motor speed Point table No 2 Servo motor speed Acceleration deceleration time constants of point table No 2 Point table No 3 Servo motor speed Point table No 5 Servo motor speed 17 7 2 Changing speed by remote register only when 2 stations are occupied 1 When parameter No PC50 0 Forward rotation start RYn1 Reverse rotation start RYn2 Speed command data RWwn 6 Speed specifying system selection RY n...

Page 720: ...and execution demand RY n 2 1 Speed command execution completion RX n 2 1 Speed acceleration deceleration selection RYnD Servo motor Speed Forward rotation Reverse rotation 0 r min Speed reached RXn5 Speed reached RXn5 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Acceleration deceleration time constants of point table No 1 Acceleration deceleration time constants of point table No 2 ...

Page 721: ...ervo amplifier the parameters are classified into the following groups on a function basis Parameter group Main description Basic setting parameters No PA Make basic settings with these parameters Generally the operation is possible only with these parameter settings Gain filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC This param...

Page 722: ...eed control operation 1 PA07 Do not change the parameter 1 PA08 ATU Auto tuning mode 0001h PA09 RSP Auto tuning response 12 PA10 Not used in speed control operation 100 Do not change the parameter PA11 TLP Forward rotation torque limit 100 0 PA12 TLN Reverse rotation torque limit 100 0 PA13 For manufacturer setting 0002h PA14 Not used in speed control operation 0 Do not change the parameter PA15 E...

Page 723: ...meter No PA19 Setting value Setting value Operation Basic setting Parameter No PA Gain Filter Parameter No PB Extension setting Parameter No PC I O setting Parameter No PD 0000h Reference Writing 000Bh Reference Writing 000Ch initial value Reference Writing 100Bh Reference Writing Parameter No PA19 only 100Ch Reference Writing Parameter No PA19 only 3 Selection of operation method and HF KP series...

Page 724: ... amplifier of 11k to 22kW 01 FR BU2 H FR RC H FR CV H 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 80 MR RB1H 4 81 MR RB3M 4 Cooling fan is required 82 MR RB3G 4 Cooling fan is required 83 MR RB5G 4 Cooling fan is required 84 MR RB34 4 Cooling fan is required 85 MR RB54 4 Cooling fan is required FA When the supplied r...

Page 725: ...r No PA08 Select the gain adjustment mode 0 0 0 0 1 2 3 Parameter No PA08 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No Note Interpolation mode Auto tuning mode 1 Auto tuning mode 2 Manual mode PB06 PB08 PB09 PB10 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10 Note The parameters have the following names Parameter No Name PB06 Load to motor inertia ratio PB...

Page 726: ...6 Middle response 59 6 32 High response 400 0 7 Torque limit Parameter Initial value Unit Setting range No Symbol Name PA11 TLP Forward rotation torque limit 100 0 0 to 100 0 PA12 TLN Reverse rotation torque limit 100 0 0 to 100 0 You can limit the torque generated by the servo motor a Forward rotation torque limit parameter No PA11 Set the parameter on the assumption that the maximum torque is 10...

Page 727: ...mum output frequency is 4 6 Mpps after multiplication by 4 Use this parameter within this range a For output pulse designation Set 0 initial value in parameter No PC19 Set the number of pulses per servo motor revolution Output pulse set value pulse rev For instance if 5600 is set to parameter No PA15 the actual A B phase output pulses are as indicated below A phase and B phase output pulses 5600 4...

Page 728: ...tch shape selection 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 0000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting 3141 rad s PB19 Not used in speed control operation 100 0 PB20 Do not change the parameter 100 0 PB21 For manufacturer setting 0 00 PB22 0 00 PB23 VFBF Low pass filter selection 0000h PB24 Not used in speed con...

Page 729: ...ncy Frequency Notch frequency Notch depth Response of mechanical system 0 0 0 Adaptive tuning mode selection 0000h Setting value Adaptive tuning mode Automatically set parameter 0 Filter off Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after the pre...

Page 730: ...9 VG2 Speed loop gain Set the gain of the speed loop Set this parameter when vibration occurs on machines of low rigidity or large backlash Increasing the setting value increases the response level but is more likely to generate vibration or noise When auto tuning mode 1 and 2 and interpolation mode are set the result of auto tuning is automatically used 823 rad s 20 to 50000 PB10 VIC Speed integr...

Page 731: ...unction column PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 Notch shape selection 2 to 1 to enable this parameter 4500 Hz 100 to 4500 PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 0 1 2 3 0 2 1 3 2 4 3 5 0 Notch depth selection Notch width selection Sett...

Page 732: ...n 0 Valid at more than condition Valid when gain switching RY n 2 8 is on 1 Valid at less than condition Valid when gain switching RY n 2 8 is off Gain switching selection The gain is switched depending on the setting value of parameter No PB29 to PB32 with the following conditions 0 Invalid 1 Gain switching RY n 2 8 2 Command frequency Parameter No PB27 setting 3 Droop pulse value Parameter No PB...

Page 733: ...led parameter No PA08 3 823 rad s 20 to 50000 PB32 VICB Gain switching speed integral compensation Set the speed integral compensation when the gain switching is enabled This parameter is enabled when the auto tuning is disabled parameter No PA08 3 33 7 ms 0 1 to 5000 0 PB33 Not used in speed control operation Do not change the parameter 100 0 PB34 100 0 PB35 For manufacturer setting 0 00 PB36 Do ...

Page 734: ...se selection 0000h PC20 SNO Station number setting 0 station PC21 SOP RS 422 communication function selection 0000h PC22 COP1 Function selection C 1 0000h PC23 For manufacturer setting 0000h PC24 Not used in speed control operation 0000h Do not change the parameter PC25 For manufacturer setting 0000h PC26 COP5 Function selection C 5 0000h PC27 For manufacturer setting 0000h PC28 Not used in speed ...

Page 735: ...ion time constants for the acceleration deceleration time constants of the point table Refer to section 6 3 3 0 ms 0 to 1000 PC14 Not used in speed control operation Do not change the parameter 0 PC15 For manufacturer setting Do not change this value by any means 0000h PC16 MBR Electromagnetic brake sequence output Set a delay time Tb from when the electromagnetic brake interlock MBR is turned off...

Page 736: ...etting Specify the station number for RS 422 serial communication Make sure to set one station number for one axis Setting one station number for multiple axes will disable a normal communication 0 station 0 to 31 PC21 SOP RS 422 communication function selection Select the RS 422 communication function RS 422 communication response delay time 0 Invalid 1 Valid reply sent after delay time of 800 s ...

Page 737: ...facturer setting Do not change this value by any means 0000h PC30 DSS Remote register based speed specifying method selection This parameter is made valid when the speed specifying method selection RY n 2 A is turned on with 2 stations occupied Select how to receive a speed command When 1 station is occupied selecting 0100 will result in a parameter error 0 1 0 0 0 Setting Speed command Specifying...

Page 738: ...ommand data reflection timing selection 0 Reflecting at the rising edge of the Speed command execution demand RY n 2 1 1 Always reflecting while the Position command execution demand RY n 2 1 is on When this parameter is set using MR Configurator with software version C5 or earlier the parameter name is not displayed However the setting value is changeable Follow the instructions in this Instructi...

Page 739: ...1 0C00h PD13 For manufacturer setting 0000h PD14 Not used in speed control operation 0800h Do not change the parameter PD15 For manufacturer setting 0000h PD16 Not used in speed control operation 0000h Do not change the parameter PD17 For manufacturer setting 0000h PD18 0000h PD19 DIF Input filter setting 0002h PD20 DOP1 Function selection D 1 0010h PD21 For manufacturer setting 0000h PD22 Not use...

Page 740: ...Device name Initial value BIN HEX Servo on SON Device name Initial value BIN HEX Proportional control PC Device name Initial value BIN HEX Forward rotation stroke end LSP Reverse rotation stroke end LSN Device name Initial value BIN HEX Forced stop EMG BIN 0 Used for CC Link or an external input signal BIN 1 Automatic on For example when servo on RYn0 is turned on the setting value is 4 0000h Refe...

Page 741: ...ection RYnD is turned on the setting value is 1 0000h Refer to the Name and function column PD04 Not used in speed control operation 0000h Do not change the parameter PD05 For manufacturer setting Do not change this value by any means 0000h PD06 Not used in speed control operation 002Bh PD07 Do not change the parameter 000Ah PD08 000Bh PD09 0002h PD10 0003h PD11 0024h PD12 DIN1 External DI functio...

Page 742: ...ne 1 0 888 ms 2 1 777 ms 3 2 660 ms 4 3 555 ms 5 4 444 ms 0002h Refer to the Name and function column PD20 DOP1 Function selection D 1 Select the stop processing at the time when the forward rotation stroke end LSP reverse rotation stroke end LSN is off and select the base circuit status at the time when the reset RY N 1 A or RY n 3 A is on 0 0 Stopping method for Forward rotation stroke end LSP o...

Page 743: ...0 Selection of output device at warning occurrence Select the warning RXnA and malfunction RX n 1 A or RX n 3 A output status at warning occurrence Setting Note Device status RX of CC Link Output device RXnA RX n 1 A or RX n 3 A ALM ON OFF Warning occurred RX of CC Link Output device RXnA RX n 1 A or RX n 3 A ALM ON OFF Warning occurred Note 0 OFF 1 ON 0000h Refer to the Name and function column ...

Page 744: ...ge 0000h ms 0000h to 03E8h CAUTION If not detecting CC Link communication error A8D use the initial setting value for the communication time out detection time When you change the setting value do not set an unnecessarily long time period Doing so interferes swift stop operation at an occurrence of CC Link communication error A8D This parameter is available with servo amplifiers with software vers...

Page 745: ... cabling is shorted Alarm occurs Remove cause Section 17 9 4 2 Switch on servo on Alarm occurs Remove cause Section 17 9 4 Servo motor shaft is not servo locked is free 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal indication to see if the servo on is on 1 Servo on is not on wiring mistake 2 Interface power supply 24 V DC is not supplied Sect...

Page 746: ...period of time SD Lit when send data is 0 RD Lit when the carrier of reception data is detected L ERR Lit when the data addressed to the host is in CRC or abort error Note Communication alarm display LED Fault L RUN SD RD L ERR Normal communication is made but a CRC error sometimes occurs due to noise Normal communication Hardware fault Hardware fault Receive data results in CRC error disabling a ...

Page 747: ...A13 Clock error A9E CC Link warning 2 A15 Memory error 2 EEP ROM A9F Battery warning A16 Encoder error 1 at power on AE0 Excessive regeneration warning A17 Board error AE1 Overload warning 1 A19 Memory error 3 Flash ROM AE3 Absolute position counter warning A1A Motor combination error AE6 Servo forced stop warning A20 Encoder error 2 during runtime AE8 Cooling fan speed reduction warning A21 Encod...

Page 748: ...he parameter No of the parameter error A37 and the details of the point table error are displayed A L 3 7 0 0 P B 1 0 P B 1 1 P B 1 2 P B 1 6 S p d 0 0 1 Point table No with error Point table error details For the point table No 1 speed data error Error item Spd speed Acc acceleration time constant Dec deceleration time constant ...

Page 749: ... is occurring The servo on was turned on while the main circuit power of servo amplifier is off Turn on the main circuit power supply Check if a servo alarm or warning is occurring A servo alarm occurred Check the alarm content and remove its cause Check the on off state of servo on and reset Servo on is off Turn on servo on Reset is on Turn off reset Check the setting of parameter No PA01 control...

Page 750: ...plete auto tuning Failed to estimate the load to motor inertia ratio by auto tuning If the auto tuning mode 2 or the manual mode is being used the setting of load to motor inertia ratio parameter No PB06 is incorrect Adjust gains Refer to chapter 9 If the auto tuning mode 2 or the manual mode is being used review the setting of load to motor inertia ratio parameter No PB06 Check the command from t...

Page 751: ...o a gap between the connections of brake not a fault The servo motor vibrates 1 If the servo motor can be driven safely repeat acceleration and deceleration three or four times to complete auto tuning 2 Reduce the auto tuning response parameter No PA09 Except for the manual mode 1 The servo gain is too high 2 The auto tuning response is too high Decrease the auto tuning response and readjust the g...

Page 752: ...que limit is enabled When the torque limit is enabled the torque limit TLC is ON Cancel the torque limit Check if the maximum torque exceeds the torque limit value 1 Check the instantaneous torque in the status display 2 Check the torque ripple with Graph command of Monitor menu on MR Configurator The maximum torque is insufficient 1 Shortage of servo capacity 2 Too large load 1 Reduce the load by...

Page 753: ...ere is a backlash on the machine part There is a backlash between the servo motor and the machine such as a gear and coupling Adjust the backlash on the coupling and the machine part Communication with the servo amplifier fails using MR Configurator Check if they are on line They are off line Set them to on line Select on line in the system setting of the Set up menu Check if the communication cab...

Page 754: ...ilure of electromagnetic brake For the life of electromagnetic brake refer to Servo Motor Instruction Manual Vol 2 Change the servo motor The coasting distance of the servo motor became longer Check if the load was increased If the load was increased the permissible load to motor inertia ratio of the dynamic brake was exceeded Refer to section 13 3 1 Reduce the load 2 Change the servo amplifier Fo...

Page 755: ...17 70 17 SPEED CONTROL OPERATION MEMO ...

Page 756: ...rawing for 721 2105 026 000 WAGO Unit mm Driver slot 5 25 5 Detecting hole Coding finger Latch 2 7 20 8 5 8 10 6 15 1 2 9 26 45 4 75 25 2 75 5 4 5 20 Wire inserting hole CN6 1 14 2 15 DICOM 3 16 DOCOM 4 17 5 6 8 10 12 7 9 11 13 19 21 23 25 18 20 22 24 26 LB LA LZ LG LBR LAR LZR PP NP OPC ...

Page 757: ...t setting left Section 3 2 5 Main circuit power supply connector CNP1 Used to connect the input power supply Section 4 1 Section 4 3 Section 12 1 Communication alarm display section Indicates alarms in CC Link communication L RUN SD RD L ERR Section 11 3 USB communication connector CN5 Chapter 7 Used to connect the personal computer RS 422 communication connector CN3 Used to connect the MR PRU03 p...

Page 758: ...it breaker MCCB Magnetic contactor MC Line noise filter FR BSF01 Note 2 Power factor improving DC reactor FR BEL Note 1 Battery MR J3BAT Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using p...

Page 759: ...re After the insulator has been stripped the cable can be used as it is 7mm Insulator Core Twisted wire Use the cable after stripping the insulator without twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together Cabl...

Page 760: ... CN1 6 mounting hole With MR J3BAT Rating plate Cooling fan intake 78 90 85 45 Mass 2 3 kg U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Terminal signal layout PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in 3 M5 screw Approx 90 78 0 3 Approx 6 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in Approx 6 ...

Page 761: ...24 22 HF SP121 2 HA LP701M 8 HA LP45K24 38 HF SP201 2 HA LP11K1M 14 HA LP55K24 38 HF SP301 3 5 HA LP15K1M 22 HF JP53 1 25 HF SP421 5 5 HA LP22K1M 38 HF JP73 1 25 HF SP524 1 25 HA LP30K1M 60 HF JP103 2 HF SP1024 1 25 HA LP37K1M 60 HF JP153 2 HF SP1524 2 HA LP502 5 5 HF JP203 2 HF SP2024 2 HA LP702 8 HF JP353 3 5 HF SP3524 2 HA LP11K2 14 HF JP503 5 5 HF SP5024 3 5 HA LP15K2 22 HF JP703 8 HF SP7024 5...

Page 762: ...asis of the equipment makeup shown in appendix 7 1 1 App 5 1 1 System configuration example As shown below the CC Link system master local unit is loaded to run two servo amplifiers 1 station occupied 2 stations occupied Programmable controller Station No 1 X20 to Station No 2 Power supply A1S62PN CPU A1SHCPU Master station A1SJ61BT11 X Y00 to 1F Input module A1SX40 X20 to X2F Terminating resistor...

Page 763: ...1 as the bit is not used Remote input Remote station communication ready RX0F to RX00 RX1F to RX10 RX2F to RX20 RX3F to RX30 RX7EF to RX7E0 RX7FF to RX7F0 RX4F to RX40 RX5F to RX50 2 Station E4H E5H 3 Station Station No 2 Station No 1 Servo amplifier status 1 station occupied M0 Ready RD M1 In position INP M2 Rough match CPO M3 Home position return completion ZP M4 Limiting torque TLC M5 M6 Electr...

Page 764: ...21 M116 RY0F to RY00 RY1F to RY10 Point table selection 2 Automatic manual selection Forward rotation start Servo on TO instruction Address Note area is for one servo amplifier Set 0 as the bit is not used RY0F to RY00 RY1F to RY10 RY2F to RY20 RY3F to RY30 RY7EF to RY7E0 RY7FF to RY7F0 160H 161H 162H 163H 1DEH 1DFH 1 Station 2 Station 64 Station RY4F to RY40 RY5F to RY50 164H 165H 3 Station Stati...

Page 765: ...dback pulse data hexadecimal Read the cumulative feedback pulse monitor by turning on X20 Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Reads RWr4 and RWr5 of buffer memory to D10 and D11 when monitoring RX28 turns on Writes M100 to M163 to remote output RY20 to RY5F of buffer memory Monitor stop Read command Sets monitor code H000A of feedback pulse in RWw4 Turns on Monitor out...

Page 766: ...to M200 to M263 Reads RWr7 and RWr6 of buffer memory to D1 and D9 when instruction code execution completion RX29 turns on Writes M100 to M163 to remote output RY20 to RY5F of buffer memory Read command Turns on instruction code execution demand RY29 Turns off instruction code execution demand RY29 when instruction code execution completion RX29 turns on Writes parameter No PA04 read H0204 to RWw6...

Page 767: ...de at instruction code execution is set to D9 Read command Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Reads RWr7 and RWr6 of buffer memory to D1 and D9 when instruction code execution completion RX29 turns on Writes M100 to M163 to remote output RY20 to RY5F of buffer memory Writes current alarm read H0010 to RWw6 Turns on instruction code execution demand RY29 Turns off inst...

Page 768: ... servo motor speed data of point table No 1 hexadecimal Set data Description K100 Servo motor speed data of point table No 1 decimal Write the data to the servo motor speed data of point table No 1 by turning on X20 The respond code at instruction code execution is set to D2 Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Writes M100 to M163 to remote output RY20 to RY5F of buffer...

Page 769: ...rameter No PC12 by turning on X20 The respond code at instruction code execution is set to D2 Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Writes M100 to M163 to remote output RY20 to RY5F of buffer memory Write command Writes parameter group No write H8200 to RWw6 and parameter group PC H0002 to RWw7 Turns on instruction code execution demand RY29 Turns off instruction code ex...

Page 770: ...activate the alarm of the servo amplifier of station 2 using the instruction code Code No Description H8010 Alarm reset command hexadecimal Set data Description H1EA5 Execution data hexadecimal Reset the servo amplifier by turning on X20 The respond code at instruction code execution is set to D2 Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Writes M100 to M163 to remote output ...

Page 771: ... the reverse rotation JOG operation by turning on X23 Reads remote input RX00 to RX1F of buffer memory to M200 to M231 Reads RWr0 and RWr1 of buffer memory to D120 and D121 when monitoring RX08 turns on Writes M100 to M131 to remote output RY00 to RY1F of buffer memory Trouble Remote station communication ready Forward rotation JOG command Reverse rotation JOG command Servo on command RY00 Forward...

Page 772: ...ory Operation command In position Position speed specifying system selection RY4A Writes position command data K100000 to RWw8 RWw9 and speed data K1000 to RWwA Turns on position command demand RY40 Reads respond code RWr6 to D2 when Position command execution completion RX40 and Speed command execution completion RX41 turn on Position and speed data establishment time 10ms 1 Turns on forward rota...

Page 773: ...3 to remote output RY20 to RY5F of buffer memory Operation command In position Position speed specifying system selection RY4A Incremental value selection RY4B Turns on position command demand RY40 Reads respond code RWr6 to D2 when position command execution completion RX40 turns on Point table establishment time 10ms 1 Turns on forward rotation start command RY21 Turns off position command deman...

Page 774: ...Executes a forward JOG operation in the manual operation mode X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode X24 Automatic manual selection OFF Manual operation mode ON Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode X26 Proximit...

Page 775: ... Automatic manual selection Home position return command Proximity dog command Home position return completion Reads remote input RX00 to RX1F of buffer memory to M200 to M231 Check the status of CC Link Reads RWr3 and RWr2 of buffer memory to D11 and D12 when instruction code execution completion RX09 turns on Automatic manual selection Automatic operation mode selection RY06 Manual operation mod...

Page 776: ...ositioning start command Forward rotation start request Forward rotation start request reset Command request time 10ms 1 Point table establishment time 10ms 1 Sets monitor code H0001 of current position lower 16 bits in RWw0 Sets monitor code H0002 of current position upper 16 bits in RWw1 Turns on monitor output execution demand RY08 1 Setting time for the timer should be larger than the command ...

Page 777: ...cutes a forward JOG operation in the manual operation mode X23 Reverse rotation JOG command Executes a reverse JOG operation in the manual operation mode X24 Automatic manual selection OFF Manual operation mode ON Automatic operation mode X25 Home position return command Executes a dog type home position return when home position return is incomplete in the automatic operation mode X26 Proximity d...

Page 778: ...ds remote input RX00 to RX3F of buffer memory to M200 to M263 Check the status of CC Link Reads RWr3 and RWr2 of buffer memory to D11 and D12 when instruction code execution completion RX09 turns on Reset command Servo on command Automatic manual selection Home position return command Home position return completion Automatic manual selection Automatic operation mode selection RY06 Manual operatio...

Page 779: ...time 10ms 1 Reads RWr0 and RWr1 of buffer memory to D120 and D121 when monitoring RX08 turns on 1 Writes position command data K50000 to RWw4 RWw5 and speed data K100 to RWw6 Turns on position command demand RY20 Turns on speed command demand RY21 Positioning start command Command request time 10ms 1 Turns off position command demand RY20 Turns off speed command demand RY21 Forward rotation start ...

Page 780: ...ngerous Goods Regulations 54th Edition effective January 1 2013 For lithium metal batteries cells are classified as UN3090 and batteries contained in or packed with equipment are classified as UN3091 a Transportation of lithium metal batteries alone Packaging requirement Classification Main requirement Less than eight cells per package with less than one gram of lithium content UN3090 PI968 Sectio...

Page 781: ...ns apply for transportation 5 Transportation precaution for customers For sea or air transportation attaching the handling label Fig app 1 must be attached to the package of a Mitsubishi cell or battery In addition attaching it to the outer package containing several packages of Mitsubishi cells or batteries is also required When the content of a package must be handled as dangerous goods Class 9 ...

Page 782: ...led and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 0...

Page 783: ...the servo incorporated machines and equipment to comply with the EMC directive For specific EMC directive conforming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone This servo is designed to comply with the low voltage directive 3 Machinery directive The servo amplifiers comply with the safety componen...

Page 784: ...operation in storage in transportation 90 RH or less Maximum altitude In operation in storage 1000m or less In transportation 10000m or less Note 1 Ambient temperature is the internal temperature of the cabinet 2 The servo amplifier 200V 3 5kW or less and 100V 400W or less can be mounted closely In this case keep the ambient temperature within 0 to 45 32 to 113 or use the servo amplifier with 75 o...

Page 785: ...net 7 Peripheral devices options a Use the circuit breaker and magnetic contactor models which are IEC EN Standard compliant products given in this Instruction Manual Use a residual current device RCD of type B When it is not used provide insulation between the servo amplifier and other device by double insulation or reinforced insulation or install a transformer between the main power supply and ...

Page 786: ...MR J3 100T 81 102 102 73 103 MR J3 200TN 121 201 152 202 103 153 152 152 153 203 MR J3 350T 301 352 203 202 202 353 MR J3 500T 421 502 353 503 352 502 302 502 503 MR J3 700T 702 601 701M 702 703 MR J3 11KT 801 12K1 11K1M 11K2 903 11K1M MR J3 15KT 15K1 15K1M 15K2 15K1M MR J3 22KT 20K1 25K1 22K1M 22K2 Servo motor Servo motor HF SP HA LP HF JP MR J3 60T4 524 534 MR J3 100T4 1024 734 1034 MR J3 200T4 ...

Page 787: ...ffect Flange size mm Servo motor HF MP HF KP HF SP HC RP HC UP HC LP HA LP HF JP 250 250 6 053 13 2 3 250 250 12 43 51 81 52 4 to 152 4 103 to 203 52 to 152 53 to 203 534 to 2034 300 300 12 73 300 300 20 121 201 202 4 to 352 4 202 302 550 550 30 353 503 72 152 353 to 503 3534 to 5034 650 650 35 301 421 502 4 to 702 4 202 to 502 601 4 to 12K1 4 701M 4 to 15K1M 4 502 to 22K2 11K24 to 22K24 11K1M 15K...

Page 788: ...t 1000 100 10 1 0 1 100 200 300 350 0 Operation time s Note 1 Load ratio 50 150 250 Servo lock Operation 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Note 1 2 Load ratio Servo lock Operation Operation time s 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Operation time s Servo lock Operation Note 2 Load ratio MR J3 10T 1 MR J3 20T 1 MR J3 40T 1 MR J3 60T 4 MR J3 100T 4 MR J3 200TN 200T4 ...

Page 789: ...12 a a 14 14 g g Note 1 MR J3 700T4 10 10 a a Note 1 MR J3 11KT4 8 10 l j 8 8 l l 12 12 j j Note 1 MR J3 15KT4 6 8 c l 16 16 g g 4 6 d c 10 10 j j Note 1 MR J3 22KT4 6 6 m m 4 6 n m 10 10 k k Servo amplifier Note 3 Wire AWG B1 B2 BU BV BW OHS1 OHS2 MR J3 10T 1 to 40T 1 60T 70T MR J3 100T 200TN MR J3 350T Note 1 MR J3 500T Note 1 MR J3 700T Note 2 14 14 Note 2 16 16 Note 1 MR J3 11KT Note 1 MR J3 1...

Page 790: ... 1614 Note 1 Coat the crimping part with an insulation tube 2 Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size 8 Terminal block tightening torque Servo amplifier Tightening torque N m L1 L2 L3 N P1 P2 P C L11 L21 U V W PE MR J3 10T 1 to 40T 1 60T to 100T 60T4 100T4 200TN 200T4 1 2 MR J3 200T RT 350T 0 6 0 6 MR J3 350T4 ...

Page 791: ...me 125A 250 MR J3 22KT 225A frame 175A 350 MR J3 60T4 50A frame 5A 10 MR J3 100T4 50A frame 10A 15 MR J3 200T4 50A frame 15A 25 MR J3 350T4 50A frame 20A 35 MR J3 500T4 50A frame 30A 600Y 347 50 600 MR J3 700T4 50A frame 40A 65 MR J3 11KT4 60A frame 60A 100 MR J3 15KT4 100A frame 7A 150 MR J3 22KT4 225A frame 125A 175 Note Listed molded case circuit breakers are for when the power factor improving...

Page 792: ...ox 14 168 90 156 6 6 6 6 45 CNP1 CNP3 CNP2 CN1 Note2 Note2 Note2 φ6 mounting hole 85 6 78 Approx 25 5 Approx 14 168 90 156 6 6 6 6 45 CNP1 CNP2 CNP3 CN1 Note3 Note3 Note3 4 φ6 mounting hole 400Vclass Note 1 Servo amplifiers manufactured in March 2008 or earlier are also available However the mounting hole is changed For details contact your local sales office 2 The following shows the model of eac...

Page 793: ...App 38 APPENDIX MEMO ...

Page 794: ...No PD20 modified Sentence of parameter No PD24 changed Parameter No PB07 added Section title modified Diagrams added Model MR CCN1 of No 33 modified Commands 3 and 5 added 15 Group setting Command 9 F added Name of parameter No PB17 For manufacturer setting changed Oct 2007 SH NA 030058 C Servo amplifier Servo motor Section 1 1 2 Section 1 6 1 Section 1 7 Section 2 1 1 b Section 4 1 Section 4 3 3 ...

Page 795: ...on added Description added Outline drawing and dimension table changed Note regarding stepdown transformer added FR RC H15K FR RC H30K FR RC H55K added FR RC H15K FR RC H30K FR RC H55K added Note regarding stepdown transformer added Wire diameter instructions changed Description compliant with JIS deleted Circuit in connection example changed note regarding stepdown transformer added Outline drawi...

Page 796: ... wire added Fuse class changed original K5 class Note added to the table Addition Addition Jun 2008 SH NA 030058 E All pages PLC changed to programmable controller CONFORMANCE WITH UL cUL STANDARD 2 Installation 3 Short circuit rating Section 1 1 6 Section 3 5 1 2 Section 3 5 2 3 a Section 3 7 Section 3 8 Section 4 10 1 Section 5 4 2 3 Section 5 4 3 Section 5 6 1 1 Section 5 6 2 3 Section 5 6 3 2 ...

Page 797: ...rt of diagram is changed The part of diagram is changed Jun 2014 SH NA 030058 G Section 14 2 4 c CAUTION is added May 2016 SH NA 030058 H Section 1 1 2 1 2 3 Section 1 2 1 2 Section 3 5 2 2 Section 4 1 7 8 Section 4 10 2 3 a 1 2 Chapter 9 Section 13 3 Section 13 3 1 1 Section 13 3 2 Section 14 6 Section 14 6 1 2 Section 14 18 2 Section 16 2 2 2 App 5 Diagram partially changed Diagram partially cha...

Page 798: ...anged Table partially changed Diagram partially changed Diagram partially changed Electrical symbols entirely changed JIS C0617 standard HF JP series servo motor added Speed control operation added Chapter 17 Newly added Entirely changed Safety Instructions 2 To prevent fire note the following 4 Additional instructions Sentences partially changed Sentences added 6 Maintenance inspection and parts ...

Page 799: ...MEMO ...

Page 800: ...ish Branch ul Krakowska 50 32 083 Balice Poland Tel Fax 48 12 347 65 00 48 12 630 47 01 Russia Mitsubishi Electric Russia LLC St Petersburg Branch Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 195027 St Petersburg Russia Tel Fax 7 812 633 3497 7 812 633 3499 Sweden Mitsubishi Electric Europe B V Scandinavia Fjelievagen 8 SE 22736 Lund Sweden Tel Fax 46 8 625 10 00 46 46 39 70 18 Turkey Mitsub...

Page 801: ...uct from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please...

Page 802: ...05 MEE Printed in Japan Specifications are subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MR J3 T INSTRUCTIONMANUAL 1CW302 ...

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