Mitsubishi Electric MELSERVO-J3W Series Instruction Manual Download Page 356 | Manualshive

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14. USING A DIRECT DRIVE MOTOR

14 - 23

2) Initialization of the servo parameter at the startup of direct drive servo

a) Before turning the power of servo amplifier on, write the servo parameter default value, which is

unique to the direct drive servo, to the flash ROM of QD75MH referring to the sequence
program example shown in (2) (b) of this section.

b) After completion of writing to the flash ROM, turn the power of servo amplifier on.

POINT

Once the default values are written to the flash ROM at startup, servo parameters

are not required to be written at next power on or later. If the module write with GX
Configurator-QP has been performed using QD75MH , however, initialize the
servo parameters again.

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Summary of Contents for MELSERVO-J3W Series

Page 1: ...T interface 2 axis AC Servo Amplifier J3W Series J3W Series MR J3W 0303BN6 MR J3W B Servo Amplifier Instruction Manual C C HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 The following servo motors will be available in the future All specifications of followings may be changed without notice HG AK0136B HG AK0236B HG AK0336B For situations of conformity with UL CSA standard of the MR J3W 0303BN6 s...

Page 2: ...ardous 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 What must not b...

Page 3: ...lifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to a fire Always connect a magnetic contactor between the power supply and the main circuit power supply L1 L2 and L3 of the servo amplifier in order to configure a circuit that shuts down the power supply on the side of the servo amplifier s power supply If a magnetic...

Page 4: ...uction 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 which has been damaged or has any parts missing Do not block t...

Page 5: ... 52 HC UP72 HF JP53 73 103 X Y 24 5 m s2 Note Vibration resistance HC LP52 X 9 8 m s2 Y 24 5 m s2 5 9 m s2 at 10 to 55Hz directions of X Y and Z axes HG AK series X Y 49 m s2 Note Except the servo motor with a reduction gear Wire the equipment correctly and securely Otherwise the servo motor may operate unexpectedly Do not install a power capacitor surge killer or radio noise filter FR BIF option ...

Page 6: ...ed operation Never adjust or change the parameter values extremely as it will make operation instable 4 Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal of the servo a...

Page 7: ...e safety and deactivate the alarm before restarting operation Provide an adequate protection to prevent unexpected restart after an instantaneous power failure 6 Maintenance inspection and parts replacement CAUTION With age the electrolytic capacitor of the servo amplifier will deteriorate To prevent a secondary accident due to a fault it is recommended to replace the electrolytic capacitor every ...

Page 8: ...amplifier may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Write to the EEP ROM due to device changes Precautions for Choosing the Products Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi machine damage or lost profits caused by faults in the Mitsubishi products damage secondar...

Page 9: ...J3W 0303BN6 Relevant manuals Manual name Manual No MELSERVO J3W Series Instructions and Cautions for Safe Use of AC Servos IB NA 0300148 MELSERVO Servo Motor Instruction Manual Vol 2 Note 1 SH NA 030041 EMC Installation Guidelines IB NA 67310 SSCNET III Interface Linear Servo MR J3 B RJ004 INSTRUCTION MANUAL Note 2 SH NA 030054 SSCNET III Interface Direct drive servo MR J3 B RJ004 INSTRUCTION MANU...

Page 10: ...er supply system 3 6 3 3 1 Signal explanations 3 6 3 3 2 Power on sequence 3 8 3 3 3 CNP1 CNP2 CNP3A CNP3B wiring method 3 9 3 4 Connectors and signal arrangements 3 12 3 5 Signal device explanations 3 13 3 6 Alarm occurrence timing chart 3 17 3 6 1 Timing chart 3 17 3 6 2 Supplementary information 3 18 3 7 Interfaces 3 19 3 7 1 Internal connection diagram 3 19 3 7 2 Detailed description of interf...

Page 11: ...rol mode 5 4 5 1 4 Selection of regenerative option 5 4 5 1 5 Using absolute position detection system 5 5 5 1 6 Forced stop input selection 5 5 5 1 7 Auto tuning 5 6 5 1 8 In position range 5 7 5 1 9 Selection of servo motor rotation direction 5 8 5 1 10 Encoder output pulse 5 8 5 2 Gain filter parameters No PB 5 10 5 2 1 Parameter list 5 10 5 2 2 List of details 5 11 5 3 Extension setting parame...

Page 12: ...OUBLESHOOTING 8 1 to 8 34 8 1 Alarms and warning list 8 1 8 2 Troubleshooting at power on 8 3 8 3 Remedies for alarms 8 4 8 4 Remedies for warnings 8 29 9 OUTLINE DRAWINGS 9 1 to 9 4 9 1 Servo amplifier 9 1 9 2 Connector 9 3 10 CHARACTERISTICS 10 1 to 10 8 10 1 Overload protection characteristics 10 1 10 2 Power supply equipment capacity and generated loss 10 2 10 3 Dynamic brake characteristics 1...

Page 13: ...n of absolute position detection data 12 8 13 USING A LINEAR SERVO MOTOR 13 1 to 13 84 13 1 Functions and configuration 13 1 13 1 1 Summary 13 1 13 1 2 Combinations of Servo Amplifiers and Linear Servo Motors 13 2 13 1 3 Configuration including auxiliary equipment 13 4 13 2 Connection of servo amplifier and linear servo motor 13 5 13 2 1 Connection instructions 13 5 13 2 2 Power supply cable wirin...

Page 14: ...d wiring 14 5 14 3 1 Notes of this chapter 14 6 14 3 2 Input power supply circuit 14 7 14 3 3 Internal connection diagram 14 10 14 4 Operation and functions 14 11 14 4 1 Startup procedure 14 12 14 4 2 Magnetic pole detection 14 13 14 4 3 Operation from controller 14 20 14 4 4 Function 14 25 14 5 Parameters 14 27 14 5 1 Parameter writing inhibit parameter No PA19 14 28 14 5 2 Basic setting paramete...

Page 15: ... 24V ERROR lamp on 15 33 15 4 3 Wiring check 15 34 15 4 4 Surrounding environment 15 35 15 5 Parameters 15 36 15 5 1 Basic setting parameters No PA 15 36 15 5 2 Extension setting parameters No PC 15 38 15 5 3 Manufacturer setting parameters No PE 15 42 15 5 4 Other function parameters No PF 15 43 15 5 5 Option setting parameters No Po 15 43 15 6 Troubleshooting 15 44 15 7 Dimensions 15 52 15 8 Cha...

Page 16: ... 3 COMPLIANCE WITH CE MARKING App 6 App 4 COMPLIANCE WITH UL CSA STANDARD App 9 App 5 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods App 14 App 6 Symbol for the new EU Battery Directive App 15 App 7 Recommended cable for servo amplifier power supply App 16 ...

Page 17: ...8 MEMO ...

Page 18: ...ed to it of the MELSERVO J3 series Regenerative energy is generated during deceleration of a servo motor By reusing that energy much energy is saved Depending on the operating condition the regenerative option may be disabled The MR J3W 77B servo amplifier has a 100W regenerative resistor built in making the regenerative option unnecessary even for a large regenerative load By simply shifting the ...

Page 19: ...l motor Control A Virtual encoder Virtual motor Model position control B Model speed control B Control B Actual position control B Actual speed control B Current control B U V W U V W B RA 24VDC B1 B2 M CNP3B CN2B Overvoltage Current detection A Overcurrent A Overcurrent B Analog monitor 2 channels Digital I O control CNP1 CNP2 TRM A TRM B Servo amplifier Regenerative option Diode stack Relay Curr...

Page 20: ...0 Voltage frequency 3 phase or 1 phase 200 to 230VAC 50 60Hz 3 phase 200 to 230VAC 50 60Hz Rated current A 3 5 6 1 10 4 13 9 Permissible voltage fluctuation 3 phase or 1 phase 200 to 230VAC 170 to 253VAC 3 phase 170 to 253VAC Permissible frequency fluctuation Within 5 Power supply capacity Refer to section 10 2 Main circuit power supply Inrush current Refer to section 10 5 Voltage frequency 1 phas...

Page 21: ...Environmental conditions Vibration resistance 5 9 m s 2 at 10 to 55Hz X Y and Z directions kg 1 4 2 3 Mass lb 3 09 5 07 Note 1 0 25A 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 When closely mounting MR J3W 44B operate them at 90 or smaller effective load ratio 3 The regenerative energy is generated under the fol...

Page 22: ...rator is necessary for this function Gain search function Personal computer with MR Configurator changes gains automatically and searches for overshoot free gains in a short time MR Configurator is necessary for this function Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop Parameters No PB24 Auto tuning Automatically adjusts the gain to optimum v...

Page 23: ...REI MEK TC300A G51 400W A 400W B 6 1A 3PH 1PH200 230V 50Hz 170V 0 360Hz 2 8A A 2 8A B 3PH 1PH200 230V 60Hz SERIAL A99001050 Model The year and month of manufacture Capacity Applicable power supply Serial number KC mark number Rated output current Country of origin 2 Model Rating plate Series Rated output SSCNET interface Rated outpur W A axis Symbol B axis 22 200 200 44 400 400 77 750 750 1010 1k ...

Page 24: ... MR J3W 1010B A axis B axis A axis B axis A axis B axis A axis B axis HF MP053 Note 1 HF MP13 Note 1 HF MP23 HF MP43 Note 1 Note 1 HF MP73 HF KP053 Note 1 HF KP13 Note 1 HF KP23 HF KP43 Note 1 Note 1 HF KP73 HF SP51 Note 1 HF SP81 HF SP52 Note 1 HF SP102 HC LP52 Note 1 HC LP102 HC UP72 Note 1 HF JP53 Note 2 Note 2 3 HF JP73 Note 2 Note 2 HF JP103 Note 2 Note 1 With the servo amplifier whose softwa...

Page 25: ...circuit power supply regenerative option Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Section 3 4 Section 11 1 A axis servo motor encoder connector CN2A Used to connect the A axis servo motor encoder Battery connector CN4 Used to connect the battery for absolute position data backup Battery is not required in fully closed control P...

Page 26: ...plifier CN1B Rear servo amplifier CN1A or Cap R S T CN5 CN3 CN1A CN1B CN2A CN2B Note 1 Battery unit CN4 Personal computer A axis servo motor B axis servo motor Note 2 Regenerative option Servo amplifier I O signal P L3 L2 L1 C D V U W W V U CNP3B CNP3A CNP2 CNP1 L21 L11 SW3 Front side A axis B axis ON 1 2 Note 3 Note 1 A battery unit consists of one MR BTCASE battery case and eight MR BAT batterie...

Page 27: ...1 FUNCTIONS AND CONFIGURATION 1 10 MEMO ...

Page 28: ...s Do not drop or strike the servo amplifier Isolate from all impact loads Do not install or operate the servo amplifier which has been damaged or has any parts missing Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time contact your local sales office When treating the servo amplifier be careful about the edged parts such as the corner...

Page 29: ...e load ratio of 90 or less Leave a large clearance between the inner surface of a control box and the servo amplifier to circulate air above and below the servo amplifier When installing the servo amplifiers closely leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances 1mm 1mm Control box 30mm or more 30mm or more 100mm or more 40mm or more 30mm or ...

Page 30: ... sheath might be 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 bending radius should be made as large as possible Refer to section 10 4 for the bending life 2 4 SSCNET cable laying SSCNET cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul...

Page 31: ...er 4 Bundle fixing Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable from putting its own weight on CN1A CN1B connector of servo amplifier Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When bundling the cable fix and hold it in position by using cushioning such...

Page 32: ...ydrogen fluoride gas or hydrogen chloride gas 2 5 Inspection items WARNING Before wiring or inspection turn off the power and wait for 15 minutes or more until the charge lamp turns off 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 To avoid an electric shock only qualified personnel should attempt inspec...

Page 33: ...ient temperature and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 104 surrounding air temperature or less 2 Relays Their contacts will wear due to switching currents and contact faults occur Relays reach the end of their lives when the power is turned on and forced stop controller forced stop occurs 1...

Page 34: ...olarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal DICOM 24VDC Servo amplifier RA For the sink output interface DOCOM Control output signal DICOM 24VDC Servo amplifier RA For ...

Page 35: ...er model and then input proper voltage to the servo amplifier power supply If input voltage exceeds the upper limit the servo amplifier will break down POINT Even if alarm has occurred do not switch off the control circuit power supply When the control circuit power supply has been switched off optical module does not operate and optical transmission of SSCNET communication is interrupted Therefor...

Page 36: ...hes off the magnetic contactor after detection of alarm occurrence on the controller side In this connection example the operation continues in the other axis when an alarm occurs in the A axis or the B axis To stop both axes in an alarm occurrence connect RA1 and RA2 in series 4 For the sink I O interface For the source I O interface refer to section 3 7 3 5 For the power line connection refer to...

Page 37: ...LS B axis proximity dog DOG Note 15 DICOM EM1 DOCOM 7 DI1 A 8 DI2 A 9 DI3 A CN1A Servo system controller CN1B SW1 2 1 SW2 Note 8 MR J3W B 3 axis 4 axis Note 7 Note 1 SW1 2 1 SW2 Note 8 MR J3W B n 1 axis n axis Note 9 Cap Note 7 SW1 2 1 SW2 Note 8 LG SD 15 14 CN5 USB cable MR J3USBCBL3M option 20 DI1 B 21 DI2 B 22 DI3 B B axis electromagnetic brake interlock Note 17 MBR A RA1 RA2 RA3 RA4 SW3 Note 1...

Page 38: ...es may be connected Refer to section 3 13 for setting of axis selection 9 Make sure to put a cap on the unused CN1A CN1B 10 Supply 24VDC 10 250mA current for interfaces from the outside 250mA 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 Refer to section 3 7 2 1 that gives the current value necessary for the interfa...

Page 39: ...ower supply CNP2 Control circuit power supply connector Used to input the control circuit power supply Used to connect the regenerative option CNP3A A axis Servo motor power connector Used to connect to the A axis servo motor CNP3B B axis Servo motor power connector Used to connect to the B axis servo motor C CNP2 L1 L2 CNP1 L3 L11 L21 P D CNP3B CNP3A U V W U V W 1 2 3 1 2 3 A B A B 1 2 1 2 A B No...

Page 40: ...tive resistor connect P and D When using regenerative option connect regenerative option to P and C Refer to section 11 2 Supply the following power to L11 L21 Servo amplifier Power supply MR J3W 22B to MR J3W 1010B 1 phase 200V to 230VAC 50 60Hz L11 L21 L11 L21 Control circuit power supply U V W Servo motor power Connect to the servo motor power supply terminals U V W Connect the servo amplifier ...

Page 41: ...The servo amplifier can accept the servo on command within 3s the main circuit power supply is switched on Refer to paragraph 2 of this section 2 Timing chart Servo on command accepted ON OFF Main circuit Control circuit ON OFF Base circuit ON OFF Servo on command from controller power 95ms 3s 95ms 10ms 3 Forced stop CAUTION Install an forced stop circuit externally to ensure that operation can be...

Page 42: ...2 AWG16 to AWG14 Insulator OD 2 4 to 3 4mm YRF 1070 Japan Solderless Terminals LF3F 41GF P2 0 Cable size 0 75 to 1 25mm2 AWG19 to AWG16 Insulator OD 1 8 to 2 8mm YRF 880 3 178129 6 917511 2 Cable size 1 25 to 2 0mm2 AWG16 to AWG14 Insulator OD 2 2 to 2 8mm 91560 1 TE Connectivity 353717 2 Cable size 1 25 to 2 0mm2 AWG16 to AWG14 Insulator OD 3 3 to 3 8mm 91561 1 3 4 CNP3A CNP3B F35FDC 04V K BF3F 7...

Page 43: ...5 J FAT OT EXL Large size 2 CNP2 06JFAT SAXYGG F KK AWG16 to AWG14 9 J FAT OT EXL Small size Japan Solderless Terminals 3 4 CNP3A CNP3B 04JFAT SAGG G KK AWG19 to AWG14 9 J FAT OT EXL Small size b Connection method 1 Stripping off the wire sheath For the strip off length of the wire sheath refer to table 3 1 Sheath Core wires Strip off length Twist the core wires lightly to straighten them as shown...

Page 44: ...r the others small size on another side While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the insertion depth so that the wire sheath does not get caught by the spring The following shows a connection example of the CNP1 connector Open tool Wire insertion hole 3 Securing the wire Release the open tool and secure the wire Pull the wire lightly and check ...

Page 45: ...r axis CN1A Connector for SSCNET cable for previous servo amplifier axis CN5 USB connector Refer to section 11 4 CN3 2 MO1 1 LG 15 MO2 14 LG 4 LB A 3 LA A 17 LBR A 16 LAR A 6 LB B 5 LA B 19 LBR B 20 DI1 B 7 DI1 A 18 LAR B 8 DI2 A 21 DI2 B 9 DI3 A 10 EM1 22 DI3 B 23 DICOM 11 ALM A 12 MBR A 24 ALM B 26 DOCOM 25 MBR B 13 The 3M make connector is shown When using any other connector refer to section 1...

Page 46: ...nit with main circuit power OFF and with control circuit power ON Replacing the battery with the control circuit power OFF results in loosing absolute position data CN5 Communication connector The personal computer is connected Note A battery unit is a unit that has eight MR BAT batteries inserted in an MR BTCASE battery case 2 I O device a Input device Device Symbol Connector pin No Function Appl...

Page 47: ...ady RD A DO 1 B axis ready RD B When using the signal make it usable by the setting of parameter No PD07 or PD09 RD A RD B turns on when the servo is switched on and the servo amplifier is ready to operate A axis speed reached SA A DO 1 B axis speed reached SA B When using this signal make it usable by the setting of parameter No PD07 or PD09 When the servo is off SA will be turned OFF When servo ...

Page 48: ...e point when it is accelerated again and has reached OFF level is called hysteresis width Hysteresis width is 20r min for the MR J3W B servo amplifier A axis warning WNG A DO 1 B axis warning WNG B When using this signal make it usable by the setting of parameter No PD07 or PD09 When warning has occurred WNG A WNG B turns on When there is no warning WNG A WNG B turns off within about 1 5s after po...

Page 49: ...N3 2 Used to output the data set in parameter No PC09 to across MO1 LG in terms of voltage Resolution 10 bits Analog monitor 2 MO2 CN3 15 Used to output the data set in parameter No PC10 to across MO2 LG in terms of voltage Resolution 10 bits d Power supply Signal name Symbol Connector pin No Function Application Digital I F power supply input DICOM CN3 23 Used to input 24VDC 24VDC 10 250mA for I ...

Page 50: ...ic brake Servo on command from controller B axis Alarm Reset command 1 5s Power ON Power ON Base circuit ON Base circuit ON Base circuit ON Base circuit ON Brake operation Brake operation Brake operation Servo on command Servo on command Occurrence of all axis stop alarm Occurrence of all axis stop alarm No alarm Reset operation Reset operation Power on Power shutoff Power on Occurrence of all axi...

Page 51: ...o alarm No alarm No alarm No alarm No alarm No alarm Base circuit ON Base circuit ON Fault cause removed Alarm reset 3 6 2 Supplementary information 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 32 overload 1 50 or overload 2 51 alarm after its occurrence without removing its cause the servo amplifier and ser...

Page 52: ... B DI2 B DI3 B 26 10 7 8 9 20 21 22 11 12 24 25 ALM A MBR A ALM B MBR B Note 2 RA RA CN3 MO1 2 CN3 3 16 4 17 5 18 LA A 3 2 4 7 8 MR MRR MD MDR LG E M CN2A 6 19 LAR A LB A LBR A LA B LAR B LB B LBR B CNP3A 2A 3 2 4 7 8 MR MRR MD MDR LG E M CN2B CNP3B 2A Approx 5 6k Isolated 10VDC 10VDC USB 14 LG Note 1 Signal can be assigned for these pins with the controller setting For contents of signals refer t...

Page 53: ...V ICEO 100 A TR 24VDC 10 250mA Approx 5 6k 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 3 7 3 for t...

Page 54: ...D 100 b Output pulse T 2 Servo motor CCW rotation LBR A LBR B LB A LB B LAR A LAR B LA A LA B Time cycle T is determined by the settings of parameter No PA15 PA16 and PC03 4 Analog output LG MO1 MO2 Servo amplifier Output voltage 10V Note Max Output current 1mA Resolution 10 bits or equivalent Note Output voltage range varies depending on the monitored signal Refer to section 5 3 3 or 13 8 4 3 Whe...

Page 55: ...tal input interface DI 1 Servo amplifier Switch Approx 5mA VCES 1 0V ICEO 100 A 24VDC 10 250mA Approx 5 6k EM1 etc DICOM 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the servo amplifier Servo amplifier ALM etc DOCOM If polarity of diode is reversed servo amplifier will fail Note 24VDC 10 250mA Lord Note If the voltage drop maximum of 2 6V interferes with the relay opera...

Page 56: ...of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath 1 For CN3 connector 3M connector Screw Screw Ground plate Cable 2 For CN2A and CN2B connector 3M or Molex connector Screw Cable Ground plate ...

Page 57: ...connect disconnect cable POINT CN1A CN1B connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before mounting SSCNET cable Then when removing SSCNET cable make sure to put a cap Keep the cap for CN1A CN1B connector and the tube for protecting optical cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to preven...

Page 58: ... it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Click Tab b Removal With holding a tab of SSCNET cable connector pull out the connector When pulling out the SSCNET cable from servo amplifier be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty For SSCNET cable attach the tube for protecti...

Page 59: ...e the 24VDC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise a fault may occur POINT Refer to section 11 1 for the selection of the encoder cable Refer to section 11 13 for the selection of a surge absorber for the electromagnetic brake This section indicates the connection of the servo motor power U V W U...

Page 60: ...ote 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 recommended w...

Page 61: ...bles used for wiring 1 When the power supply connector and the electromagnetic brake connector are separately supplied 50m or less A axis servo motor M U V W Note 1 B1 B2 24VDC power supply for electromagnetic brake U B Servo amplifier U V W 24VDC ALM A DOCOM DICOM MBR A CNP3B RA3 RA4 U V W ALM B MBR B RA1 RA2 CNP3A Note 3 ALM A RA1 MBR A RA2 B axis servo motor Note 1 B1 B2 U B ALM B RA3 MBR B RA4...

Page 62: ...2 2 Do not use the 24VDC interface power supply for the electromagnetic brake 3 Shut off the circuit by interlocking with the emergency stop switch b Connector and signal allotment The connector fitting the servo motor is prepared as optional equipment Refer to section 11 1 For types other than those prepared as optional equipment refer to chapter 3 in Servo Motor Instruction Manual Vol 2 to selec...

Page 63: ...B V 3 C W C W 4 BAT 5 LG D earth D earth 6 E 7 C D A B View b F 8 P5 B1 9 G Note 5 6 1 4 View a 3 2 8 7 9 10 10 SHD B2 F E D H G A B C View b H Note Note For the motor with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity Brake connector signal allotment CM10 R2P Terminal No Signal 1 B1 Note 2 B2 Note 1 2 View c Note For the motor with an electromagneti c brak...

Page 64: ...e performing the operation be sure to confirm that the electromagnetic brake operates properly Do not use the 24VDC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise a fault may occur POINT Refer to the Servo Motor Instruction Manual Vol 2 for specifications such as the power supply capacity and operation d...

Page 65: ...rvo motor B B2 U B1 ALM A RA1 MBR A RA2 ALM B RA3 MBR B RA4 Note 1 Note 1 Do not use the 24VDC interface power supply for the electromagnetic brake 2 Shut off the circuit by interlocking with the emergency stop switch 2 Setting In parameter No PC02 electromagnetic brake sequence output set the time delay Tb from electromagnetic brake operation to base circuit shut off at a servo off time as in the...

Page 66: ...ernal relay Note 2 Note 3 0 r min Ready on command from controller 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 the Servo Motor Instruction M...

Page 67: ...ed OFF Electromagnetic brake is activated 4 Both main and control circuit power supplies off Note 2 Electromagnetic brake interlock MBR A MBR B ON OFF Base circuit Servo motor speed Alarm No Yes ON OFF ON OFF Electromagnetic brake operation delay time Note 2 ON OFF Main circuit Control circuit power 10ms Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake 10ms Note 1 15 to 100m...

Page 68: ...c brake operation delay time 10ms Note 1 15ms or more Note 1 Changes with the operating status 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 6 Ready off command from the controller Note Electromagnetic brake interlock MBR ON OFF Base circuit Servo motor speed Ready on command For controller ON OFF 10ms Dynamic brake Dynamic brake Electromagnetic brake Electroma...

Page 69: ... 1 B1 B2 Servo motor 10m or less U B AWG20 AWG20 B1 B2 U B A axis electromagnetic brake interlock MBR A Note 3 A axis malfunction ALM A Note 2 Servo motor Note 2 B axis electromagnetic brake interlock MBR B B axis malfunction ALM B Note 1 Note 4 Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake terminals B1 and B2 3 Shut off the...

Page 70: ...tor A axis electromagnetic brake interlock MBR A Note 3 A axis malfunction ALM A Note 4 B axis electromagnetic brake interlock MBR B B axis malfunction ALM B Note 1 Servo motor Note 4 Note 2 b Relay connector for motor brake cable Note 2 a Relay connector for extension cable Relay connector for extension cable Note 5 Note 1 Connect a surge absorber as close to the servo motor as possible 2 Use of ...

Page 71: ...ansistor 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 Note 1 Power supply W V U Control box A axis servo motor M U V W CN2A Servo amplifier CNP3A Protective earth PE Outer box L1 L2 L3 CNP1 L11 L21 CNP2 Note 2 Encoder W V U B axis servo motor M U V W CN2B CNP3B Note 2 Encoder MC MCCB Li...

Page 72: ...SW1 Down Up Test operation select switch SW2 1 Set the test operation select switch to the Up position when performing the test operation mode by using MR Configurator For manufacturer setting Be sure to set to the Down position Setting the switch to the Up position causes the switch setting error 11 2 Note SW2 Note This table indicates the status when the switch is set to Down Default Manufacture...

Page 73: ...otors linear servo motors and direct drive motor in combination If the connected servo motor does not match the SW3 setting the switch setting error 11 3 occurs MR J3W 0303BN6 does not have SW3 Select the servo motor type by using the servo motor selection switch SW3 located on the bottom of the servo amplifier A servo motor can be selected for each of the A axis and the B axis Make sure to confir...

Page 74: ... resistor servo motor etc since they may be hot while power is on or for some time after power off Their temperatures may be high and you may get burnt or a parts may damaged During operation never touch the rotating parts of the servo motor Doing so can cause injury POINT To use a rotary servo motor turn SW3 off factory setting MR J3W 0303BN6 does not have SW3 1 2 A axis B axis SW3 NO Front side ...

Page 75: ... surrounding environment of the servo amplifier and servo motor Refer to section 4 1 3 Confirm that the axis No settings for rotary axis setting switch SW1 and servo system controller are consistent Refer to section 3 13 Set the parameters as necessary such as the used control mode and regenerative option selection Refer to chapter 5 For the test operation with the servo motor disconnected from th...

Page 76: ... V W U V W Servo amplifier Servo motor 2 The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals U V W To do so will fail the connected servo amplifier and servo motor U V W U V W M Servo amplifier 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 The built i...

Page 77: ...ection 10 4 c The connector part of the servo motor should not be strained 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 4 2 Startup POINT The controller recognizes MR J3W B as two servo amplifiers For this reason select MR J3 B for both of the A axis and the B axis The following tables shows the servo amplifier setting in the controller whe...

Page 78: ...ain to make the set parameter values valid 3 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 The controller transmits the servo on command When placed in the servo on status the servo amplifier is ready to operate and the servo motor is locked 4 Home position return Always perform home position return before starting positioning opera...

Page 79: ...nd axis Indicates ready OFF servo OFF status Indicates ready ON servo OFF status Indicates ready ON servo ON status After 2s B axis status display A axis status display After 2s Status display 1 digit Axis number 2 digits b C d 2 Alarm display When there is an alarm the alarm number two digits and the alarm detail one digit are displayed following the status display In this example the encoder ini...

Page 80: ...f overload Example At occurrence of overload Flicker display Flicker display Flicker display Flicker display When alarm warning No is displayed Axis 1 Axis 2 Axis 16 Initial data communication with servo system controller Initialization communication Ready OFF servo OFF After 2s After 2s Only alarm and warning No are displayed but no axis No is displayed During a non servo off causing warning the ...

Page 81: ...g the completion process for initial data communication with servo system controller A A Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on Note 1 b Ready OFF The ready off signal from the servo system controller was received Note 1 d Servo ON The ready off signal from the servo system controller was received Note 1 C Ser...

Page 82: ... 5 for the test operation mode In this step confirm that the servo motor rotates correctly under the commands from the controller Make sure that the servo motor rotates in the following procedure 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 In this step connect the serv...

Page 83: ...n for the servo amplifier in the test operation mode and the following servo amplifiers is blocked 1 Test operation mode a Jog operation Jog operation can be performed without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise ...

Page 84: ...99 2 Operation method Operation Screen control Forward rotation start Click the Forward button Reverse rotation start Click the Reverse button Pause Click the Pause button c Program operation Positioning operation can be performed in two or more operation patterns combined without using the servo system controller Use this operation with the forced stop reset This operation may be used independent...

Page 85: ...hile connected with the servo system controller 1 Motor less operation Without connecting the servo motor output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running This operation may be used to check the servo system controller sequence Use this operation with the forced stop reset Use this operation with the ser...

Page 86: ...erase 25 Battery cable disconnection warning 92 1 Battery warning 9F 1 Main circuit off warning E9 2 Operating procedure 1 Switch off servo amplifier 2 Set parameter No PC05 to 1 change test operation mode switch SW2 1 to normal condition side Down and then turn on the power supply C B 7 9 6 8 5 4 3 2 1 0 F E D A 1 2 ON 4E SW1 SW2 TEST SW2 DOWN UP 1 2 Set SW2 1 to DOWN 3 Perform motor less operati...

Page 87: ...4 STARTUP 4 14 MEMO ...

Page 88: ...ion 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 When changing settings such as analog monitor output signal or encoder electromagnetic brake sequence output use these parameters I O setting parameters No PD Use these parameters when changing the I O signals of the servo ampl...

Page 89: ...tion range Each axis 100 pulse PA11 This parameter is not used Do not change the value 1000 0 PA12 1000 0 PA13 0000h PA14 POL Rotation direction selection Each axis 0 PA15 ENR Encoder output pulses Each axis 4000 pulse rev PA16 ENR2 Encoder output pulses 2 Each axis 0 PA17 This parameter is not used Do not change the value 0000h PA18 0000h PA19 BLK Parameter write inhibit Each axis 000Bh Note 1 Ea...

Page 90: ...anges 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 PC I O setting parameters No PD Note Special setting parameters No PS Option setti...

Page 91: ...of regenerative option Parameter No Symbol Name Setting Factory setting Unit Setting range PA02 REG Regenerative option Common 0000h Refer to the text POINT Turn off the power and then on again after setting the parameter to validate the parameter value Wrong setting may cause the regenerative option to burn If the regenerative option selected is not for use with the servo amplifier parameter erro...

Page 92: ...er 12 0 Used in incremental system 1 Used in absolute position detection system Parameter No PA03 0 0 0 5 1 6 Forced stop input selection Parameter No Symbol Name Setting Factory setting Unit Setting range PA04 AOP1 Function selection A 1 Common 0000h Refer to the text POINT Turn off the power and then on again or reset the controller after setting the parameter to validate the parameter value The...

Page 93: ...r details 1 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 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 Nam...

Page 94: ...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 High response 400 0 5 1 8 In position range Parameter No Symbol Name Setting Factory setting Unit Setting range PA10 INP In position range Each axis 100 pulse 0 to 65535 POINT This parameter cannot be used in the s...

Page 95: ...gative direction Torque control 0 CCW CW 1 CW CCW Note Torque generation direction for the torque control Forward rotation CCW Reverse rotation CW 5 1 10 Encoder output pulse Parameter No Setting Factory setting Unit Setting range PA15 ENR Encoder output pulses Each axis 4000 pulse rev 1 to 65535 PA16 ENR2 Encoder output pulses 2 Each axis 0 0 to 65535 POINT Turn off the power and then on again or...

Page 96: ...as indicated below A B phase output pulses 8192 pulse 262144 8 1 4 3 A B phase pulse electronic gear setting This parameter is made valid when parameter No PC03 is set to 3 Set the encoder pulses A B phase output by the servo amplifier Set the encoder pulses output by the servo amplifier by parameter No PA15 and parameter No PA16 Travel distance pulse of the linear encoder is multiplied by the set...

Page 97: ...1 Each axis 4500 Hz PB14 NHQ1 Notch shape selection 1 Each axis 0000h PB15 NH2 Machine resonance suppression filter 2 Each axis 4500 Hz PB16 NHQ2 Notch shape selection 2 Each axis 0000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting Each axis 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting Each axis 100 0 Hz PB20 VRF2 Vibration suppression control ...

Page 98: ...ting 0 0 0 If 1 is set for this parameter it is automatically rewritten as 0 Each axis 0000h Refer to Name and function column PB02 VRFT Vibration suppression control tuning mode advanced vibration suppression control Used to set the tuning mode for the vibration suppression control Vibration suppression control tuning mode 0 Invalid 1 Cannot be set 2 Manual setting 0 0 0 If 1 is set for this para...

Page 99: ...nerate vibration and or noise When auto tuning mode 1 2 and interpolation mode is selected the result of auto tuning is automatically used When parameter No PA08 is set to 3 this parameter can be set manually Each axis 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is...

Page 100: ... 5 Wide 0 0 to to 40dB When the parameter No PB01 setting is 0 the setting of this parameter is ignored Each axis 0000h Refer to Name and function 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 make this parameter valid If a value exceeding 3000 is set for this parame...

Page 101: ...trol to suppress low frequency machine vibration such as enclosure vibration Refer to section 7 3 When parameter No PB02 is set to 2 this parameter can be set manually Each axis 100 0 Hz 0 1 to 100 0 PB21 This parameter is not used Do not change the value 0 00 PB22 0 00 PB23 VFBF Low pass filter selection Select the low pass filter Low pass filter selection 0 Automatic setting 1 Manual setting par...

Page 102: ...tion 7 5 Each axis 1 ms 0 to 100 PB29 GD2B Gain changing load to motor inertia moment ratio Used to set the load to motor inertia moment ratio when gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 3 Each axis 7 0 Multiplier 1 0 to 300 0 PB30 PG2B Gain changing position loop gain This parameter cannot be used in the speed control mode Set the pos...

Page 103: ... suppression control when the gain changing is valid This parameter is made valid when the parameter No PB02 setting is 2 and the parameter No PB26 setting is 1 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped Each axis 100 0 Hz 0 1 to 100 0 PB35 This parameter is not used Do not change the value 0 00 PB36 0 00 PB37 100 PB38 0...

Page 104: ...ge the value 0 PC09 MOD1 Analog monitor 1 output Common 0000h PC10 MOD2 Analog monitor 2 output Common 0001h PC11 MO1 Analog monitor 1 offset Common 0 mV PC12 MO2 Analog monitor 2 offset Common 0 mV PC13 This parameter is not used Do not change the value 0 PC14 0 PC15 SNO Station number selection Common 0 PC16 This parameter is not used Do not change the value 0000h PC17 COP4 Function selection C ...

Page 105: ...ion Use to select the encoder output pulse direction and encoder output pulse setting CW Encoder output pulse phase changing Changes the phases of A B phase encoder pulses output A phase B phase CCW Servo motor rotation direction Set value 0 1 Encoder output pulse setting selection 0 Output pulse designation 1 Division ratio setting 3 A B phase pulse elecrtonic gear setting Set with the electronic...

Page 106: ...ection 5 3 3 5 6 7 8 9 D 0 1 2 3 4 Analog monitor 1 MO1 output selection Setting Servo motor speed 8V max speed Torque 8V max torque Servo motor speed 8V max speed Torque 8V max torque Current command 8V max current command Speed command 8V max current command Droop pulses 10V 100 pulses Droop pulses 10V 1000 pulses Droop pulses 10V 10000 pulses Droop pulses 10V 100000 pulses Bus voltage 8V 400V I...

Page 107: ...ntrol mode This is used to select a home position setting condition Selection of home position setting condition 0 Need to pass motor Z phase after the power supply is switched on 1 Not need to pass motor Z phase after the power supply is switched on 0 0 0 Each axis 0000h Refer to Name and function column PC18 This parameter is not used Do not change the value 0000h PC19 0000h PC20 0000h PC21 BPS ...

Page 108: ...iption Setting range mV PC11 Used to set the offset voltage for the analog monitor 1 MO1 PC12 Used to set the offset voltage for the analog monitor 2 MO2 999 to 999 2 Set content The servo amplifier is factory set to output the servo motor speed to analog monitor 1 MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No PC09 and PC10 value R...

Page 109: ... pulse CW direction CCW direction 1000 pulse 0 10 V 10 V 8 Droop pulses Note 1 2 3 10V 10000 pulses 10000 pulse CW direction CCW direction 10000 pulse 0 10 V 10 V 9 Droop pulses Note 1 2 3 10V 100000 pulses 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V D Bus voltage 400 V 0 8 V E Speed command 2 Note 2 4 Max CW direction CCW direction Max speed 0 8 V 8 V Note 1 Encoder pulse uni...

Page 110: ...dback data returned to a controller Bus voltage Current encoder Speed command 2 5 3 4 Alarm history clear The servo amplifier stores six past alarms from when its power is switched on first To control alarms which will occur during operation clear the alarm history using parameter No PC21 before starting operation Clearing the alarm history automatically returns to 0 After setting this parameter i...

Page 111: ... change the value 0004h PD09 DO3 Output signal device selection 3 CN3 11 for A axis and CN3 24 for B axis Each axis 0003h PD10 This parameter is not used Do not change the value 0000h PD11 0004h PD12 0000h PD13 0000h PD14 DOP3 Function selection D 3 Each axis 0000h PD15 This parameter is not used Do not change the value 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0 PD22 0 PD2...

Page 112: ...e 3 04 INP A INP B Note 1 4 0E For manufacturer setting Note 3 05 MBR A MBR B 0F CDPS A CDPS B 06 For manufacturer setting Note 3 10 For manufacturer setting Note 3 07 TLC A TLC B Note 4 11 ABSV A ABSV B Note 1 08 WNG A WNG B 12 to 1F For manufacturer setting Note 3 09 BWNG A BWNG B 20 to 3F For manufacturer setting Note 3 Note 1 Always off in the speed loop mode 2 Always off in the position contr...

Page 113: ...warning WNG A WNG B and malfunction ALM A ALM B output status at warning occurrence 0 1 Setting 0 1 0 1 WNG A WNG B ALM A ALM B Warning occurrence 0 1 0 1 WNG A WNG B ALM A ALM B Warning occurrence Note Device status Note 0 OFF 1 ON Output of Servo amplifier Each axis 0000h Refer to Name and function column PD15 This parameter is not used Do not change the value 0000h PD16 0000h PD17 0000h PD18 00...

Page 114: ...xis selection for graphing analog data MR Configurator Common 0000h Po03 SGRD Axis selection for graphing digtal data MR Configurator Common 0000h Po04 OOP2 Function selection O 2 Common 0000h Po05 This parameter is not used Do not change the value 0000h Po06 0000h Po07 0000h Po08 0000h Po09 0000h Po10 0000h Po11 0000h Po12 0000h Po13 0000h Po14 0000h Po15 0000h Po16 0000h Note 1 Each axis Set a v...

Page 115: ...nfigurator 1 Axis that does not communicate with MR Configurator Axis selection for analog data ch2 The setting is same as the ch1 Axis selection for analog data ch3 The setting is same as the ch1 Axis selection for triggered data The setting is same as the ch1 Select the axis that obtains triggered data This setting is valid for analog and digital trigger sources Common 0000h Refer to Name and fu...

Page 116: ...l Servo amplifier MR J3W 77B LM H2P1A 06M 4SS0 LM H2S10 288 4SS0 LM H2S10 384 4SS0 LM H2S10 480 4SS0 LM H2S10 768 4SS0 LM H2P2A 12M 1SS0 LM H2S20 288 1SS0 LM H2S20 384 1SS0 LM H2S20 480 1SS0 LM H2S20 768 1SS0 LM U2PAD 10M 0SS0 LM U2SA0 240 0SS0 LM U2SA0 300 0SS0 LM U2SA0 420 0SS0 LM U2PAF 15M 0SS0 This parameter is dedicated to the servo amplifier whose software version is B2 or earlier For the se...

Page 117: ...5 PARAMETERS 5 30 MEMO ...

Page 118: ...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 factory setting 0001 Always estimated GD2 parameter No PB06 PG1 parameter No PB07 PG2 parameter No PB08 VG2 parameter No PB09 VIC parameter No PB10 RSP parameter No PA09 Auto tuning mode 2 0002 Fixed to param...

Page 119: ...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 120: ...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 Load to motor inertia moment ratio 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 torque during acceleration de...

Page 121: ... moment ratio is already known or if estimation cannot be made properly choose the auto tuning mode 2 parameter No PA08 0002 to stop the estimation of the load inertia moment ratio Switch in above diagram turned 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 loop...

Page 122: ...cedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfie...

Page 123: ...o PB01 PB13 to PB16 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 2 for filter tuning mode and machine resonance suppression filter Setting of parameter No PA09 Machine characteristic Response level setting Machine rigidity Machine resonance frequency guideline Guideline of corresponding machine 1 Low 10 ...

Page 124: ...tia moment ratio 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 speed integral ...

Page 125: ...gral compensation set 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 2000 to 3000 Speed loop gain setting ...

Page 126: ...ensation 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 slightly ...

Page 127: ...em 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 2000 to 3000 Speed loop gain setting Speed integral compensation setting ms 1 Load to motor inertia moment ratio setting 3 Position loop gain PG2 Parameter No PB08 This parameter determines the response level to a disturban...

Page 128: ...t 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 the same va...

Page 129: ...6 GENERAL GAIN ADJUSTMENT 6 12 MEMO ...

Page 130: ...g Manual setting Machine resonance suppression filter 2 Parameter No PB16 Parameter No PB01 Manual setting Machine resonance suppression filter 1 2 1 0 M Servo motor Current command Encoder 7 2 Machine resonance suppression filter 1 Function 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...

Page 131: ...ppression filter 1 parameter No PB13 PB14 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 at the point where vibration is mini...

Page 132: ...ing so that the machine does not shake Vibration suppression control OFF Nomal control Motor side Machine side t Vibration suppression control ON t Position Position Motor side Machine side 2 Parameter Set parameter No PB02 Vibration suppression control tuning mode as shown below Parameter No PB02 0 0 0 2 Manual setting 3 Checking the vibration frequency and the resonance frequency a When a vibrat...

Page 133: ...es not show up in motor side vibration the setting of the motor side vibration frequency does not produce an effect When the anti resonance frequency and resonance frequency can be confirmed using the machine analyzer or external measuring instrument do not set the same value but set different values to improve the vibration suppression performance A vibration suppression control effect is not pro...

Page 134: ... pass filter selection 0 Automatic setting factory setting 1 Manual setting parameter No PB18 setting Parameter No PB23 7 5 Gain changing function This function can change the gains The gains are switched by using the control instruction from the controller or gain switching conditions including the servo motor speed 7 5 1 Applications This function is used when 1 You want to increase the gains du...

Page 135: ...ging CDP Parameter No PB26 Valid GD2 value Valid PG2 value Valid VG2 value Valid VIC value CDS Parameter No PB27 Valid VRF1 value 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 P...

Page 136: ...ain changing position loop gain rad s Used to set the value of the after changing position loop gain PB31 VG2B Gain changing speed loop gain rad s Used to set the value of the after changing speed loop gain PB32 VICB Gain changing speed integral compensation ms Used to set the value of the after changing speed integral compensation PB26 CDP Gain changing selection Used to select the changing condi...

Page 137: ...tion Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB34 settings 0 Invalid 1 Control command from controller is valid 2 Command frequency Parameter No PB27 setting 3 Droop pulses Parameter No PB27 setting 4 Servo motor speed Parameter No PB27 setting 0 Gain changing condition 0 Valid when the control instruction from a controller is ON Valid at equ...

Page 138: ... changing speed integral compensation 50 ms PB26 CDP Gain changing selection 0001 Changed by ON OFF of input device PB28 CDT Gain changing time constant 100 ms PB33 VRF1B Gain changing 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 changing vibration suppression contr...

Page 139: ... ratio 10 0 Multiplier 1 PB30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing selection 0003 Changed by droop pulses PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Changing timing chart After changing gain Before changing gain C...

Page 140: ...k error Common All axis DB EDB 15 Memory error 2 EEP ROM Common All axis DB EDB 16 Encoder initial communication error 1 Each axis Each axis DB FR 17 Board error Common All axis DB EDB 19 Memory error 3 Flash ROM Common All axis DB FR 1A Motor combination error Each axis Each axis DB FR 1E Encoder initial communication error 2 Each axis Each axis DB FR 1F Encoder initial communication error 3 Each...

Page 141: ...it off warning Common All axis DB FR EB The other axis fault warning Each axis All axis DB EDB EC Overload warning 2 Each axis Wamings ED Output watt excess warning Each axis Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 In some controller communication status the alarm factor may not be removed 3 Alarms and warnings are detected in the follo...

Page 142: ...cation with the servo system controller is not completed Axis No does not match with the axis No set to the servo system controller Check the setting and axis No of the servo system controller Correct the setting Information about the servo series is not set in the positioning module Check the value set in Servo series Pr 100 in the positioning module Correct the setting One axis setting is select...

Page 143: ...time of more than 30 minutes before resuming operation To protect the main circuit elements any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence Judging the load changing condition until the alarm occurs the servo amplifier calculates this specified time automatically Regenerative error 30 Main circuit device overhea...

Page 144: ... circuit power failure of 60ms or longer Check the power supply for a problem Problem found Check the power supply 10 2 1 Disconnected Connect properly Voltage drop in the main circuit power Connector for the main circuit power is disconnected Check the connector of the main circuit power No problem found Check 2 2 Voltage of main circuit power is low 160VAC or less Increase the voltage in the mai...

Page 145: ...rvo motor selection switch setting error Setting of servo motor selection switch is incorrect Check the DIP switch SW3 setting Rotary servo motor off Linear servo motor on Direct drive motor on Setting is correct Check 2 2 Control mode is incorrectly set by the parameter Check the parameter No PA01 setting Rotary servo motor 0 Linear servo motor 4 Direct drive motor 6 Parameter setting is incorrec...

Page 146: ... 12 1 2 Fault is generated from the surrounding environment 12 3 Custom IC RAM error 1 Part in the servo amplifier is faulty 2 Fault is generated from the surrounding environment Alarm No 13 Name Clock error Stop method All axes stop Alarm description Fault is found in the printed board There is a clock error transmitted from the controller Display Name Cause Checkpoint Finding Action 13 1 Clock e...

Page 147: ...during normal operation Check if the error occurs when parameter is changed during normal operation Error occurs Replace the servo amplifier Alarm No 16 Name Encoder initial communication error 1 Stop method Corresponding axis stops Alarm description Error occurs in the communication between the encoder and the servo amplifier Display Name Cause Checkpoint Finding Action 16 1 1 Encoder cable is fa...

Page 148: ...om the encoder cannot be received Connect to a properly operating servo motor Alarm does not occur Replace the servo motor Alarm occurs Check 6 6 Servo amplifier is faulty Not reproduced Replace the servo amplifier Replace the servo amplifier and check the reproducibility of the error Reproduced Check 7 7 Fault is generated from the surrounding environment Check for noise and other factors Problem...

Page 149: ...surrounding environment 17 4 Amplifier detection signal error 1 Amplifier detection signal cannot be read properly Unplug all cables except the control circuit power supply cable and check the reproducibility of the error Reproduced Replace the servo amplifier 17 5 Rotary switch error 1 Rotary switch setting cannot be read properly Examine checkpoints described in the alarm display 17 4 17 6 DIP s...

Page 150: ... used Check the parameter No Po04 setting The setting is incorrect Correct the setting Alarm No 1E Name Encoder initial communication error 2 Stop method Corresponding axis stops Alarm description Encoder is faulty Display Name Cause Checkpoint Finding Action 1E 1 Encoder failure 1 Encoder is faulty Reproduced Replace the servo motor Replace the servo motor and check the reproducibility of the err...

Page 151: ...k for breakage and short of the encoder cable No problem found Check 3 3 Check the shield treatment Problem found Take measures against noise Improper shield treatment of encoder cable No problem found Check 4 4 Servo amplifier is faulty Not reproduced Replace the servo amplifier Replace the servo amplifier and check the reproducibility of the error Reproduced Check 5 5 Fault is generated from the...

Page 152: ... fault occurs at servo motor Display Name Cause Checkpoint Finding Action 24 1 1 Servo amplifier is faulty Appears Replace the servo amplifier Check this alarm appears even when power cable U V and W is disconnected Does not appear Check 2 Ground fault detected at hardware detection circuit 2 Shorted Replace the power cable Short or ground fault occurs at servo motor power cable Check if only the ...

Page 153: ...top method All axes stop Alarm description Permissible regenerative power of the built in regenerative resistor or regenerative option is exceeded Regenerative transistor in the servo amplifier is faulty Display Name Cause Checkpoint Finding Action 30 1 Regeneration heat error 1 The setting is incorrect Correct the setting Regenerative resistor regenerative option setting is incorrect Check the re...

Page 154: ...ration torque is clamped to the maximum torque Operating at maximum torque Set acceleration time longer or reduce the load Operating below maximum torque Check 3 3 Servo system is instable and causing oscillation Check for oscillation in motor Oscillation is occurring Execute auto tuning to adjust the servo system or reduce the load Oscillation is not occurring Set acceleration time constant longe...

Page 155: ...0 minutes or more frequently while the servo motor is running Not applied Check 5 5 Fault is generated from the surrounding environment Check for noise and other factors Problem found Take countermeasure according to the cause 32 2 1 Servo gain is high Check for vibration Vibration is occurring Set speed loop gain smaller Vibration is not occurring Check 2 2 Servo amplifier is faulty Examine check...

Page 156: ...age or disconnected Check the wiring and the lead of regenerative resistor regenerative option Normal Check 3 3 Check the status of regenerative resistor regenerative option Check the resistance Regenerative resistor regenerative option is abnormal When using built in regenerative resistor replace the servo amplifier When using a regenerative option replace the regenerative option Normal Check 4 4...

Page 157: ...cable It does not meet Check 5 5 Servo amplifier is faulty Not reproduced Replace the servo amplifier Replace the servo amplifier and check the reproducibility of the error Reproduced Check 6 6 Servo amplifier in front or rear axis of alarm occurring axis is faulty Reproduced in the rear axis of the corresponding axis Replace the servo amplifier Replace the servo amplifier and front rear axes of t...

Page 158: ...rating plasticizer is adhered to the cable 5 Servo amplifier is faulty 6 Servo amplifier in front or rear axis of alarm occurring axis is faulty 7 Fault is generated from the surrounding environment Alarm No 35 Name Command frequency error Stop method Corresponding axis stops Alarm description Input pulse frequency of command pulse is too high Display Name Cause Checkpoint Finding Action 35 1 Comm...

Page 159: ...f the corresponding axis Replace the servo amplifier Replace front and rear axes of alarm occurring axis and check the reproducibility of the error Not reproduced Check 7 7 Fault is generated from the surrounding environment Check for noise etc Problem found Take countermeasure according to the cause Alarm No 37 Name Parameter error Stop method Corresponding axis stops Alarm description Settings i...

Page 160: ...the servo amplifier and check the reproducibility of the error Not reproduced Use a properly operating servo amplifier 45 5 Board temperature error 1 Surrounding air temperature is over 55 Examine checkpoints described in the alarm display 45 1 2 Specification of close mounting is not met 3 The power supply was turned on and off continuously by overloaded status 4 Foreign matter caught in cooling ...

Page 161: ...sponding axis stops Alarm description Load exceeds overload protection characteristic of servo amplifier Display Name Cause Checkpoint Finding Action 50 1 1 Activated Review the wiring Thermal overload error 1 during operation Electromagnetic brake is activated Check if the electromagnetic brake is activated Not activated Check 2 2 Servo amplifier is used in excess of its continuous output current...

Page 162: ... wiring correctly No problem found Check 4 4 Electromagnetic brake is activated Examine checkpoints described in the alarm display 50 1 5 Servo amplifier is used in excess of its continuous output current 6 Servo system is instable and causing oscillation 7 Servo amplifier is faulty 8 Encoder is faulty Replace the servo motor and check the reproducibility of the error Not reproduced Replace the se...

Page 163: ...put the operation is restarted without having cool off time Check if the alarm is reset after waiting 30 minutes or longer subsequent to the output of the alarm Reset Check 5 5 Servo amplifier is faulty Replace the servo amplifier and check the reproducibility of the error Not reproduced Replace the servo amplifier 50 5 1 Machine struck something Check if the machine struck something Machine struc...

Page 164: ...ring operation 2 Problem found Modify the wiring Incorrect connections to from the servo motor Check the wiring of U V and W phases No problem found Check 3 3 Misconnection of encoder cable Check the encoder cable connection Problem found Check the cable connection No problem found Check 4 4 Machine struck something Check if the machine struck something Machine struck Review the operation pattern ...

Page 165: ...ck if the torque is saturated Torque is saturated Reduce load Check operation pattern Use servo motor that provides larger output Torque is not saturated Check 7 7 Check the bus voltage using MR Configurator Bus voltage is low Review the power supply voltage Equipment cannot be started because of torque shortage caused by the power supply voltage drop Bus voltage is high Check 8 8 Not reproduced R...

Page 166: ... error Replace the USB cable and check the reproducibility of the error Reproduced Check 2 2 Incorrect setting found Review the setting Setting of communication device personal computer etc is improper Check the communication setting of the communication device Setting is correct Check 3 3 Servo amplifier is faulty Replace the servo amplifier and check the reproducibility of the error Not reproduc...

Page 167: ...cording to the communication protocol Conforms Check 3 3 Setting of communication device personal computer etc is improper Check the communication setting of the communication device Incorrect setting found Review the setting 8E 5 USB communication data No error 1 Data No not in the specification is transmitted Check the data No at transmission Data No not in the specification is transmitted Modif...

Page 168: ...ued but an alarm may take place or proper operation may not be performed Remove the cause of warning according to this section Use the MR Configurator to refer to a factor of warning occurrence Warning No 91 Name Main circuit device overheat warning Stop method Axes can operate warning detected at both axes Warning description The temperature inside of the servo amplifier exceeds the warning level...

Page 169: ...eckpoint Finding Action 96 1 In position error at home positioning 1 In position INP A INP B did not turn on within the specified time during home positioning Measure the number of droop pulses during home positioning In position set value or larger Adjust the gain to make the number within In position setting range Remove the cause of droop pulse occurrence Below INP set value Contact your local ...

Page 170: ... level Examine checkpoints described in the alarm display 50 1 E1 2 Thermal overload warning 2 during operation 1 Load is 85 or larger of the overload alarm 50 2 alarm level Examine checkpoints described in the alarm display 50 2 E1 3 Thermal overload warning 3 during operation 1 Load is 85 or larger of the overload alarm 51 1 alarm level Examine checkpoints described in the alarm display 51 1 E1 ...

Page 171: ...e and other factors No problem found Check 2 Absolute positioning counter in encoder warning 2 Encoder is faulty Replace the servo motor and check the reproducibility of the error Error is not reproduced Replace the servo motor Warning No E4 Name Parameter warning Stop method Axes can operate detected at the corresponding axis Warning description At parameter write write to parameter outside of th...

Page 172: ...vo amplifier or repair replace the cooling fan Warning No E9 Name Main circuit off warning Stop method All axes stop warning detected at both axes Warning description Servo on command is input when the main circuit power is off Bus voltage drops when servo motor is running below 50r min Display Name Cause Checkpoint Finding Action E9 1 1 Main circuit power is off Check the main circuit power input...

Page 173: ...EC Name Overload warning 2 Stop method Axes can operate detected at the corresponding axis Warning description The operation in which current exceeding the rating flows intensively in any of U V and W phases of the servo motor is repeated Display Name Cause Checkpoint Finding Action EC 1 Overload warning 2 1 During a stop current flows intensively in any of U V and W phases of the servo motor repe...

Page 174: ... with MR J3W 44B It is not necessary to drill air holes on the control box surface for the cooling fan Mass 1 4 kg 3 09 lb Screw size M4 Tightening torque 1 2 N m 10 6 lb in C CNP2 L1 L2 CNP1 L3 L11 L21 P D CNP3B CNP3A U V W U V W 1 2 3 1 2 3 A B A B 1 2 1 2 A B PE Terminal signal layout Approx 60 4 M5 screw 48 0 3 Approx 6 Approx 6 Mounting hole process drawing Mounting screw Screw size M5 Tighte...

Page 175: ...ting hole SW3 Mass 2 3 kg 5 07 lb Screw size M4 Tightening torque 1 2 N m 10 6 lb in C CNP2 L1 L2 CNP1 L3 L11 L21 P D CNP3B CNP3A U V W U V W 1 2 3 1 2 3 A B A B 1 2 1 2 A B PE Terminal signal layout 88 0 3 4 M5 screw Approx 6 Approx 100 Approx 6 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in ...

Page 176: ...7 4 8 13 4 15 6 7 9 3 17 6 0 2 8 2 3 1 7 4 8 13 4 15 6 7 9 3 17 6 0 2 20 9 0 2 8 2 Miniature delta ribbon MDR system 3M a One touch lock type Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D Each type of dimension Connector Shell kit A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 ...

Page 177: ...on Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Each type of dimension Connector Shell kit A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 31 3 3 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 ...

Page 178: ...B operate the servo amplifier at 90 or smaller effective load ratio Servo amplifier MR J3W series has solid state servo motor overload protection The motor full load current is 115 rated current Note 1 Load ratio 0 1 100 200 300 0 50 150 250 1000 100 10 1 Operation time s In servo lock In operation HF MP053 13 HF KP053 13 Note 1 2 Load ratio 1000 100 10 1 0 1 100 200 300 400 0 In servo lock In ope...

Page 179: ...vo motor values and use the mean value as a reference Table 10 1 Power supply capacity and generated heat per servo amplifier at rated output Note 2 Servo amplifier generated heat W Area required for heat dissipation Servo motor 2 Note 1 Power supply capacity kVA At rated torque With servo off m2 HF KP053 0 6 35 15 0 7 HF KP13 0 6 35 15 0 7 HF KP23 1 35 15 0 7 HF KP43 1 8 55 15 1 1 HF KP73 2 6 85 ...

Page 180: ...e Refer to Table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat di...

Page 181: ...an emergency 10 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 10 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 10 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 of this section V0 OFF ON Machine speed te T...

Page 182: ... series HF KP series Speed r min Time constant ms 500 1000 1500 2000 10 20 30 40 50 60 0 0 51 Speed r min Time constant ms 52 500 1000 1500 2000 2500 3000 20 40 60 80 100 120 0 0 HF SP1000r min series HF SP2000r min series Speed r min 500 1000 1500 2000 0 0 10 20 30 40 50 60 70 80 90 100 72 Time constant ms Time constant ms 0 0 52 500 1000 1500 2000 200 160 120 80 40 Speed r min HC UP series HC LP...

Page 183: ...oad inertia moment ratio times HF KP HF MP HF SP HC UP 30 HC LP HF JP 10 4 Cable bending life The bending life of the cables is shown below This graph calculated values Since they are not guaranteed values 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 Bending life times 4 7 10 20 40 70 100 200 Bending radius mm a Long bending life...

Page 184: ...0 p Servo amplifier Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J3W 22B MR J3W 44B 120A Attenuated to approx 2A in 10ms MR J3W 77B MR J3W 1010B 120A Attenuated to approx 12A in 20ms 20 to 30A Attenuated to approx 0A in 1 to 2ms Since large inrush currents flow in the power supplies always use no fuse breakers and magnetic contactors Refer to section 11 6 When circuit...

Page 185: ...10 CHARACTERISTICS 10 8 MEMO ...

Page 186: ...IP rating indicated is the cable s or connector s protection against ingress of dust and water when the cable or connector is connected to a servo amplifier or servo motor If the IP rating of the cable connector servo amplifier and servo motor vary the overall IP rating depends on the lowest IP rating of all components As the cables and connectors used with this servo purchase the options indicate...

Page 187: ...onnector Junction type cable length more than10m IP65 35 26 27 20 21 22 23 28 24 25 A axis Servo motor HF MP HF KP 8 9 10 11 12 13 18 19 14 15 16 17 CNP1 CNP2 CNP3A CNP3B CN2B CN2A Note Note 31 32 33 29 30 Servo motor HC LP72 HC UP52 31 32 39 40 33 37 41 42 36 31 32 39 40 34 38 43 44 33 37 41 42 Servo motor HF SP51 52 48 19 50 51 52 53 54 55 Servo amplifier Power supply connector Brake connector E...

Page 188: ...00PE Shell kit 10320 52F0 008 3M or similar product For connection with the battery unit 5 Junction battery cable MR J3BT2CBL M Cable length 0 3 1m Socket DF3 2S 2C Socket contact DF3 2428SC F C Hirose Denki Junction plug DF3 2EP 2C Plug contact DF3 EP2428PC F A Hirose Denki As a junction for the battery Socket DF3 2S 2C Socket contact DF3 2428SC F C Hirose Denki 6 USB cable MR J3USBCBL3M Cable le...

Page 189: ...ion 11 1 3 for details IP55 Opposite to load side lead EN compliant 14 Motor brake cable MR BKS1CBL M A1 L Cable length 2 5 10m IP65 Load side lead 15 Motor brake cable MR BKS1CBL M A1 H Cable length 2 5 10m Brake connector HF MP series HF KP series Refer to section 11 1 4 for details IP65 Load side lead Long bending life 16 Motor brake cable MR BKS1CBL M A2 L Cable length 2 5 10m IP65 Opposite to...

Page 190: ...connector HF MP series HF KP series Refer to section 11 1 2 3 for details IP20 Load side lead 25 Encoder cable MR J3JCBL03M A2 L Cable length 0 3m Encoder connector HF MP series HF KP series Refer to section 11 1 2 3 for details IP20 Opposite to load side lead 26 Encoder cable MR EKCBL M L Cable length 20 30m IP20 27 Encoder cable MR EKCBL M H Cable length 20 30 40 50m For HF MP HF KP series Refer...

Page 191: ... wire size 2 to 3 5mm2 AWG1 to AWG12 Cable finish D 10 5 to 14 1mm For HF SP series For HF JP series IP67 EN compliant 36 Power supply connector set MR PWCNS1 Plug CE05 6A22 23SD D BSS Cable clamp CE3057 12A 2 D DDK Example of applicable cable Applicable wire size 2 to 3 5mm2 AWG14 to AWG12 Cable finish 9 5 to 13mm For HC UP72 For HC LP52 IP65 EN compliant 37 Encoder connector set MR J3SCNSA IP67 ...

Page 192: ...nnector 10126 6000EL Shell kit 10326 3210 000 3M or similar product Connector for the servo amplifier Connector 10126 6000EL Shell kit 10326 3210 000 3M or similar product For junction terminal block connection 46 Junction terminal block MR TB26A Refer to section 11 12 47 Connector set MR ECN1 Connector 10126 3000PE Shell kit 10326 52F0 008 3M or similar product Quantity 20 48 Connector set MR J3W...

Page 193: ...Receptacle contact BF3F 71GF P2 0 Japan Solderless Terminals Compatible cable example Cable size 1 25 to 2 0mm2 AWG16 to AWG14 Insulator OD 2 4 to 3 4mm Crimping tool YRF 1070 is required Quantity 20 For thick wire 54 Connector set MR J3WCNP123 SP Items for 1 servo amplifier CNP1 connector Quantity 1 Connector 03JFAT SAXGFK 43 Japan Solderless Terminals Applicable wire size AWG16 to AWG14 CNP2 con...

Page 194: ...plifier 2 1 Servo motor HF MP HF KP 2 1 Servo motor HF MP HF KP or CN2A or CN2B MR J3ENCBL M A1 L MR J3ENCBL M A1 H MR J3ENCBL M A2 L MR J3ENCBL M A2 H Cable model 1 For CN2 connector 2 For encoder connector MR J3ENCBL M A1 L Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex MR J3ENCBL M A1 H MR J3ENCBL M A2 L MR J3ENCBL M A2 H 1 3 7 9 4 2 8 6 10 5 Note Signal layo...

Page 195: ...type MR 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 leng...

Page 196: ...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 adjustment If it is connected with any other pin the servo amplifier cannot operate normally Housing 1 172161 9 Crimping pin 170359 1 TE Connectivi...

Page 197: ...9 LG MR MRR SHD P5 BAT BAT Note Plate MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Servo amplifier side Encoder side 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 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 the wiring diagram...

Page 198: ...9 Molex Encoder side connector Housing 1 172161 9 Connector pin 170359 1 Tyco Electronics 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 A...

Page 199: ...le clamp 316454 1 Crimping tool 91529 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 Signal layout b Internal wiring diagram P5 LG 7 8 MR MRR...

Page 200: ...of servo amplifier and servo motor Servo motor HF MP series HF KP series MR J3JSCBL03M A2 L 1 2 Servo motor HF MP series HF KP series MR J3JSCBL03M A1 L 1 2 or CN2A or CN2B Servo amplifier MR J3ENSCBL M L H Cable model 1 For CN2 connector 2 For encoder connector MR J3JSCBL03M A1 L MR J3JSCBL03M A2 L Receptacle CM10 CR10P M DDK Complied cable AWG20 or less 1 MR 2 MRR 3 5 LG 4 7 6 10 SHD 9 8 P5 Note...

Page 201: ...ble model 2m 5m 10m 20m 30m 40m 50m IP rating Bending life Application MR J3ENSCBL M L 2 5 10 20 30 IP67 Standard MR J3ENSCBL M H 2 5 10 20 30 40 50 IP67 Long bending life For HF SP HC UP HC LP HF JP servo motor MR J3ENSCBL M L S06 2 5 10 20 30 IP67 Standard MR J3ENSCBL M H S06 2 5 10 20 30 40 50 IP67 Long bending life For HF SP HC UP HC LP HF JP servo motor Note Note Use this option when the conn...

Page 202: ...ght plug Socket contact Long bending life 10m or shorter Standard CM10 22SC C1 D8 100 Applicable wire size AWG22 to 20 Crimping tool 357J 50446 Long bending life 20m or longer Standard CM10 SP10S VP M CM10 22SC C2 D8 100 Applicable wire size AWG28 to 23 Crimping tool 357J 50447 MR J3ENSCBL M H S06 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT Note Signal...

Page 203: ...8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT Servo amplifier side connector Encoder side connector Plate Note Servo amplifier side connector Encoder side connector Plate P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT Note Servo amplifier side connector Encoder side connector P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT Plate Note Note Always make connection for use ...

Page 204: ... 1019 Molex 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 Straight plug CMV1 AP10S M2 Socket contact CMV1 22ASC S1 100 Applicable wire size AWG20 or less DDK MR J3SCNSA S06 Note 1 Encoder side connector Straight plug CM10 AP10S VP M Socket contact CM10 22SC S1 D8 100 Applicable...

Page 205: ...For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor Servo amplifier 1 Connector for CNP3A CNP3B Refer to section 3 3 3 Servo motor HF MP HF KP MR PWS1CBL M A2 L MR PWS1CBL M A2 H MR PWS2CBL03M A2 L 1 Servo motor HF MP HF KP MR PWS1CBL M A1 L MR PWS1CBL M A1 H MR PWS2CBL03M A1 L or CNP3A or CNP3B Cable model 1 For motor power supply connector MR PW...

Page 206: ...03M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of power supply for electromagnetic brake 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 Servo motor HF MP HF KP MR BKS1CBL M A1 L MR BKS1CBL M A1 H MR BKS2CBL03M A1 L or Cable model 1 For motor brake connecto...

Page 207: ...dard cable Note MR J3BUS M B 30 40 50 Long bending life Using long distance cable Note For cable of 30m or less contact our company 2 Specifications Description SSCNET cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET cable length 0 15m 0 3 to 3m 5 to 20m 30 to 50m Minimum bend radius 25mm Enforced covering cord 50mm Cord 25mm Enforced covering cord 50mm Cord 30mm Tension strength 70N 140N 4...

Page 208: ... 100 L Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table shown in 1 of this section for cable length L Distortion dimension mm SSCNET cable A B MR J3BUS5M A to MR J3BUS20M A 100 30 MR J3BUS30M B to MR J3BUS50M B 150 50 Unit mm A A L Note Protective tube B B Note Dimension of co...

Page 209: ...e Parts Description 1 Cable VSVC 7 0 18 2C 2 Connector Socket DF3 2S 2C Socket contact DF3 2428SC F C Hirose Denki 2 1 3 3 Connector Connector 10120 3000PE Shell kit 10320 52F0 008 3M or similar product b Internal wiring diagram BT LG 9 1 1 2 LG BT 1 2 3 SD White Black Plate 3 MR J3BT2CBL M a Appearance Parts Description 1 Cable 2 Cable VSVC 7 0 18 2C 3 Connector 4 Connector Socket DF3 2S 2C Socke...

Page 210: ...amplifiers may only be used Otherwise a fire may occur 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Servo amplifier Built in regenerative resistor MR RB14 26 MR RB34 26 MR RB3B 20 MR J3W 22B MR J3W 44B 10 100 MR J3W 77B 100 300 MR J3W 1010B 300 ...

Page 211: ...gy in rotary servo motor operation Regenerative power Torque applied to servo motor N m Energy E J 1 8 B axis T1 JL JM 9 55 104 N0 1 Tpsa1 TU TF E1 2 0 1047 N0 T1 Tpsa1 2 9 B axis T2 TU TF E2 0 1047 N0 T2 t1 3 10 B axis T3 JL JM 9 55 104 N0 1 Tpsd1 TU TF E3 2 0 1047 N0 T3 Tpsd1 4 5 A axis 9 10 A axis T4 TU E4 0 No regeneration 5 B axis 6 A axis T5 JL JM 9 55 10 4 N0 1 Tpsa2 TU TF E5 2 0 1047 N0 T5...

Page 212: ... Negative values go into the shaded cells Example Timing 1 2 3 4 5 6 7 8 9 10 A axis E1 E2 E3 E4 E4 E5 E6 E7 E4 E4 B axis E1 E2 E3 E4 E5 E6 E7 E5 E6 E3 Sum E 1 E 2 E 3 E 4 E 5 E 6 E 7 E 8 Note E 9 E 10 Regenerative Es ES 3 ES 7 ES 10 ER J ER ER ER PR W ER tf Note Energy is not a negative value after summing regenerative driving driving Calculate the sum of energy in each timing For the timings tim...

Page 213: ...on with the servo amplifier 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 G4 G3 C P Regenerative option 5m or less Servo amplifier Always remove the lead from across P D Note 2 Cooling fan Note 1 Note 1 When the ambient temperature is more than 55 and the regenerative load ratio i...

Page 214: ...ightening torque 0 5 to 0 6 N m 4 to 5 lb in Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in Mass 1 1 kg 2 4 lb b MR RB34 MR RB3B Unit mm 7 10 90 100 335 17 318 82 5 101 5 Cooling fan mounting screw 2 M4 screw Air intake TE1 Terminal block G3 G4 P C Terminal screw M4 Tightening torque 1 2 N m 10 62 lb in Mounting screw Screw size M6 Tightening torque 5 4 N m 47 79 lb in Mass 2 9...

Page 215: ...onnect multiple servo amplifiers to an MR BTCASE battery case use the MR J3BT2CBL M junction battery cable When using an MR J3W B servo amplifier in the incremental system MR BTCASE and MR BAT are not required Battery backup time battery life without charging is 30 000 hours for one servo amplifier two axes and 10 000 hours for four servo amplifiers eight axes Refer to section 12 3 for the usage U...

Page 216: ...resolution changes with the processing speed of the personal computer Alarm Display history amplifier data Diagnostic Digital I O no motor rotation total power on time amplifier software version info motor information tuning data absolute encoder data Axis name setting Parameters Parameter list turning change list detailed information Test operation Jog operation positioning operation Do forced ou...

Page 217: ...B or more for 64 bit OS Hard Disk 1GB or more of free space Note 2 3 4 5 Personal computer Communication interface USB port Browser Internet Explorer 4 0 or more Display One whose resolution is 1024 768 or more and that can provide a high color 16 bit display Connectable with the above personal computer Keyboard Connectable with the above personal computer Mouse Connectable with the above personal...

Page 218: ...11 OPTIONS AND AUXILIARY EQUIPMENT 11 33 b Connection with servo amplifier To USB connector USB Cable MR J3USBCBL3M Option Personal computer Servo amplifier CN5 ...

Page 219: ...ommunication All monitor Same display as MR J3 B graph Three channels for each of two axes can be measured Set measuring axes using parameters Test operation One axis only cannot use two axes simultaneously Machine analyzer To vibrate one axis cannot use two axes simultaneously I O interface Only the information on the communicating axis Pin numbers of MR J3 B are the pin numbers Tuning Vibration ...

Page 220: ...bers of the MR J3 B When using the pin numbers for MR J3W B read the pin numbers as shown below MR J3W B Item MR J3 B A axis B axis CN3 2 CN3 7 CN3 20 CN3 12 CN3 8 CN3 21 Input device CN3 19 CN3 9 CN3 22 CN3 20 CN3 10 CN3 13 CN3 12 CN3 25 Output device CN3 15 CN3 11 CN3 24 CN3 6 16 CN3 3 16 CN3 5 18 Encoder pulse output CN3 7 17 CN3 4 17 CN3 6 19 CN3 8 18 Invalid No function CN3 4 CN3 2 Analog mon...

Page 221: ...election example of wires POINT Refer to section 11 1 5 for SSCNET cable Wires indicated in this section are separated wires To comply with the UL CSA Standard use the wires shown in appendix 4 for wiring To comply with other standards use a wire that is complied with each standard Selection condition of wire size is as follows Construction condition One wire is constructed in the air Wire length ...

Page 222: ...s These sizes are common for the 600V Polyvinyl chloride insulated wire IV wire and for the 600V Grade heat resistant polyvinyl chloride insulated wire HIV wire Table 11 1 Wire size selection example 1 IV HIV wire Wires mm2 Note 1 Servo amplifier 1 L1 L2 L3 Note 3 2 L11 L21 3 U V W Note 2 3 4 P C 5 P D 6 B1 B2 Note 2 7 THM1 THM2 MR J3W 22B MR J3W 44B MR J3W 77B MR J3W 1010B 2 AWG14 1 25 AWG16 0 2 ...

Page 223: ...i 16395 1 Bando Densen MR EKCBL_M L 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 2 to 10 0 2 mm2 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 MR EKCBL_M H 30 to 50 AWG24 14 7 pairs 40 0 08 105 or les...

Page 224: ...MR PWS2CBL03M A2 L 0 3 AWG19 4 30 0 18 25 8 or less 1 64 Note 3 5 J11B2330 UL10125 Junkosha MR BKS1CBL_M A1 L 2 to 10 MR BKS1CBL_M A2 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 A1 H 2 to 10 MR BKS1CBL_M A2 H 2 to 10 AWG20 2 110 0 08 39 0 or less 1 37 4 5 0 3 Note 4 RMFES A CL3X AWG20 2 cores Dyden MR BKS2CBL03M A1 L 0 3 Motor brake cabl...

Page 225: ...se Current Total output of rotary servo motor Total continuous thrust of linear servo motor Total output of direct drive motor Not using power factor improving AC reactor Using power factor improving AC reactor Voltage AC V Note 1 Class Current A Voltage AC V Note 2 Magnetic contactor 300W or less 30A frame 5A 30A frame 5A 15 From over 300W to 600W 120N or less 100W or less 30A frame 10A 30A frame...

Page 226: ...the two types use the larger power factor improving AC reactor W W1 C RXSY T Z H 5 D1 Installation screw D 5 Unit mm Y Z S T MC MCCB Y Z S T MC MCCB FR BAL Servo amplifier X R L1 L2 L3 3 phase 200 to 230VAC FR BAL Servo amplifier X Y Z R S T L1 L2 Note 1 phase 200 to 230VAC L3 Note For the 1 phase 200V to 230V power supply Connect the power supply to L1 L2 and leave L3 open Dimensions mm Total out...

Page 227: ...he routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle 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 ser...

Page 228: ... cables of the peripheral devices located near the 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 mot...

Page 229: ...r bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power li...

Page 230: ...r The recommended surge suppressor for installation to an AC relay AC valve or the like near the servo amplifier is shown below Use this product or equivalent MC SK Surge suppressor Relay 20cm or less Surge suppressor MC ON OFF Ex CR 50500 OKAYA Electric industries Co Ltd Rated voltage AC V C F 20 R 30 Test voltage AC V Outline drawing Unit mm 250 0 5 50 1 2W Between terminals 625VAC 50 60Hz 60s B...

Page 231: ...rth plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the earth plate Unit mm Strip the cable sheath of the clamped area cutter cable Cable clamp A B Cable Earth plate External conductor Clamp section diagram 40 Outline drawing Unit mm Earth plate Clamp section diagram Note M4 screw 11 3 6 C A 6 22 17 5 35 35 L or less 10 30 7 24 0 0 2 24...

Page 232: ... but generally four passes would be appropriate For the motor power supply passes must be four times or less Do not pass the grounding earth 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...

Page 233: ... and lightning surge from entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Maximum rating Permissible circuit voltage Surge current immunity E...

Page 234: ...onic and surge reduction techniques NV SP NV SW NV CP NV CW NV L 1 MCCB Ign Noise filter Cable Ig1 Iga Servo amplifier A axis B axis Cable Ig2 Igm M Cable Ig2 Igm M General models BV C1 NFB NV L 3 Ig1 Ig2 Ign Iga Igm Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 1 Leakage current on the electric channe...

Page 235: ...rrent example Iga Servo motor power kW Leakage current mA Servo amplifier Leakage current mA 0 05 to 1 0 1 MR J3W 22B MR J3W 44B 0 1 MR J3W 77B MR J3W 1010B 0 15 Table 11 5 Leakage circuit breaker selection example Servo amplifier Rated sensitivity current of leakage circuit breaker mA MR J3W 22B MR J3W 44B MR J3W 77B MR J3W 1010B 15 ...

Page 236: ...43 2mm2 5m Use an earth leakage current breaker generally available Find the terms of Equation 11 1 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 11 1 Ig 10 0 1 0 0 1 1 0 1 0 1 0 1 0 1 6 0 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 6 0 mA ...

Page 237: ... 5 7 72 MR J3W 77B MR J3W 1010B Note HF3030A UN 30 250 5 5 5 12 13 Note A surge protector is separately required to use any of these EMC filters 2 Connection example MCCB L1 L2 L3 L11 L21 Servo amplifier 1 2 3 4 5 6 E Note 2 Surge protector 1 RAV 781BYZ 2 OKAYA Electric Industries Co Ltd Note 2 Surge protector 2 RAV 781BXZ 4 OKAYA Electric Industries Co Ltd Note 1 Power supply 1 2 3 1 2 3 MC EMC f...

Page 238: ...010A UN Unit mm M4 IN 3 M4 65 4 Approx 41 4 5 5 7 258 4 273 2 288 4 300 5 3 M4 85 2 32 2 110 4 HF3030A UN Unit mm 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 Dimensions mm Model 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 ...

Page 239: ... a servo amplifier The terminal symbol S is for the shield Junction terminal block MR TB26A Junction terminal block cable MR TBNATBL M CN3 Servo amplifier Ground the junction terminal block cable using the S terminal of the junction terminal block 2 Specifications Junction terminal block Item MR TB26A Rating AC DC32V 0 5A Twisted wire 0 08 to 1 5mm2 AWG28 to AWG14 Usable cables Solid wire 0 32 to ...

Page 240: ...n using the surge absorber perform insulation beforehand to prevent short circuit Maximum rating Permissible circuit voltage Surge immunity Energy immunity Rated power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA AC Vma DC V A J W A V pF V 140 180 Note 500 time 5 0 4 25 360 300 220 198 to 242 Note 1 time 8 20 s 13 5 16 5 4 7 1 0 0 8 3 0 or less 30 0 or m...

Page 241: ...11 OPTIONS AND AUXILIARY EQUIPMENT 11 56 MEMO ...

Page 242: ...a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position r...

Page 243: ...hanged with the control circuit power OFF the absolute position data is lost 1 Specification list Item Description System Electronic battery backup system Battery unit MR BAT Lithium battery primary battery nominal 3 6V 8 MR BTCASE Battery case Maximum revolution range Home position 32767 rev Note 1 Maximum speed at power failure 3000r min Note 2 Battery backup time Approx 10 000 hours battery lif...

Page 244: ...CN1A CN1B Cap CN4 MR BTCASE CN1C SSCNET cable MR J3BT1CBL M b When using two to four servo amplifiers MR J3BT2CBL M MR J3BT2CBL M SSCNET cable MR J3BT1CBL M CN1A CN1B CN4 Servo amplifier Last CN1A CN4 CN1B Cap Controller Servo amplifier First CN1A CN1B CN4 MR BTCASE CN1C Servo amplifier Second SSCNET cable SSCNET cable ...

Page 245: ... cable MR J3BT2CBL M CN1A CN1B CN4 SSCNET cable CN1A CN1B CN4 MR J3BT2CBL M CN1A CN1B CN4 SSCNET cable MR J3BT2CBL M CN1A CN1B CN4 SSCNET cable CN1A CN1B CN4 MR J3BT1CBL M MR BTCASE CN1C Servo amplifier Last Servo amplifier Fifth Servo amplifier Sixth Servo amplifier Fourth 3 Parameter setting Set 1 in parameter No PA03 to make the absolute position detection system valid Parameter No PA03 Absolut...

Page 246: ...R BTCASE 1 MR BTCASE is a case that holds eight MR BAT batteries and connect them to the connector Battery MR BAT 8 Lithium battery primary battery nominal 3 6V 12 3 2 Disassembly and assembly of the battery case MR BTCASE 1 Disassembly of the case MR BTCASE is shipped assembled To install MR BATs the case needs to be disassembled Screw Remove the two screws using a Phillips screwdriver Cover Remo...

Page 247: ... in the right direction If the connector is pushed forcefully in the wrong direction the connector will break Duct Place the MR BAT lead wire to the duct designed to store lead wires Install other seven MR BATs in the same manner Bring out the lead wire from the space between the ribs and bend it as shown above to store it in the duct Connect the lead wire to the connector Be careful not to get th...

Page 248: ...the cover and insert screws into the two holes and tighten them POINT When assembling the case be careful not to get the lead wires caught in the fitting parts or the screwing parts Screw 12 3 3 Battery transportation Refer to appendix 5 and 6 for battery transportation and the new EU Battery Directive ...

Page 249: ...onfigurator Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Diagnostics in the menu opens the sub menu as shown below 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Press the Close button to close the absolute encoder data display window ...

Page 250: ...be established The following shows the differences between the linear servo motor and the rotating servo motor Differences Classification Item Linear servo motor Rotating servo motor Remarks External I O signal Stroke limit input signal FLS RLS Required when magnetic pole is detected Not required Automatically turns ON in the parameter setting Motor pole adjustment Magnetic pole detection operatio...

Page 251: ... Available JOG operation Not available Available MR Configurator MRZJW3 SETUP221E Ver C0 or later Test operation function Program operation Available Available 13 1 2 Combinations of Servo Amplifiers and Linear Servo Motors 1 LM H2 series Linear servo motor Servo amplifier MR J3W 44B MR J3W 77B MR J3W 1010B Primary side coil Secondary side magnet A axis B axis A axis B axis A axis B axis LM H2P1A ...

Page 252: ...ervo amplifier whose software version is B3 or later no parameter setting is required 3 LM K2 series Linear servo motor Servo amplifier MR J3W 44B MR J3W 77B MR J3W 1010B Primary side coil Secondary side magnet A axis B axis A axis B axis A axis B axis LM K2P1A 01M 2SS1 LM K2S10 288 2SS1 LM K2S10 384 2SS1 LM K2S10 480 2SS1 LM K2S10 768 2SS1 Note 2 Note 1 2 Note 1 2 LM K2P2A 02M 1SS1 LM K2S20 288 1...

Page 253: ... W W V U Linear encoder A axis linear servo motor Linear encoder B axis linear servo motor Encoder cable Encoder cable Thermistor Thermistor Molded case circuit breaker MCCB or fuse Power factor improving AC reactor FR BAL Line noise filter FR BSF01 L21 L11 L1 L2 L3 Servo amplifier CNP1 CNP2 CNP3A CNP3B Regenerative option P C D I O signal Servo system controller or front axis servo amplifier CN1B...

Page 254: ... connections of the power supply terminals CAUTION Connect the wires to the correct phase terminals U V W of the servo amplifier and linear servo motor Otherwise the linear servo motor does not operate properly Do not connect AC power supply directly to the linear servo motor Otherwise a fault may occur For grounding connect the earth cable of the linear servo motor to the protective earth PE term...

Page 255: ...V W Linear servo motor Lead supplied with linear servo motor Round crimping terminal 5 6 THM1 THM2 G1 Black G2 Black U V W Note 1 Note 2 30m or less CN2A CN2B Servo amplifier Branch cable Note 3 Primary side coil Note 1 The signal name U V W E G1 G2 is attached on leads The following shows the lead length LM H2 0 4m LM U2 0 4m LM K2 0 5m 2 No polarity for the thermistors G1 and G2 3 Make the branc...

Page 256: ... SR75 0 01 m 2040mm 0 05 m SR85 0 01 m 3 3m s 3040mm Magnescale Co Ltd Note 5 SL710 PL101 R RH MJ830 or MJ831 Note 2 0 2 m Note 1 6 4m s 100000mm 2 wire type RGH26P 5 m 4 0m s Renishaw Inc RGH26Q 1 m 3 2m s RGH26R 0 5 m 1 6m s 70000mm 2 wire type LIDA 485 EIB 392M Note 4 30040mm Mitsubishi serial interface compatibility Incremental type Heidenhain Corporation LIDA 487 EIB 392M Note 4 20 m 16384 Ap...

Page 257: ...Produce the branch cable using the MR J3THMCN2 connector set as shown below Keep the branch cable length 0 5m or shorter Use the AWG22 cable for the wiring 0 5m or less View seen from wiring side View seen from wiring side or Servo amplifier side Encoder cable side Plate Note 1 Note 2 Plate 5 6 G1 G2 Note 2 Thermistor side View seen from wiring side View seen from wiring side Note 3 Note 3 1 P5 3 ...

Page 258: ...wise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal DICOM 24VDC Servo amplifier RA For the sink output interface DOCOM Control output signal DICOM 24VDC Servo amplifier RA For the source output interf...

Page 259: ...is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions Shut off the main circuit power supply when alarms are occurring in both of the A axis and the B axis Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire Check the servo amplifier model and then input proper voltage to the servo amplifie...

Page 260: ...C U V W Note 1 CNP1 CNP3A CNP2 U V W E Note 5 CN2A G1 G2 Note 6 Head Primary side coil CNP3B U V W E Note 5 CN2B G1 G2 Note 6 Head Primary side coil U V W Note 2 Encoder cable EM1 DOCOM CN3 ALM A DICOM DOCOM 24VDC A axis malfunction Note 3 CN3 ALM B Note 4 B axis malfunction Note 3 RA1 RA2 Note 2 Encoder cable SW3 Note 7 1 ON A axis B axis 2 A axis linear encoder A axis linear servo motor B axis l...

Page 261: ...es in an alarm occurrence connect RA1 and RA2 in series 4 For the sink I O interface For the source I O interface refer to section 3 7 3 5 Refer to section 3 10 6 There may not be a thermistor output 7 This connection example is a connection using linear servo motors Turn SW3 on Refer to section 3 14 8 Configure the circuit to shut down the main circuit power supply simultaneously with the turn of...

Page 262: ...d 3 2 4 7 8 MR MRR MD MDR LG Linear encoder head E CN2A CN2A P5 Linear servo motor primary side coil THM1 THM2 5 6 3 2 4 7 8 MR MRR MD MDR LG Linear encoder head E CN2B CN2B P5 Linear servo motor primary side coil THM1 THM2 5 6 RA CNP3B 2A CNP3A 2A Approx 5 6k Approx 5 6k D D USB Note 3 RA Note 3 Note 1 Signal can be assigned for these pins with the controller setting For contents of signals refer...

Page 263: ...Note Setting of the linear encoder resolution Refer to 4 in this section Note Execution of the magnetic pole detection Refer to section 13 5 2 3 Note Positioning operation check Refer to section 13 5 4 Positioning operation check using the controller Refer to section 13 5 5 Home position return Refer to section 13 5 3 Positioning operation Change to the setting not requiring the magnetic pole dete...

Page 264: ...o motor to commands is determined by the setting of the parameter No PA14 as follows Moving direction of linear servo motor Parameter No PA14 setting value Address increase command Address decrease command 0 Positive direction Negative direction 1 Negative direction Positive direction The positive negative directions of the linear servo motor are as shown below Positive direction Secondary side Po...

Page 265: ... PS03 Linear encoder resolution setting denominator POINT When using this parameter turn the power off once after setting the parameter No PA19 to D and then turn it on again Turn off the power and then on again after setting the parameter to validate the parameter value a Parameter setting Set the value as the following equation Parameter No PS02 Linear encoder resolution setting numerator Parame...

Page 266: ...tion mode and the following servo amplifiers is blocked For the magnetic pole detection the test operation mode positioning operation of MR Configurator is used Turn the power of servo amplifier off and set the test operation select switch SW2 1 as shown below By turning the power on it switches to the test operation mode C B 7 9 6 8 5 4 3 2 1 0 F E D A 1 2 ON 4E SW1 SW2 TEST SW2 DOWN UP 1 2 Set S...

Page 267: ...rvo motor when using the absolute position linear encoder carry out the magnetic pole detection again The accuracy of magnetic pole detection will be improved by being operated in the no load condition The servo alarm may occur when the linear encoder is not mounted properly or when the setting parameter Nos PS02 and PS03 of linear encoder resolution or the setting value of parameter No PS09 magne...

Page 268: ... less Magnetic pole detection time Note Note The magnetic pole detection time indicates the operation time when the stroke limits FLS and RLS is ON 2 Linear servo motor movement when FLS and RLS are ON Servo on position Magnetic pole detection start position RLS Note 2 FLS Note 1 Note 2 Magnetic pole detection complete position Note 1 When the stroke limit FLS or RLS turns OFF during the magnetic ...

Page 269: ...in this section b For the absolute position linear encoder POINT If a gap is generated to the positional relationship between the linear encoder and the linear servo motor when using the absolute position linear encoder carry out the magnetic pole detection again Carry out the magnetic pole detection referring the following procedure 1 Set the parameter No PS01 Linear function selection 1 to 1 Mag...

Page 270: ...r during the magnetic pole detection by MR Configurator the test operation of MR Configurator is automatically completed and servo off status established 2 Set the final setting value to approximately 70 of the value which is set at the occurrence of the overload 1 50 overload 2 51 overvoltage 33 1 overload warning 1 E1 and overload warning 2 EC 1 However in the case where the initial magnetic pol...

Page 271: ...nd RLS and the forced stop EM1 are ON turn the power of servo amplifier off once and then turn it on again 2 3 Change to Magnetic pole detection always valid by setting the paramete No PS01 Linear function selection 1 to 1 Note 4 5 Turn the power of servo amplifier off once and then turn it on again 6 Set the parameter No PS09 Magnetic detection voltage level to 10 guide value as a guide Execute t...

Page 272: ...f the minute position detection method by one in parameter No PS17 Minute position detection method function selection Problem exists YES Problem does not exist NO YES NO Magnetic pole detection End 8 Change to Magnetic pole detection invalid by setting the parameter No PS01 Linear function selection 1 to 0 Note 1 1 After confirming that the stroke limits FLS and RLS and the forced stop EM1 are ON...

Page 273: ...of MR Configurator b Confirm that the personal computer is connected to the servo amplifier and select Diagnostic and then Linear diagnostic c Click the Magnetic pole information button 1 in Figure to open the magnetic pole information window d Click Read All of the magnetic pole information window 2 in Figure e Confirm the data 1 and data 2 3 in Figure of the magnetic pole information window and ...

Page 274: ...13 USING A LINEAR SERVO MOTOR 13 25 1 2 3 4 ...

Page 275: ...es changeable with the third digit of the parameter No PS01 which is based on the linear encoder home position reference mark passed primarily after the start of home position return Change the setting value of the parameter No PS01 according to the linear encoder resolution 0 1 2 3 4 5 6 8192 131072 262144 1048576 4194304 16777216 67108864 Stop interval setting at the home position return Setting...

Page 276: ...or contents differ depending on types of controller In this chase move it once with the JOG operation from the controller etc to the stroke end on the opposite side of the home position return direction and then perform the home position return Servo motor speed Linear servo motor position 0 r min ON OFF Proximity dog signal Home position return speed Home position return direction Creep speed JOG...

Page 277: ...ce position after turning the proximity dog signal off will be the home position There is no restriction on the setting position for the home position of linear encoder The encoder Z phase pulse LZ cannot be used ON OFF Proximity dog signal Servo motor speed Home position reference position Linear servo motor position 0 r min Home position return speed Home position return direction Creep speed No...

Page 278: ...tion mode a Positioning operation Positioning operation can be performed without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the positioning operation screen of the MR Configurator 1 Operation pattern Item Ini...

Page 279: ...itialization is over the display shows the following screen After 2s After 2s Flickering Flickering 4 Perform operation with the personal computer 13 5 5 Operation from the controller When establishing the absolute position detection system the absolute position linear encoder is required An MR BTCASE battery case and eight MR BAT batteries are not required The linear servo motor can be used in co...

Page 280: ... magnetic pole detection current detection method Identification signal frequency 5 PS11 LIDH At magnetic pole detection current detection method Identification signal amplitude 100 PS12 This parameter is not used Note 2 500 PS17 LTSTS Minute position detection method function selection Each 0000h Servo parameters PS18 IDLV Minute position detection method identification signal amplitude 0000h Set...

Page 281: ...or Linear encoder User Command mm Position feedback mm Speed feedback mm s Servo amplifier Derivation Controller The number of pulses AP and travel distance AL of the linear encoder are calculated in the following condition When the linear encoder resolution is 0 05 m Number of pulses AP pulse Travel distance AL m 0 05 1 20 1 ...

Page 282: ...election 2 The detection level can be changed with the parameter Nos PS05 PS06 and PS07 Servo amplifier internal value 1 Model feedback position mm 3 Model feedback speed mm s 5 Command thrust Linear encoder 2 Feedback position mm 4 Feedback speed mm s 6 Feedback thrust Linear servo motor Linear encoder Servo amplifier Figure 13 1 Summary of linear servo control error detection function a Position...

Page 283: ... PS04 to 4 to make the thrust deviation error detection enabled Thrust deviation error detection valid 4 Parameter No PS04 If there is a deviation larger than the setting value 1 to 1 000 of the parameter No PS07 Linear servo control thrust deviation error detection level after comparing the command thrust 5 and the feedback thrust 6 in Figure 13 1 the alarm Linear servo control error 42 occurs an...

Page 284: ... to reach to 2 000mm s The linear servo motor speed is 150mm s or faster The load to mass of the linear servo motor primary side coil ratio is 100 times or smaller The acceleration deceleration thrust is 10 or less of the rated thrust 3 Machine analyzer function POINT Make sure to carry out the machine analyzer function after the magnetic pole detection If the magnetic pole detection is not execut...

Page 285: ...iption Basic setting parameters No PA When using this servo amplifier in the position control mode Gain filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC When changing settings such as analog monitor output signal use these parameters I O setting parameters No PD Use these parameters when changing the I O signals of the servo ampli...

Page 286: ... 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 PC I O setting parameters No PD Special setting parameters No PS Option setting parameter No Po Reference 0000h Write Reference 000Bh factory setting ...

Page 287: ...used Do not change the value 0 PA06 1 PA07 1 PA08 ATU Auto tuning mode Each axis 0001h PA09 RSP Auto tuning response Each axis 12 Section 5 1 7 PA10 INP In position range Each axis 100 pulse This section 2 PA11 This parameter is not used Do not change the value 1000 0 PA12 1000 0 PA13 0000h PA14 POL Moving direction selection Each axis 0 PA15 ENR Encoder output pulses Each axis 4000 PA16 ENR2 Enco...

Page 288: ...trol mode Selection of absolute position detection system refer to chapter 12 0 Used in incremental system 1 Used in absolute position detection system If the absolute position detection system is enabled when the linear encoder of the incremental type is being used parameter error 37 2 occurs 0 0 0 Each axis 0000h Refer to name and function column POINT This parameter cannot be used in the speed ...

Page 289: ...y side Positive direction Negative direction LM H2series Secondary side Table Negative direction LM K2 series LM U2 series Secondary side Primary side PA15 ENR Encoder output pulses This parameter is made valid when parameter No PC03 is set to 1 initial value Set the encoder pulses A B phase output by the servo amplifier Set the encoder pulses output by the servo amplifier by division ratio Travel...

Page 290: ...etting Each axis 0000h PA18 MTY Select the linear servo motor to be used Set both of parameter No PA17 and PA18 Setting them incorrectly causes the motor combination error 1A 1 Each axis 0000h Parameter setting Refer to name and function column Linear servo motor series Primary side coil model name No PA17 No PA18 LM H2P1A 06M 4SS0 00B3h 1101h LM H2P2A 12M 1SS0 00B3h 2101h LM H2 LM H2P2B 24M 1SS0 ...

Page 291: ...the value 500 PB06 GD2 Load to mass of the linear servo motor primary side coil ratio Each axis 7 0 Multi plier 1 This section 2 PB07 PG1 Model loop gain Each axis 24 rad s PB08 PG2 Position loop gain Each axis 37 rad s Section 5 2 2 PB09 VG2 Speed loop gain Each axis 823 rad s PB10 VIC Speed integral compensation Each axis 33 7 ms PB11 VDC Speed differential compensation Each axis 980 PB12 This p...

Page 292: ...1 This section 2 PB30 PG2B Gain changing position loop gain Each axis 37 rad s PB31 VG2B Gain changing speed loop gain Each axis 823 rad s Section 5 2 2 PB32 VICB Gain changing speed integral compensation Each axis 33 7 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Each axis 100 0 Hz PB34 VRF2B Gain changing vibration suppression control resonance frequency ...

Page 293: ...e selected the result of auto tuning is automatically used In this case it varies between 0 0 and 100 0 When parameter No PA08 is set to 2 or 3 this parameter can be set manually Each axis 7 0 Multi plier 1 0 0 to 300 0 PB29 GD2B Gain changing load to mass of the linear servo motor primary side coil ratio Used to set the load to mass of the linear servo motor primary side coil ratio when gain chan...

Page 294: ...election C 2 Each axis 0000h This section 2 PC06 COP3 Function selection C 3 Each axis 0000h PC07 ZSP Zero speed Each axis 50 mm s Section 5 3 2 PC08 This parameter is not used Do not change the value 0 PC09 MOD1 Analog monitor 1 output Common 0000h PC10 MOD2 Analog monitor 2 output Common 0001h PC11 MO1 Analog monitor 1 offset Common 0 mV This section 2 3 PC12 MO2 Analog monitor 2 offset Common 0...

Page 295: ...wever the alarm level stays at 200mm even if a value exceeding 200 is set Note Setting can be changed in parameter No PC06 Each axis 0 mm Note Refer to name and function column PC03 ENRS Encoder output pulse selection Use to select the encoder output pulse direction and encoder pulse output setting Negotive direction Encoder output pulse phase changing Changes the phases of A B phase encoder outpu...

Page 296: ... Droop pulses 10V 100 pulses Droop pulses 10V 1000 pulses Droop pulses 10V 10000 pulses Droop pulses 10V 100000 pulses Bus voltage 8V 400V Item 0 0 Linear servo motor speed 8V max speed Thrust 8V max thrust Current command 8V max current command Analog monitor 1 MO1 output axis selection 0 A axis 1 B axis Common 0000h Refer to name and function column PC10 MOD2 Analog monitor 2 output Used to sele...

Page 297: ...nitor The servo status can be output to two channels in terms of voltage a Setting Change the following digits of parameter No PC09 PC10 0 Parameter No PC09 0 Analog monitor MO1 output selection Signal output to across MO1 LG Analog monitor 1 MO1 output axis selection 0 A axis 1 B axis 0 Parameter No PC10 0 Analog monitor MO2 output selection Signal output to across MO2 LG Analog monitor 2 MO2 out...

Page 298: ... direction 3 Thrust Driving in CCW direction Max thrust Max thrust 0 8 V Driving in CW 4 Current command Max current command Max thrust command CW direction CCW direction Max current command Max thrust command 0 8 V 8 V 5 Speed command Note 2 Max speed CW direction CCW direction Max speed 0 8 V 8 V 6 Droop pulses Note 1 2 3 10V 100 pulses 100 pulse CW direction CCW direction 100 pulse 0 10 V 10 V ...

Page 299: ...r later and with MR Configurator whose software version is C5 or later c Analog monitor block diagram Droop pulses Speed command Linear servo motor speed Position control Speed control PWM Current control Current command Thrust Speed command Linear servo motor Linear encoder Current feedback Position feedback Position command received from a controller Differ ential Differ ential Bus voltage Curre...

Page 300: ...005h Section 5 4 2 PD08 This parameter is not used Do not change the value 0004h PD09 D03 Output signal device selection 3 CN3 11 for A axis and CN3 24 for B axis Each axis 0003h Section 5 4 2 PD10 This parameter is not used Do not change the value 0000h PD11 0004h PD12 0000h PD13 0000h PD14 DOP3 Function selection D 3 Each axis 0000h Section 5 4 2 PD15 This parameter is not used Do not change the...

Page 301: ... parameters No PS 1 Parameter list POINT The parameter whose symbol preceded by can be validated with the following conditions Turn off the power and then on again or reset the controller after setting the parameter Turn off the power and then on again after setting the parameter No Symbol Name Setting Note 1 Factory setting Note 2 Unit Reference PS01 LIT1 Linear function selection 1 Each axis 030...

Page 302: ... selection Each axis 0000h PS18 IDLV Minute position detection method identification signal amplitude Each axis 0000h This section 2 PS19 This parameter is not used Do not change the value 0000h PS20 0000h PS21 0000h PS22 0000h PS23 0000h PS24 0000h PS25 0000h PS26 0000h PS27 0000h PS28 0000h PS29 0000h PS30 0000h PS31 0000h PS32 0000h Note 1 Each axis Set a value for each of the A axis and the B ...

Page 303: ...on invalid This setting is valid only with absolute position Iinear encoder 1 Magnetic pole always valid 0 Linear servo motor thermistor valid invalid setting 0 Valid 1 Invalid When the linear servo motor without thermistor is used this setting is invalid Each axis 0301h Refer to name and function column PS02 LIM Linear encoder resolution setting Numerator Set the linear encoder resolution in 1 m ...

Page 304: ...mm 0 to 1000 PS06 LB2 Linear servo motor control speed deviation error detection level Used to set the speed deviation error detection level of the linear servo motor control error detection When the difference between the model feedback speed and the feedback speed is bigger than this setting value the linear servo motor control error is detected 42 2 Refer to section 13 5 6 1 When 0 is set in th...

Page 305: ...etection method 0 0 Setting Response Setting Response 0 8 1 9 2 A 3 B 4 C 5 D 6 E 7 F Medium response Medium response Setting Load to motor mass ratio Setting 7 F 150 times or more 70 times 0 8 1 9 2 A 3 B 4 C 5 D 6 E Less than 10 times 80 times 90 times 10 times 100 times 20 times 110 times 30 times 120 times 40 times 130 times 50 times 140 times 60 times Load to motor mass ratio Each axis 0000h ...

Page 306: ... Note 2 Unit Reference Po01 OOP1 Function selection O 1 Common 0000h Po02 SGRA Axis selection for graphing analog data MR Configurator Common 0000h Section 5 5 2 Po03 SGRD Axis selection for graphing digtal data MR Configurator Common 0000h Po04 OOP2 Function selection O 2 Common 0000h Po05 This parameter is not used Do not change the value 0000h Po06 0000h Po07 0000h Po08 0000h Po09 0000h Po10 00...

Page 307: ...l axis 1A Motor combination error Each axis Each axis 1E Encoder initial communication error 2 Each axis Each axis 1F Encoder initial communication error 3 Each axis Each axis 20 Encoder normal communication error 1 Each axis Each axis 21 Encoder normal communication error 2 Each axis Each axis 24 Main circuit error Each axis All axis 27 Initial magnetic pole detection error Each axis Each axis 28...

Page 308: ...ng Common All axis EB The other axis fault warning Each axis All axis EC Overload warning 2 Each axis Wamings ED Output watt excess warning Each axis Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 In some controller communication status the alarm factor may not be removed 3 Alarms and warnings are detected in the following axes Each axis Alarm...

Page 309: ...ad changing condition until the alarm occurs the servo amplifier calculates this specified time automatically Regenerative error 30 Main circuit device overheat 45 Linear servo motor overheat 46 Overload 1 50 Overload 2 51 The alarm can be deactivated by switching power off then on or by the error reset command CPU reset from the servo system controller For details refer to section 13 7 1 When an ...

Page 310: ...s connected Wrong linear encoder is connected Correct the setting Servo motor selection switch setting error 2 Check the linear encoder Rotary servo motor servo motor Linear servo motor linear encoder Right linear encoder is connected Check 2 2 Setting of servo motor selection switch is incorrect Check the DIP switch SW3 setting Rotary servo motor off Linear servo motor on Direct drive motor on Se...

Page 311: ...eive data error 2 2 Fault is generated from the surrounding environment 3 Replace the servo amplifier 16 3 Encoder receive data error 3 1 Motor less operation is not set Select motor less operation When using only one axis select the motor less operation for the axis to which the servo motor is not connected Check if parameter No PC05 is set to motor less operation for the unused axis Motor less o...

Page 312: ...rm display 16 5 Encoder transmission data error 2 2 Fault is generated from the surrounding environment 3 Encoder is faulty 16 7 1 Encoder cable is faulty Examine checkpoints described in the alarm display 16 5 Encoder transmission data error 3 2 Fault is generated from the surrounding environment 3 Encoder is faulty Alarm No 17 Name Board error Stop method All axes stop Alarm description Interior...

Page 313: ...fer to section 8 3 Alarm No 1F Name Encoder initial communication error 3 Stop method Corresponding axis stops Alarm description Connected linear encoder is not compatible Display Name Cause Checkpoint Finding Action 1F 1 Incompatible encoder 1 Check the model name of the linear encoder Incompatible linear encoder Replace the linear encoder Incompatible linear encoder is connected to the servo amp...

Page 314: ...lifier Replace the servo amplifier and check the reproducibility of the error Reproduced Check 5 5 Fault is generated from the surrounding environment Check for external noise surrounding air temperature and other factors Problem found Take countermeasure according to the cause 20 5 1 Problem found Repair the cable Improper shield treatment of encoder cable Check the shield treatment No problem fo...

Page 315: ... Action 27 1 1 Machine struck something Check if the machine struck something Machine struck something Move the start position of the magnetic pole detection magnetic pole detection abnormal termination Machine did not strike Check 2 2 Problem found Modify the wiring Wiring fault of the power cable Check the power cable Normal Check 3 3 Setting is incorrect Correct the setting Resolution of the li...

Page 316: ...e Linear encoder error 2 Stop method Corresponding axis stops Alarm description Fault is found in the surrounding environment of the linear encoder Display Name Cause Checkpoint Finding Action 28 1 Linear encoder environment error 1 Temperature of the linear encoder is high Check the temperature of the linear encoder Temperature is high Consult the linear encoder manufacturer Temperature is low Ch...

Page 317: ...o the cause No problem found Check 3 3 Alarm of the linear encoder Check the details of section 13 7 4 Improve the detail information No 3 of the linear encoder manufacturer Consult the linear encoder manufacturer 2A 4 Linear encoder side error 4 1 Not reproduced Use in the adjusted positions Installation positions of the linear encoder and the head are faulty Adjust the positions of the linear en...

Page 318: ...positions of the linear encoder and the head are faulty Adjust the positions of the linear encoder and the head and check the reproducibility of the error Reproduced Check 2 2 Fault is generated from the surrounding environment Check for noise and other factors Problem found Take countermeasure according to the cause No problem found Check 3 3 Alarm of the linear encoder Check the details of secti...

Page 319: ...t Finding Action 31 1 Abnormal motor speed Same as for the rotary servo motor Refer to section 8 3 Alarm No 32 Name Overcurrent Stop method All axes stop Alarm description Current that flew is the permissible current of the servo amplifier or higher Display Name Cause Checkpoint Finding Action 32 1 Overcurrent detected at hardware detection circuit during operation Same as for the rotary servo mot...

Page 320: ...of command pulse is too high Display Name Cause Checkpoint Finding Action 35 1 Command frequency error Same as for the rotary servo motor Refer to section 8 3 Alarm No 36 Name SSCNET receive error 2 Stop method Corresponding axis stops Alarm description SSCNET communication error Continuous communication error for about 70ms Display Name Cause Checkpoint Finding Action 36 1 Continuous communicatio...

Page 321: ...e number of droop pulses Deviation is large Review the operation status Review the parameter No PS05 Linear servo motor control position deviation error detection level setting as required 42 2 1 Setting is incorrect Correct the setting Linear servo control error on the speed detection Resolution of the linear encoder and the resolution setting of the parameter are different Review the parameter N...

Page 322: ...inear servo motor is incorrect Check the wiring Problem found Perform wiring correctly Normal Check 4 4 Not reproduced Perform the magnetic pole detection Initial magnetic pole detection is not performed Perform the magnetic pole detection again and check the reproducibility of the error Reproduced Check 5 5 Thrust deviation reaches the detection level Check the operation status Calculate the devi...

Page 323: ...ective load ratio is small Check 3 3 Thermal sensor fault in the linear servo motor Check the linear servo motor temperature at alarm occurrence The linear servo motor temperature is low Replace the linear servo motor 46 3 1 Not connected Connect the cable Thermistor cable disconnection error The thermistor cable is disconnected Check if the thermistor cable is connected Connected Check 2 2 Discon...

Page 324: ...omething Machine struck Review the operation pattern Thermal overload error 2 during operation Machine did not strike Check 2 2 Power cable is cut Check the power cable Problem found Modify the wiring No problem found Check 3 3 Check the wiring of U V and W phases Problem found Perform wiring correctly Incorrect connections to from the linear servo motor No problem found Check 4 4 Setting is incor...

Page 325: ...uous output current 9 Servo system is instable and causing oscillation 10 Servo amplifier is faulty 50 4 Thermal overload error 1 during a stop 1 Servo amplifier is used in excess of its continuous output current Check the effective load ratio with MR Configurator Effective load ratio is large Reduce load Check operation pattern Use servo motor that provides larger output Effective load ratio is s...

Page 326: ...f the linear encoder and the linear servo motor Normal Check 6 6 Not reproduced Perform the magnetic pole detection Initial magnetic pole detection is not performed Perform the magnetic pole detection again and check the reproducibility of the error Reproduced Check 7 7 Linear encoder is faulty Not reproduced Replace the servo motor Replace the servo motor and check the reproducibility of the erro...

Page 327: ...r No PS02 and PS03 settings Setting is correct Check 5 5 The polarity is incorrect Correct the setting Polarity of the linear encoder is incorrect Installation direction is incorrect Check polarities of the linear encoder and the linear servo motor Normal Check 6 6 Initial magnetic pole detection is not performed Not reproduced Perform the magnetic pole detection Perform the magnetic pole detectio...

Page 328: ... encoder is faulty 8 Machine struck something 9 Torque is saturated 10 Servo amplifier is faulty Alarm No 52 Name Error excessive Stop method Corresponding axis stops Alarm description The droop pulses existing between the model position and the actual servo motor position exceeds the alarm level Display Name Cause Checkpoint Finding Action 52 3 Excess droop pulse existing between the model positi...

Page 329: ...ring the alarms allow more than 30 minutes for cooling before resuming operation Main circuit device overheat warning 91 Excessive regenerative warning E0 Overload warning 1 E1 When a warning whose stop method is all axis stop in the following table occurs the servo amplifier goes into the servo off status and the servo motor stops at the warning occurrence If any other warning occurs operation ca...

Page 330: ...istor or regenerative option Display Name Cause Checkpoint Finding Action E0 1 Excessive regeneration warning Same as for the rotary servo motor Refer to section 8 4 Alarm No E1 Name Overload warning 1 Stop method Axes can operate detected at the corresponding axis Alarm description There is a possibility that overload alarm 50 51 may occur Display Name Cause Checkpoint Finding Action E1 1 Thermal...

Page 331: ...Forced stop warning Same as for the rotary servo motor Refer to section 8 4 Alarm No E7 Name Controller forced stop warning Stop method All axes stop Alarm description Forced stop signal is input from the servo system controller Display Name Cause Checkpoint Finding Action E7 1 Controller forced stop warning Same as for the rotary servo motor Refer to section 8 4 Alarm No E8 Name Cooling fan speed...

Page 332: ...responding axis Alarm description The operation in which current exceeding the rating flows intensively in any of U V and W phases of the servo motor is repeated Display Name Cause Checkpoint Finding Action EC 1 Overload warning 2 Same as for the rotary servo motor Refer to section 8 4 Alarm No ED Name Output watt excess warning Stop method Axes can operate detected at the corresponding axis Alarm...

Page 333: ...l strength error Encoder alarm EEPROM error 2A 5 4 CPU error Transducer error CPU error 2A 4 3 Capacitive error ABS detection error ABS data error 2A 3 2 Photoelectric error Hardware error INC data error 2A 2 1 Photoelectric capacitive data mismatch Initialization error Encoder warning Scale level error INC ABS data mismatch error Level error 2A 1 0 Initialization error Overspeed error Initializat...

Page 334: ...ring systems mounters and others have strong demands for high accuracy and high efficiency Therefore the number of systems using a direct drive motor for a drive axis has been increasing The direct drive servo system includes the following features 1 Performance a The direct drive servo system ensures the high rigidity and the high torque A high resolution encoder enables the high accuracy control...

Page 335: ... the magnetic pole detection with parameter No PS01 Refer to 2 b of 14 4 2 Absolute position detection system Absolute position encoder battery unit MR BTCASE MR BAT 8 Required Required Absolute position storage unit MR BTAS01 Required Not required Alarm Warning Alarms and warnings only for direct drive servo Added Added or changed alarms and warnings Encoder error 3 21 Absolute position erased 25...

Page 336: ...2B Note 2 R S T CN4 W W V U CNP1 CNP2 CNP3A CNP3B I O signal 2 1 NO Front side SW3 A axis B axis Note 3 Absolute position storage unit MR BTAS01 A axis direct drive motor Note 4 C D B axis direct drive motor Battery unit Regenerative option Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Note 1 The battery unit consists of a battery case MR BTCASE and 8 ...

Page 337: ...ise the direct drive motor operates normally Do not connect AC power supply directly to the direct drive motor Otherwise it may cause a malfunction POINT Refer to section 14 8 for the specifications of the encoder cable to use This section explains the connection of the direct drive motor power U V and W Use of the optional connector set is recommended for connection between the servo amplifier an...

Page 338: ...tric shock The cables should not be damaged stressed loaded or pinched Otherwise it may cause an electric shock CAUTION Wire the equipment correctly and securely Otherwise the direct drive motor may operate unexpectedly resulting in injury Connect cables to the correct terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge ...

Page 339: ... may cause a malfunction U Direct drive motor M V W U V W Servo amplifier U M V W U V W Servo amplifier Direct drive motor 14 3 1 Notes of this chapter This chapter does not include the following items For the items refer to the corresponding sections below Item Reference Explanation of power supply system Section 3 3 Signal device explanations Section 3 5 Alarm occurrence timing chart Section 3 6...

Page 340: ...3A or CNP3B connector may cause a malfunction POINT Even if alarm has occurred do not switch off the control circuit power supply When the control circuit power supply has been switched off optical module does not operate and optical transmission of SSCNET communication is interrupted Therefore the next axis servo amplifier displays AA at the indicator and turns into base circuit shut off The dire...

Page 341: ...lection example Table 14 1 Wire size selection example HIV wire Wire mm2 Note 1 Servo amplifier 1 L1 L2 L3 Note 3 2 L11 L21 3 U V W Note 2 3 4 P C 5 P D MR J3W 22B MR J3W 44B MR J3W 77B 2 AWG14 MR J3W 1010B Note 1 Wires are selected based on the highest rated current among combining servo motors 2 The wire size is for extension cables used when the wiring length is longer than 10m 3 Use the crimp ...

Page 342: ...lfunction ALM A ALM B output with the parameter configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side This example is to continue the operation in another axis even if an alarm occurs either A axis or B axis When stopping operation of both axes at an alarm occurrence for one axis connect RA1 and RA2 in series 4 Th...

Page 343: ...1 2 3 5 CN5 6 19 LAR A LB A LBR A LA B LAR B LB B LBR B CNP3B 2A P5 3 2 4 MR MRR LG E M CN2B 5 THM 6 THM Note 5 B axis direct drive motor 7 10 8 MR MRR LG 6 THM 11 THM 1 P5 9 P5 Note 4 Encoder P5 CNP3A 2A 3 2 4 MR MRR LG E M CN2A 5 THM 6 THM A axis direct drive motor 7 10 8 MR MRR LG 6 THM 11 THM 1 P5 9 P5 Note 4 Encoder Note 5 LG 14 10VDC 10VDC Note 6 Approx 5 6k Approx 5 6k Note 1 Note 2 Isolate...

Page 344: ...cremental system For the connection for the absolute position detection system refer to the following diagram 3 2 4 MR MRR LG CN2A 5 THM1 6 THM2 1 P5 9 BAT MR MRR LG THM1 7 10 8 6 11 THM2 MR MRR LG THM1 THM2 7 10 8 6 11 2 P5 9 BAT 2 9 1 BAT P5 VB E M MR MRR LG THM1 THM2 7 10 8 6 11 2 9 1 BAT P5 VB Encoder P5 CNP3A 2A 3 2 4 MR MRR LG CN2B 5 THM1 6 THM2 1 P5 9 BAT MR MRR LG THM1 7 10 8 6 11 THM2 MR ...

Page 345: ...efer to the manual of the controller Positioning operation No Yes Perform this procedure once at startup Setting of the servo motor select switch SW3 Refer to section 3 14 Note 1 Use MR Configurator 2 For the absolute position detection system always turn on the Z phase pulse of the direct drive motor while the servo amplifier power is on and then turn the servo amplifier power supply off and on a...

Page 346: ...form the magnetic pole detection Before starting up the equipment perform the test operation positioning operation of MR Configurator 1 Preparation for the magnetic pole detection POINT When the test operation mode is selected with the test operation select switch SW2 1 the SSCNET communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked For the...

Page 347: ...g operation from a controller use the sequence which confirms the normal completion of the magnetic pole detection and the servo on status then outputs the positioning command If the controller outputs the positioning command before Ready RD turns on the command may not be accepted or a servo alarm may occur After the magnetic pole detection check the positioning accuracy with the test operation p...

Page 348: ...or movement when FLS and RLS are on Magnetic pole detection complete position Servo on position Magnetic pole detection start position Center of direct drive motor rotation part FLS Note Note RLS 10deg or less Note When the stroke limit FLS or RLS turns off during the magnetic pole detection the magnetic pole detection is carried on to the opposite direction When both FLS and RLS are off Initial m...

Page 349: ...pletion of the magnetic pole detection change Parameter No PS01 to 0 Magnetic pole detection disabled 0 Magnetic pole detection invalid Parameter No PS01 After the magnetic pole detection by turning on the Z phase pulse of the direct drive motor in JOG operation and by disabling the magnetic pole detection function with Parameter No PS01 the magnetic pole detection after each power on is not requi...

Page 350: ...value by five as a guide value When these alarms and warnings occur during the magnetic pole detection by using MR Configurator the test operation of MR Configurator automatically completes and the servo off status is established 2 Specify the setting value to approximately 70 of the value of Overload 1 50 Overload 2 51 Overload warning 1 E1 and Overload warning 2 EC 1 occurrence as the final sett...

Page 351: ...urn the power of servo amplifier off once and then turn it on again Set the parameter No PS09 Magnetic detection voltage level to F10 guide value as a guide Execute the forward rotation or reverse rotation with the positioning operat of the MR Configurator test operation mode Set the travel distance to 0 at this time 2 3 4 5 6 7 Has the magnetic pole detection alarm 27 occurred Have the overload a...

Page 352: ...ation occur during the magnetic pole detection Lower the response of the minute position detection method by two in parameter No PS17 Minute position detection method function selection and use the value as the finalized value Raise the response of the minute position detection method by one in parameter No PS17 Minute position detection method function selection Problem exists YES Problem does no...

Page 353: ...the following controllers Servo system controller Model Software version Note SV13 SV22 00H or above Q17 DCPU SV43 00B or above Motion controller SV13 SV22 00G or above Q170MCPU SV43 QD75MH 101120000000000 B or above Positioning module LD77MH All software versions Note For software versions and other details refer to each servo system controller manual 1 Operation method Positioning operation from...

Page 354: ...arameter is not used Note 2 5 PS11 100 PS12 500 PS17 LTSTS Minute position detection method function selection 0000h Servo parameter PS18 IDLV Minute position detection method identification signal amplitude 0000h Set the items as required Set QD75MH with sequence program When you start up the direct drive motor initial values of these parameters should be set Refer to b and c of this section Note...

Page 355: ...meter No PS06 Setting of the servo parameter No PS07 Setting of the servo parameter No PS08 Note 2 Setting of the servo parameter No PS12 Setting of the servo parameter No PS17 Setting of the servo parameter No PS18 Write to flash ROM TOP H0 K1 TOP H0 K1 TOP H0 K1 TOP H0 K1 Setting of the servo parameter No PD03 Setting of the servo parameter No PS01 Setting of the servo parameter No PS04 Setting ...

Page 356: ...o the flash ROM of QD75MH referring to the sequence program example shown in 2 b of this section b After completion of writing to the flash ROM turn the power of servo amplifier on POINT Once the default values are written to the flash ROM at startup servo parameters are not required to be written at next power on or later If the module write with GX Configurator QP has been performed using QD75MH...

Page 357: ...8 30678 30878 PS12 0000h 30279 30479 30679 30879 PS13 0000h 30280 30480 30680 30880 PS14 0 30281 30481 30681 30881 PS15 0000h 30282 30482 30682 30882 PS16 0000h 30283 30483 30683 30883 PS17 LTSTS Minute position detection method function selection 0000h 30284 30484 30684 30884 PS18 IDLV Minute position detection method identification signal amplitude 0000h 30285 30485 30685 30885 PS19 This paramet...

Page 358: ...on level can be changed with parameter Nos PS05 PS06 and PS07 Direct drive motor Encoder Servo amplifier internal value 1 Model feedback position rev 3 Model feedback rotation speed r min 5 Command torque Encoder 2 Feedback position rev 4 Feedback rotation speed r min 6 Feedback torque Servo amplifier Figure 14 1 Outline of servo control error detection function a Position deviation error detectio...

Page 359: ...parameter No PS04 to 4 to enable the torque deviation error detection 4 Parameter No PS04 Torque deviation error detection valid When you compare the command torque 5 and the feedback torque 6 in figure 14 1 if the deviation is more than the value of parameter No PS07 Servo control torque deviation error detection level 1 to 1000 the alarm Servo control error 42 will occur and the motor will stop ...

Page 360: ...r group Main description Basic setting parameters No PA Make basic setting with these parameters Gain filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC When changing settings such as analog monitor output signal use these parameters I O setting parameters No PD Use these parameters when changing the I O signals of the servo amplifi...

Page 361: ...e 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 PC I O setting parameters No PD Option setting parameters No Po Special setting parameters No PS Reference 0000h Writing Reference 000Bh Defa...

Page 362: ...t change this value by any means 0 PA06 1 PA07 1 PA08 ATU Auto tuning mode Each 0001h PA09 RSP Auto tuning response Each 12 Section 5 1 7 PA10 INP In position range Each 100 pulse 2 of this section PA11 This parameter is not used Do not change this value by any means 1000 0 PA12 1000 0 PA13 0000h PA14 POL Rotation direction selection Each 0 2 of this section PA15 ENR Encoder output pulses Each 400...

Page 363: ...control mode Selection of absolute position detection system Refer to chapter 12 0 Used in incremental system 1 Used in absolute position detection system If the absolute position detection system is enabled when the incremental system is being used parameter error 37 2 occurs 0 0 0 Each 0000h Refer to Name and function column POINT This parameter cannot be used in the speed control mode PA14 POL ...

Page 364: ...ble parameters Setting value Operation No PA No PB No PC No PD No PS No Po Reference Refer to Name and function column 0000h Writing Reference 000Bh Writing Reference 000Ch Writing Reference 000Dh Writing Reference 000Eh Writing Reference 100Bh Writing PA19 only Reference 100Ch Writing PA19 only Reference 100Dh Writing PA19 only Reference 100Eh Writing PA19 only ...

Page 365: ...parameter is not used Do not change this value by any means 0 PB13 NH1 Machine resonance suppression filter 1 Each 4500 Hz Section 5 2 2 PB14 NHQ1 Notch shape selection 1 Each 0000h PB15 NH2 Machine resonance suppression filter 2 Each 4500 Hz PB16 NHQ2 Notch shape selection 2 Each 0000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting Each 3141 rad s PB19 VRF1 Vibration suppressio...

Page 366: ...y setting Each 100 0 Hz Section 5 5 2 PB35 This parameter is not used Do not change this value by any means 0 00 PB36 0 00 PB37 100 PB38 0 0 PB39 0 0 PB40 0 0 PB41 1125 PB42 1125 PB43 0004h PB44 0 0 PB45 0000h Note 1 Each Set parameters for each axis of A and B Common Set parameters for common axis of A and B Be sure to set the same value to the both axes When the setting values are different the ...

Page 367: ...MO1 Analog monitor 1 offset Common 0 mV PC12 MO2 Analog monitor 2 offset Common 0 mV PC13 This parameter is not used Do not change this value by any means 0 PC14 0 PC15 SNO Station number selection Common 0 Section 5 3 2 PC16 This parameter is not used Do not change this value by any means 0000h PC17 COP4 Function selection C 4 Each 0000h Section 5 3 2 PC18 This parameter is not used Do not change...

Page 368: ... means 0004h PD09 D03 Output signal device selection 3 A axis CN3 11 B axis CN3 24 Each 0003h Section 5 4 2 PD10 This parameter is not used Do not change this value by any means 0000h PD11 0004h PD12 0000h PD13 0000h PD14 DOP3 Function selection D 3 Each 0000h Section 5 4 2 PD15 This parameter is not used Do not change this value by any means 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 ...

Page 369: ...ontrol torque deviation error detection level Each 100 PS08 LIT3 Special function selection 3 Each 0010h PS09 LPWM Magnetic pole detection voltage level Each 30 PS10 This parameter is not used Do not change this value by any means 5 PS11 100 PS12 500 PS13 0000h PS14 0 PS15 0000h PS16 0000h PS17 LTSTS Minute position detection method function selection Each 0000h PS18 IDLV Minute position detection...

Page 370: ...tection valid 2 Speed deviation error detection valid 3 Position speed detection deviation error detection valid 4 Torque deviation error detection valid 5 Position torque deviation error detection valid 6 Speed torque deviation error detection valid 7 Position speed torque deviation error detection valid Servo control error detection reset selection Set the controller reset condition of the servo...

Page 371: ... When not using the stroke limit FLS and RLS of the servo amplifier invalidate the stroke limit for the magnetic pole detection Method selection for the magnetic pole detection 0 Position detection method 4 Minute position detection method 1 0 Valid invalid setting of the stroke limit FLS and RLS for the magnetic pole detection 0 Valid 1 Invalid Each 0010h Refer to Name and function column PS09 LP...

Page 372: ...an 10 times 80 times 90 times 10 times 100 times 20 times 110 times 30 times 120 times 40 times 130 times 50 times 140 times 60 times Load inertia moment ratio Selecting the load inertia moment ratio at the direct drive motor which decides the response of the minute position detection method Each 0000h Refer to Name and function column PS18 IDLV Minute position detection method identification sign...

Page 373: ...data MR Configurator Common 0000h Section 5 5 2 Po03 SGRD Axis selection for graphing digtal data MR Configurator Common 0000h Po04 OOP2 Function selection O 2 Common 0000h Po05 This parameter is not used Do not change this value by any means 0000h Po06 0000h Po07 0000h Po08 0000h Po09 0000h Po10 0000h Po11 0000h Po12 0000h Po13 0000h Po14 0000h Po15 0000h Po16 0000h Note 1 Each Set parameters for...

Page 374: ...ll axes 11 Switch setting error Common All axes 12 Memory error 1 RAM Common All axes 13 Clock error Common All axes 15 Memory error 2 EEP ROM Common All axes 16 Encoder initial communication error 1 Each Each 17 Board error Common All axes 19 Memory error 3 Flash ROM Common All axes 1A Motor combination error Each Each 1E Encoder initial communication error 2 Each Each 1F Encoder initial communic...

Page 375: ... E2 Direct drive motor overheat warning Each E3 Absolute position counter warning Each E4 Parameter warning Each E6 Servo forced stop warning Common All axes E7 Controller forced stop warning Common All axes E8 Cooling fan speed reduction warning Common E9 Main circuit off warning Common All axes EB The other axis error warning Each All axes EC Overload warning 2 Each Warning ED Output watt excess...

Page 376: ...ontroller until the specified time elapses after its occurrence Judging the load changing condition until the alarm occurs the servo amplifier calculates this specified time automatically Regenerative error 30 Main circuit device overheat 45 Overload 1 50 Direct drive motor overheat 46 Overload 2 51 To deactivate the alarm cycle the power command the error reset or CPU reset from the servo system ...

Page 377: ...ustom IC in the servo amplifier is failure Display Detail name Cause Check method Check result Action 12 1 CPU built in RAM error 12 2 CPU data RAM error 12 3 Custom IC RAM error Same as for the rotary servo motors Refer to section 8 3 Alarm No 13 Name Clock error Stop system All axes Alarm content Fault was found in the printed board A clock error transmitted from the controller occurred Display ...

Page 378: ... 7 Encoder transmission data error 3 Alarm No 17 Name Board error Stop system All axes Alarm content A part in the servo amplifier is failure Display Detail name Cause Check method Check result Action 17 1 AD converter error 17 2 Current feedback data error 17 3 Custom IC error 17 4 Amplifier detection signal error 17 5 Rotary switch error 17 6 DIP switch error Same as for the rotary servo motors ...

Page 379: ...m Each axis Alarm content The encoder is malfunctioning Display Detail name Cause Check method Check result Action 1E 1 Encoder failure Same as for the rotary servo motors Refer to section 8 3 Alarm No 1F Name Encoder initial communication error 3 Stop system Each axis Alarm content The connected encoder is not compatible with the servo amplifier Display Detail name Cause Check method Check result...

Page 380: ...rs Problem found Take countermeasures against its cause No problem found Check 2 2 Encoder failure Replace the direct drive motor and then check the repeatability It is not repeatable Replace the direct drive motor Alarm No 24 Name Main circuit error Stop system All axes Alarm content Ground fault occurred at the servo motor power lines of the servo amplifier A ground fault occurred at the servo m...

Page 381: ...ute position storage unit 6 The absolute position storage unit is malfunctioning Check if it occurs with a new absolute position storage unit It occurs Check 7 7 Encoder failure Check if it occurs with a new battery It occurs Replace the servo motor Alarm No 27 Name Initial magnetic pole detection error Stop system Each axis Alarm content The initial magnetic pole detection was not completed prope...

Page 382: ...arm occurs startup the direct drive servo again and then make home position setting Display Detail name Cause Check method Check result Action The shielded part is broken Repair the cable 1 Encoder cable is faulty Check the condition of the shielded part The shielded part has no problem Check 2 Problem found Take countermeasures against its cause 2 Something near the device caused it Check the noi...

Page 383: ...play Detail name Cause Check method Check result Action 32 1 Overcurrent detected at hardware detection circuit during operation 32 2 Overcurrent detected at software detection function during operation 32 3 Overcurrent detected at hardware detection circuit during a stop 32 4 Overcurrent detected at software detection function during a stop Same as for the rotary servo motors Refer to section 8 3...

Page 384: ...mmand pulse is too high Display Detail name Cause Check method Check result Action 35 1 Command frequency error Same as for the rotary servo motors Refer to section 8 3 Alarm No 36 Name SSCNET receive error 2 Stop system Each axis Alarm content SSCNET communication is malfunctioning intermittent communication error with about 70ms interval Display Detail name Cause Check method Check result Action...

Page 385: ...ection again and then check the repeatability It is repeatable Check 3 3 The speed deviation reached the detection level Check the operation status Calculate the deviation between the speed command and direct drive motor speed The deviation is large Review the operation status Review the setting of parameter No PS06 Servo control speed deviation error detection level as required 42 3 Problem found...

Page 386: ... 2 Direct drive motor thermal sensor error 3 The thermal sensor in the direct drive motor is malfunctioning Check the direct drive motor temperature when the alarm occurs The direct drive motor temperature is low Replace the direct drive motor It is not connected Connect it 1 A thermistor wire is not connected Check if the thermistor wire is connected It is connected Check 2 It is disconnected Rep...

Page 387: ...play Detail name Cause Check method Check result Action 51 1 Thermal overload error 3 during operation 51 2 Thermal overload error 3 during a stop Same as for the rotary servo motors Refer to section 8 3 Alarm No 52 Name Error excessive Stop system Each axis Alarm content The droop pulses existing between the model position and the actual servo motor position reached the alarm level Display Detail...

Page 388: ...rvo amplifier and communication device e g personal computer Display Detail name Cause Check method Check result Action 8E 1 USB communication receive error 8E 2 USB communication checksum error 8E 3 USB communication character error 8E 4 USB communication command error 8E 5 USB communication data No error Same as for the rotary servo motors Refer to section 8 3 ...

Page 389: ...f warning occurrence Warning No 91 Name Main circuit device overheat warning Stop method No stop common detection Warning description The temperature inside of the servo amplifier reached a warning level Display Detail name Cause Check method Check result Action 91 1 Main circuit device overheat warning 91 2 Board temperature warning Same as for the rotary servo motors Refer to section 8 4 Alarm N...

Page 390: ...w battery Same as for the rotary servo motors Refer to section 8 4 9F 2 Battery degradation 1 It is not connected Connect the absolute position storage unit The absolute position storage unit has not connected Check if the absolute position storage unit is connected It is connected Check 2 2 The battery has deteriorated detected by encoder Replace the battery It is not repeatable Replace the batte...

Page 391: ...overload warning 1 during a stop E1 6 Thermal overload warning 2 during a stop E1 7 Thermal overload warning 3 during a stop E1 8 Thermal overload warning 4 during a stop Same as for the rotary servo motors Refer to section 8 4 Warning No E2 Name Direct drive motor overheat warning Stop method No stop each axis detection Warning description Direct drive motor overheat 46 may occur Display Detail n...

Page 392: ...rced stop warning Same as for the rotary servo motors Refer to section 8 4 Warning No E7 Name Controller forced stop warning Stop system All axes Warning description The forced stop signal of the servo system controller was enabled Display Detail name Cause Check method Check result Action E7 1 Controller forced stop warning Same as for the rotary servo motors Refer to section 8 4 Warning No E8 Na...

Page 393: ...rning description Operation in which a current exceeding the rating flew intensively in any of the U V and W phases of the servo motor was repeated Display Detail name Cause Check method Check result Action EC 1 Overload warning 2 Same as for the rotary servo motors Refer to section 8 4 Warning No ED Name Output watt excess warning Stop method No stop each axis detection Warning description The st...

Page 394: ...ded that the unbalanced torque of the machine be kept at 70 or less of the motor s rated torque When mounting MR J3W 44B closely use it with 90 or lower of the effective load ratio The MR J3W servo amplifier has solid state direct drive motor overload protection for each axis The direct drive motor overload current full load current is set on the basis of 115 rated current of the servo amplifier O...

Page 395: ...c brake operation a Calculation of coasting distance Fig 14 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 14 1 to calculate an approximate coasting distance to a stop The dynamic brake time constant varies with the direct drive motor and machine operation speeds Refer to 1 b of this section V0 Dynamic brake time constant OFF ON Machine...

Page 396: ...o motor inertia ratio indicated in the following table If the ratio is higher than this value the built in dynamic brake may burn If there is a possibility that the ratio may exceed the value contact your local sales office The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the direct drive motor The value in the parenthesis shows...

Page 397: ...ting indicated is the cable s or connector s protection against ingress of dust and water when the cable or connector is connected to a servo amplifier or direct drive motor If the IP rating of the cable connector servo amplifier and direct drive motor vary the overall IP rating depends on the lowest IP rating of all components Purchase the cable and connector options indicated in this section 1 C...

Page 398: ...o 1 25mm2 AWG16 Overall diameter of cable 8 3 to 11 3mm For TM RFM C20 For TM RFM C20 IP67 4 Power connector set MR PWCNS4 Plug CE05 6A18 10SD D BSS Cable clamp CE3057 10A 1 D DDK Applicable cable Applicable wire size 2mm2 AWG14 to 3 5mm2 AWG12 Overall diameter of cable 10 5 to 14 1mm For TM RFM G20 IP67 5 Power connector set MR PWCNS5 Plug CE05 6A22 22SD D BSS Cable clamp CE3057 12A 1 D DDK Appli...

Page 399: ...ption Connector set MR J3DDSPS option Absolute position storage unit side connector Plug RM15WTPZ 12P 72 Cord clamp JR13WCCA 8 72 Hirose Electric Encoder side connector Plug RM15WTPZK 12S Cord clamp JR13WCCA 8 72 Hirose Electric Applicable wire size 0 25mm2 AWG 23 to 0 5mm2 AWG20 3 Fabricating encoder cables POINT The encoder cables should be fabricated by the customer When fabricating the cable p...

Page 400: ...r B axis are the same as for A axis 2 For absolute position detection system CN2B CN2A Note 3 Servo amplifier a b Direct drive motor TM RFM c b Absolute position storage unit MR BTAS01 50m or less Note 1 Encoder cable A Note 2 Encoder cable B Note 1 Refer to section 3 b 2 of this section for details 2 Refer to section 3 b 3 of this section for details 3 Options for B axis are the same as for A axi...

Page 401: ...Densen 1 MRR 3 5 4 2 MR 7 6 12 THM1 9 8 P5 LG 10 11 FG THM2 View seen from the wiring side Note 2 Note 1 2 3 Do not connect anything to the pins shown as Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Do not connect anything to the pins shown as Purchase from Toa Electric Industry Co Ltd Nagoya Branch b In...

Page 402: ... 2 Note 1 2 3 Do not connect anything to the pins shown as Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Do not connect anything to the pins shown as Purchase from Toa Electric Industry Co Ltd Nagoya Branch b Cable internal wiring diagram When the distance between the servo amplifier and the direct drive ...

Page 403: ... 5 LG 4 BAT 7 6 12 THM1 9 8 P5 10 11 FG THM2 VB View seen from the wiring side Note 1 Note 1 2 Do not connect anything to the pins shown as Purchase from Toa Electric Industry Co Ltd Nagoya Branch b Internal wiring diagram When the distance between the servo amplifier and the direct drive motor is within 20m Note P5 LG 9 10 MR MRR 7 8 6 9 6 BAT 7 8 10 2 LG MR MRR BAT P5 THM1 THM1 11 11 THM2 THM2 1...

Page 404: ... is disconnected To configure the absolute position detection system by using the direct drive motor the battery unit MR BTCASE MR BAT 8 and the absolute position storage unit MR BTAS01 are required 1 Connection method with the encoder cable Refer to section 14 8 1 3 a 2 2 Dimensions Unit mm 63 81 RM15WTRZB 12S 72 For encoder Mounting surface A Note Mounting screw size M5 Mass 0 26 kg 0 57 lb Moun...

Page 405: ... 65 non freezing Operation 90 RH or less non condensing Ambient humidity Storage 90 RH or less non condensing Ambience Indoors no direct sunlight free from corrosive gas flammable gas oil mist dust oil and water Altitude 1000m or less above sea level Vibration resistance When the mounting surface A is fixed 49m s2 directions of X Y and Z axes When the mounting surface B is fixed 5 9m s2 directions...

Page 406: ...plifier Refer to the corresponding sections for each item below Item Reference Normal gain adjustment Chapter 6 Special adjustment functions Chapter 7 15 1 Functions and configuration POINT This section does not include the following items For details of the items refer to each section of the detailed description field Item Detailed explanation Summary Section 1 1 Function list Section 1 4 ...

Page 407: ...tor Model position control A Model speed control A Model position control B Model speed control B Control A Actual position control A Actual speed control A Current control A Actual position control B Actual speed control B Current control B Virtual encoder Virtual motor Control B Battery Mounting attachment for absolute position detection system U V W U V W B RA 24VDC B1 B2 B axis Servo motor M C...

Page 408: ... equivalent to permissible charging amount Note 4 10 4 kg m2 0 18 Control method Sine wave PWM control current control method Built in regenerative resistor W 1 3 Dynamic brake Built in Note 5 Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal servo motor overheat protection encoder error protection regenerative error protection undervo...

Page 409: ...e permissible charging amount decelerates from the rated speed to stop 4 This is moment of inertia when the motor decelerates from the rated speed to stop It will be moment of inertia for two axes when two motors decelerate simultaneously It will be moment of inertia for each axis when multiple motors do not decelerate simultaneously 5 Electronic dynamic brake deceleration is built in It will not ...

Page 410: ...of manufacture Serial number TOKYO 100 8310 JAPAN MADE IN JAPAN Country of origin 2 Model The following describes what each block of a model name indicates Not all combinations of the symbols are available Interface SSCNET Rated output Symbol Rated output W 0303 A axis B axis 30 30 Symbol Interface BN B Main circuit power supply 48VDC 24VDC Series name Rating plate 15 1 4 Combination with servo mo...

Page 411: ... is output Battery connector CN4 Used to connect the battery for absolute position data backup Battery is not required in fully closed control SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap A axis servo motor encoder connector CN2A Used ...

Page 412: ...ction POINT Equipment other than the servo amplifier and servo motor are optional or recommended products Personal computer CN3 CN5 CN1B CN2A CN2B CNP2A CNP2B CN1A MR Configurator 24 0 PM Relay CN4 Circuit protector 24VDC power supply 48VDC power supply Circuit protector 24VDC power supply PM 0 24 Main circuit power supply 48VDC Main circuit power supply 24VDC Servo motor Servo motor MR J3BAT ...

Page 413: ...tion Do not drop or strike the servo amplifier Isolate it from all impact loads Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time contact your local sales office When handling the servo amplifier be careful about the edged parts such as corners of the servo amplifier The servo amplifier must be installed in a metal cabinet The equipm...

Page 414: ... operate the servo amplifier at 75 load ratio and at the ambient temperatures of 0 to 45 Not to make inside the cabinet stuffy circulate air by making the clearances between top bottom and inside cabinets larger When mounting the servo amplifiers closely leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances 100mm or more 5mm or more 30mm or more 40m...

Page 415: ...e correct terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal DICOM 24VDC Servo amplifier RA For the sink output i...

Page 416: ...y Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor Check the servo amplifier model and then input proper voltage to the servo amplifier power supply If input voltage exceeds the upper limit the servo amplifier will break down Connecting a servo motor for different axis to the CNP2A or CNP2B connector may cause a malfunctio...

Page 417: ... cable is recommended Refer to section 15 9 1 for selection of the cable 3 If disabling malfunction ALM A ALM B output with the parameter configure up the circuit which switches off the main circuit power supply after detection of alarm occurrence on the controller side This example is to continue the operation in another axis even if an alarm occurs either A axis or B axis When stopping operation...

Page 418: ...itor 1 Analog monitor 2 Note 13 14 24VDC Note 3 4 Forced A axis upper stroke limit FLS A axis lower stroke limit RLS A axis proximity dog DOG B axis upper stroke limit FLS B axis lower stroke limit RLS B axis proximity dog DOG Note 15 DICOM EM1 DOCOM 7 DI1 A 8 DI2 A 9 DI3 A CN1A Note 6 SSCNET cable option Servo system controller CNP1 SW 2 1 SW Note 8 MR J3W B 3 axis 4 axis Note 6 SSCNET cable opti...

Page 419: ...hird and subsequent axes is omitted 8 Up to 16 axes can be connected Refer to section 3 13 for setting of axis selection 9 Make sure to cap the unused CN1B connector 10 Supply 24VDC 10 250mA current for interfaces from outside 250mA 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 Refer to section 3 7 2 1 that gives th...

Page 420: ...e CNP2A CNP1 CNP2B Servo amplifier Note It is for manufacturer setting Do not connect anything to the pins for manufacturer setting b Detailed explanation Symbol Connection target application Description 24 Used to connect of the control circuit power supply 24VDC 0 Main circuit control circuit power supply Used to connect of the main circuit power supply and control circuit power supply PM Used t...

Page 421: ...insulating type A circuit to protect inrush current at power on is built in in the control circuit power supply 2 Power on sequence a Power on procedure 1 When wiring the power supply be sure to use a circuit protector for the power supply 24 0 and PM as shown in section 15 3 1 Configure up an external sequence so that the relay connected to PM turns off when an alarm occurs in both axes of A and ...

Page 422: ... turned off dynamic brake will start to stop the servo motor During this sequence the display shows Servo forced stop warning E6 1 During normal operation do not use Forced stop EM1 to alternate stop and drive The the servo amplifier life may be shortened Note Servo amplifier DOCOM EM1 Forced stop Note This is for sink I O interface For source I O interface refer to section 3 7 3 3 Wiring CNP1 POI...

Page 423: ...er the sheath has been stripped the cable can be used as it is Sheath Core wires Approx 9mm Twisted wire Use the cable after stripping the sheath 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 2 Inserting wire a Solid wire Insert the cable to the end Solid wire b St...

Page 424: ...P2A CNP2B CNP1 CN4 Connector Name Function application CN1A Connector for SSCNET cable for previous servo amplifier axis Used for connection with the controller or previous axis servo amplifier CN1B Connector for SSCNET cable for next servo amplifier axis Used for connection with the next axis servo amplifier or for connection of the cap CN2A Connector for A axis encoder Connect with the A axis se...

Page 425: ...g the servo on status will not be enabled until electromagnetic brake is released The time constant for the electronic dynamic brake will be shorter than that of normal dynamic brake Therefore coasting distance will be longer than that of normal dynamic brake For how to set the electronic dynamic brake refer to parameter No PF06 and PF12 When an alarm occurs in the servo amplifier the electronic d...

Page 426: ...ontroller Alarm Reset command B axis Base circuit Dynamic brake Servo on command from controller Alarm Reset command Servo on command Servo on command Servo on command No alarm No alarm No alarm No alarm power Base circuit ON Base circuit ON EDB Base circuit ON Base circuit ON EDB Base circuit ON Occurrence of all axis stop alarm Occurrence of all axis stop alarm Base circuit ON Base circuit ON ED...

Page 427: ...movedAlarm reset Main circuit power supply shut off Note 2 Alarm reset 50ms or more Occurrence of each axis alarm Occurrence of all Power shutoff Power on axis stop alarm Note 1 It is different according to the operation status 2 The dynamic brake does not operate while the control circuit power supply is cut 2 Supplementary explanation a Overcurrent Overload 1 Overload 2 Driving the servo motor b...

Page 428: ...th the power line of the servo motor Do not modify the equipment 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 it may cause a malfunction U Servo motor M V W U V W Servo motor Servo amplifier Servo amplifier U M V W U V W 1 Connection instructions CAUTION To avoid a malfunction connect th...

Page 429: ...tly to the grounding terminal of the cabinet Servo amplifier Control box Servo motor Grounding terminal CNP1 CNP2A CNP2B 2 Wiring POINT For details of MR J3W03PWCBL M A H and MR J3W03PWBRCBL M A H cables refer to section 15 7 1 a Standard servo motor without electromagnetic brake CNP2A Power cable attached to the servo motor Servo motor Servo amplifier 30m or less 0 2m MR J3W03PWCBL M A H Servo mo...

Page 430: ... M A H Please fabricate these Note 3 ALM B RA3 MBR B RA4 Power cable attached to the servo motor Servo motor MR J3W03PWBRCBL M A H CNP2B Note 1 Note 3 CNP1 Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake terminals B1 and B2 3 Do not use a power supply for the electromagnetic brake with other 24VDC power supplies 4 Create the c...

Page 431: ...g the servo motor be sure to confirm that the electromagnetic brake operates properly Do not use the 24VDC interface power supply for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise it may cause a malfunction POINT Refer to Servo Motor Instruction Manual Vol 2 for specifications such as the power supply capacity and operation delay...

Page 432: ... B B2 U B1 ALM A RA1 MBR A RA2 ALM B RA3 MBR B RA4 Note 1 Note 1 Do not use a power supply for the electromagnetic brake with other 24VDC power supplies 2 Create the circuit in order to shut off by interlocking with the emergency stop switch b Setting In parameter No PC02 Electromagnetic brake sequence output set the time delay Tb from electromagnetic brake operation to base circuit shut off at a ...

Page 433: ... OFF ON OFF 0 r min Base circuit Servo motor speed Servo on command from controller ON OFF Coasting Tb Electromagnetic brake operation delay time Release Activate Operation command from controller Electromagnetic brake Release delay time and external relay Note 2 Note 3 0 r min Ready on command from controller ON OFF Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is act...

Page 434: ...r or Forced stop EM1 Invalid ON Valid OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated c Alarm occurrence POINT When an alarm occurs the dynamic brake will not operate and the servo motor will coast Refer to chapter 8 for details Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake interlock MBR A MBR B Dynamic brake...

Page 435: ...tic brake Electromagnetic brake operation delay time Control circuit power supply ON OFF Servo motor speed f Ready off command from controller Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake interlock MBR A MBR B Dynamic brake enabled time Electromagnetic brake operation delay time Note ON OFF Base circuit ON OFF Servo motor speed Ready on command For ...

Page 436: ...t 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 W V U Control box A axis servo motor M U V W CN2A Servo amplifier CNP2A Grounding terminal Outer box 24 0 PM CNP1 Note 2 Encoder W V U B axis servo motor M U V W CN2B CNP2B Encoder Circuit protector 24VDC Note 1 48VDC Note 1 Main circuit power supply ...

Page 437: ...motor etc since they may be hot while power is on or for some time after power off Otherwise it may cause a burn injury and parts damaged During operation never touch the rotor of the servo motor Otherwise it may cause injury POINT When using either A axis or B axis without connecting servo motor set parameter No PC05 to 1 to select the motor less operation This section does not include the follow...

Page 438: ...ontrol mode Refer to chapter 5 For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible check whether the servo motor rotates correctly Refer to section 4 5 For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible give commands to the servo amplifier and check whether the ser...

Page 439: ...d to the servo amplifier should not be connected to the servo motor power terminals U V and W Doing so will fail the connected servo amplifier and servo motor 24 0 P U V W M 24VDC 48VDC Servo amplifier Servo motor 3 The grounding terminal of the servo motor should be connected to the noiseless grounding terminal of the servo amplifier M Servo amplifier Servo motor CNP CNP2A CNP2B 2 I O signal wiri...

Page 440: ...he wiring cables should not be stressed b The encoder cable should not be used in excess of its bending life Refer to section 10 4 c The connector of the servo motor should not be stressed 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like ...

Page 441: ...ental 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 PA19 setting Setting operation Basic setting parameters No PA Gain filter parameters No PB Extension setting parameters No PC I O setting parameters No PD Note Special setting parameters No PS Option setting pa...

Page 442: ...s No PF cannot be writable by using the Parameter block tab of MR Configurator or MR Configurator2 When making Other function parameters No PF writable open the Parameter setting window and input 00AB or 10AB to parameter No PA19 1 MR Configurator 2 MR Configurator2 ...

Page 443: ...ent command Speed command 10 4V max speed Droop pulses 10 5V 100 pulses Droop pulses 10 5V 1000 pulses Droop pulses 10 5V 10000 pulses Droop pulses 10 5V 100000 pulses Bus voltage 10 5V 400V Item 0 0 Analog monitor 1 MO1 output axis selection 0 A axis 1 B axis E Speed command 2 10 4V max speed Common 0000h Refer to Name and function column PC10 MOD2 Analog monitor 2 output Select a signal to outpu...

Page 444: ...ages in parameter No PC11 PC12 Setting value is 999mV to 999mV Parameter No Description Setting range mV PC11 This is used to set the offset voltage of Analog monitor 1 MO1 PC12 This is used to set the offset voltage of Analog monitor 2 MO2 999 to 999 b Set content The servo amplifier outputs the servo motor speed to Analog monitor 1 MO1 and torque to Analog monitor 2 MO2 by default The setting ca...

Page 445: ...CW direction CCW direction 10 V 15 V 5 V 0 7 Droop pulses Note 1 2 3 10V 1000pulses 1000 pulse 1000 pulse CW direction CCW direction 10 V 15 V 5 V 0 8 Droop pulses Note 1 2 3 10V 10000pulses 10000 pulse 10000 pulse CW direction CCW direction 10 V 15 V 5 V 0 9 Droop pulses Note 1 2 3 10V 100000pulses 100000 pulse 100000 pulse CW direction CCW direction 10 V 15 V 5 V 0 D Bus voltage 100 V 10 V 15 V ...

Page 446: ... control Speed control PWM Current control Current command Torque Speed command Servo motor Encoder Current feedback Position feedback M Position command received from a controller Differ ential Differ ential Position feedback data returned to a controller Bus voltage Current encoder Speed command 2 Note Note It is DC power ...

Page 447: ...PE11 0 PE12 40 PE13 FFFEh PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 0000h PE34 0000h PE35 0000h PE36 0000h PE37 0000h PE38 0000h PE39 0000h PE40 This parameter is not used Do not change this value by any means 0000h Note The values...

Page 448: ...e during the electronic dynamic brake operation due to SSCNET communication brake When reconnecting servo amplifier to the communication be sure to perform after the setting value of the electronic dynamic brake operating time has passed and after checking that the motor has stopped Each 100 ms 0 to 10000 15 5 5 Option setting parameters No Po POINT Each parameter name of Option setting parameters...

Page 449: ...roblem It has a problem Review the power It is disconnected Connect it correctly 1 The main circuit power supply connector was disconnected Check the main circuit power supply connector It has no problem Check 2 The voltage of the main circuit power supply is 35VDC or lower when 48VDC is set for the main circuit power supply or 15VDC or lower when 24VDC is set for the main circuit power supply Inc...

Page 450: ... main circuit power 4 The servo amplifier is malfunctioning Check the bus voltage value with MR Configurator The voltage of the main circuit power supply is 35VDC when 48VDC is set for the main circuit power supply or 15VDC when 24VDC is set for the main circuit power supply However the measured bus voltage value with MR Configurator is lower than 35VDC when 48VDC is set for the main circuit power...

Page 451: ...rcuit power supply or 50VDC or higher when 24VDC is set for the main circuit power supply Reduce the power supply voltage 2 Power supply voltage high Check the input power supply voltage The voltage is lower than 70VDC when 48VDC is set for the main circuit power supply or lower than 50VDC when 24VDC is set for the main circuit power supply Check 3 30 1 Regeneration heat error 3 The regenerative l...

Page 452: ...when 24VDC is set for the main circuit power supply Increase the acceleration time constant 3 The servo system is unstable and oscillating Check if the servo motor is oscillating It is not oscillating Check 4 It is overshooting Increase the acceleration deceleration time constant 4 The velocity waveform has overshot Check if it is overshooting because the acceleration time constant is short It is ...

Page 453: ... Remove power cables of the servo motor side and check insulation of the motor between U V W and A ground fault did not occur at the servo motor Check 4 32 1 Overcurrent detected at hardware detection circuit during driving 4 Something near the device caused it Check for noise and other factors Problem found Take countermeasures against its cause It is occurring Reduce the speed loop gain Check th...

Page 454: ...deceleration time constant 1 Lack of regenerative capacity Set a larger deceleration time constant and then check the repeatability It is repeatable Check 5 The voltage is 75VDC or higher when 48VDC is set for the main circuit power supply or 55VDC or higher when 24VDC is set for the main circuit power supply Reduce the input voltage 33 1 Main circuit voltage error 2 Power supply voltage high Chec...

Page 455: ...ed after 30 minutes from alarm occurrence It was released Check 5 50 1 Thermal overload error 1 during operation 5 The servo amplifier is malfunctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier The brake is operating Review the wiring 1 The electromagnetic brake is operating Check if the electromagnetic brake does not operate dur...

Page 456: ...eck 3 E9 1 Ready on signal on during main circuit off 3 The bus voltage is lower than 38VDC when 48VDC is set for the main circuit power supply or lower than 18VDC when 24VDC is set for the main circuit power supply Check the bus voltage value with MR Configurator The voltage is lower than 38VDC when 48VDC is set for the main circuit power supply or lower than 18VDC when 24VDC is set for the main ...

Page 457: ...is mounted 6 6 6 156 2 6 mounting hole CN5 CN3 CN1A CN4 CN1B CN2A CN2B CNP1 CNP2A CNP2B 30 168 6 100 80 23 29 68 Mass 0 3 kg 0 66 lb Terminal CNP1 24 0 PM 4 3 2 1 Mounting screw Screw size M5 Tightening torque 1 87 N m 6 156 0 5 6 6 30 168 2 M5 screw Mounting hole process drawing ...

Page 458: ...n the graph For the system where the unbalanced torque occurs such as a vertical axis system it is recommended that the unbalanced torque of the machine be kept at 70 or less of the motor s rated torque When mounting MR J3W 40303BN6 closely use it with 75 or lower effective load ratio The MR J3W servo amplifiers have servo motor overload protection function for each axis The servo motor overload c...

Page 459: ...rages of the motors Table 15 2 Power supply capacity and generated loss per servo amplifier at rated output Note Servo amplifier generated heat W Servo motor 2 Main circuit 48VDC 24VDC Required power supply capacity W At rated output With servo off AK0136 460 13 3 AK0236 720 19 3 AK0336 960 27 3 Note Heat generated during regeneration is not included in the servo amplifier generated heat 15 8 3 Dy...

Page 460: ... brake time constant Fig 15 2 Dynamic brake operation diagram Lmax 60 V0 JL JM te 1 15 1 Lmax Maximum coasting distance mm Vo Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 4 kg m 2 oz in 2 JL Load inertia moment converted into equivalent value on servo motor shaft 10 4 kg m 2 oz in 2 Dynamic brake deceleration s te Delay time of control section s The processing delay ...

Page 461: ...ia ratio multiplier HG AK 30 15 8 4 Inrush currents at power on of main circuit and control circuit The following shows inrush current reference when the maximum permissible voltage main circuit 55 2VDC control circuit 26 4VDC is applied on the conditions main circuit power supply capacity 48V 600W control circuit power supply capacity 24V 100W wiring length 1m Inrush current Servo amplifier Main ...

Page 462: ... following items For details of the items refer to each section of the detailed description field Item Detailed explanation MR Configurator Section 11 4 Relays recommended Section 11 8 Noise reduction techniques Section 11 9 Junction terminal block MR TB26A Section 11 12 15 9 1 Cable connector sets POINT The IP rating indicated is the cable s or connector s protection against ingress of dust and w...

Page 463: ...Please purchase the battery set at first use Only MR J3BAT can be purchased for replacement Use one battery to configure the absolute position detection system No Name Model Description Application 1 CNP1 connector Quantity 1 Model FK MCP1 5 4 ST 3 5 or equivalent Phoenix Contact Applicable wire size 0 14mm2 AWG26 to 1 5mm2 AWG16 Insulator OD to 2 9mm Supplied with servo amplifier 2 SSCNET cable M...

Page 464: ...o amplifier side connector Connector 10126 6000EL Shell kit 10326 3210 000 3M or equivalent 8 Junction terminal block cable MR TBNATBL M Cable length 0 5m 1m Refer to section 11 12 For junction terminal block connection 9 Junction terminal block MR TB26A Refer to section 11 12 10 Battery set MR J3W03BATSET Refer to section 15 10 Battery extension cable MR J3BAT Mounting attachment for MR J3BAT 11 ...

Page 465: ...onnection of battery 2 Encoder cable These cables are encoder cables for the HG AK series servo motors The numbers in the cable length field of the table indicate the symbol filling the square in the cable model The cables of the lengths with the symbols are available Cable length Cable model 1m 2m 5m 10m 20m 30m IP rating Bending life Application MR J3W03ENCBL M A H 1 2 5 10 20 30 Long bending li...

Page 466: ...Encoder side connector 1B 1A 4A MR J3W03ENCBL M A H LG MR MRR P5 BAT BAT SD 5B SHD 5B 4A 1A 1B 4B 5A Note 2 Note 1 Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system 2 When the cable is 20m or 30m the wiring of P5 and LG will be three pairs c When fabricating the encoder cable When fabricating the cable prepare the follo...

Page 467: ...romagnetic brake a Connection of servo amplifier and servo motor CNP2A or CNP2B MR J3W03PWCBL M A H MR J3W03PWBRCBL M A H or Servo amplifier 1 1 2 2 Power supply connector Servo motor HG AK Note Note Note Pull out the connector with pushing down the lock lever on the power connector There is not need to use the lock lever of the servo motor power cable Lock lever Cable model 1 CN2A CN2B side conne...

Page 468: ...de connector Yellow green White Black Red c When fabricating the servo motor power cable When fabricating the servo motor power cable prepare the following parts and fabricate it according to the wiring diagram 3 b of this section Refer to section 15 9 2 for the specifications of the cable to use Parts Description MR J3W03CNP2 2P MR J3W03CNP2 20P CN2A CN2B side connector Servo motor side connector...

Page 469: ... The following table shows the wire size selection example 24VDC power supply 48VDC power supply Encoder cable Motor power supply cable Servo motor Servo amplifier B1 B2 1 3 2 CN2A CNP1 CNP2A Encoder cable Motor power supply cable Servo motor B1 B2 3 CN2B CNP2B PM 24 0 600V polyvinyl chloride insulated wires IV wires and 600V grade heat resistant polyvinyl chloride insulated wires HIV wires are co...

Page 470: ... 0 08 AWG 22 or equivalent 5P Bando Densen MR J3W03PWCBL M A H 1 to 30 AWG19 4 150 008 29 1 or less 1 63 5 7 0 5 Note 4 RMFES A CL3X AWG19 4 cores Dyden Servo motor power cable MR J3W03PWBRC BL M A H 1 to 30 AWG19 4 150 0 08 29 1 or less 1 63 5 7 0 5 Note 4 RMFES A CL3X AWG19 4 cores Dyden Note 1 d is as shown below Insulation sheath Conductor d 2 Standard OD Maximum OD is about 10 greater 3 Purch...

Page 471: ...tion as shown below the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the servo system controller power is on or off Therefore once home p...

Page 472: ...um battery primary battery nominal 3 6V Type MR J3BAT Maximum revolution range Home position 32767 rev Note 1 Maximum speed at power failure 500r min Approximately 10 000 hours 2 axes equipment power supply off ambient temperature 25 Note 4 Note 2 Battery backup time Approximately 20 000 hours 1 axis equipment power supply off ambient temperature 25 Note 3 Battery life 5 years from date of manufac...

Page 473: ...d in incremental system 1 Used in absolute position detection system 1 4 Year and month of manufacture of MR J3BAT Production year and month of the MR J3BAT are indicated in a serial number 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...

Page 474: ...y with the control circuit power on will not erase the absolute position data Refer to section 15 10 4 for mounting procedure of battery on 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 power off will erase the absolute position data but batt...

Page 475: ...t for MR J3BAT on the servo amplifier Note 2 Connect a battery extension cable to the battery Note Be careful not to catch battery extension cable on peripheral equipment or by your fingers Doing so may cause a disconnection of the CN4 connector due to stress on the connector connection part 2 Battery removing procedure 1 Push down the lever of the mounting attachment for MR J3BAT 2 Pull out the b...

Page 476: ...t power off 1 Preparation for battery replacement For the battery replacement battery for backup is required separately from the battery to be replaced Prepare the following batteries Name Number and Use Remarks 1 for backup MR J3BAT 1 for replacement Battery within two years from the production date ...

Page 477: ... from the servo amplifier Note When replacing MR J3BAT connect disconnect the junction side connector Servo amplifier MR J3BAT for backup New MR J3BAT MR J3W03BTCBL03M CN4 CN2A or CN2B Step 3 Mount new MR J3BAT to the servo amplifier Connect the lead wire plug of MR J3BAT to the battery extension cable connected to the CN4 connector of the servo amplifier Servo amplifier MR J3BAT for backup New MR...

Page 478: ...r drive PA18 Linear servo motor type setting Each axis New Used to set a motor ID during the linear servo motor drive PA19 Parameter write inhibit Each axis None Parameter No Name Setting Difference from MR J3 B Comment PB01 Adaptive tuning mode Adaptive filter Each axis Specification change Tuning mode is deleted PB02 Vibration suppression control filter tuning mode advanced vibration suppression...

Page 479: ...er No Name Setting Difference from MR J3 B Comment PC01 Error excessive alarm level Each axis PC02 Electromagnetic brake sequence output Each axis None PC03 Encoder output pulses selection Each axis Function added A B phase pulse electronic gear setting is added PC04 Function selection C 1 Each axis PC05 Function selection C 2 Each axis PC06 Function selection C 3 Each axis None PC07 Zero speed Ea...

Page 480: ...ic dynamic brake operating time Each axis New addition Used for MR J3W 0303BN6 servo amplifier Parameter No Name Setting Difference from MR J3 B Comment PS01 Linear function selection 1 Each axis Function added PS02 Linear encoder resolution setting Numerator Each axis Function added PS03 Linear encoder resolution setting Denominator Each axis Function added PS04 Linear function selection 2 Each a...

Page 481: ...at the encoder side 1F Encoder initial communication error 3 Each axis Each axis New alarm Occurs when the encoder is not supported 20 Encoder normal communication error 1 Each axis Each axis None 21 Encoder normal communication error 2 Each axis Each axis New alarm Occurs when the cause of an alarm exists at the encoder side 24 Main circuit error Each axis All axis 25 Absolute position erase Each...

Page 482: ...t warning Each axis New alarm Alarm for the use with a linear servo motor E3 Absolute position counter warning Each axis E4 Parameter warning Each axis E6 Servo forced stop warning Common All axis E7 Controller forced stop warning Common All axis E8 Cooling fan speed reduction warning Common None E9 Main circuit off warning Common EB The other axis fault warning Each axis All axis EC Overload warn...

Page 483: ...ve 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 App 3 2 For compliance Be sure to perform an appearance inspection of every unit before installation In addition have a final performance inspection on the entire machine system...

Page 484: ...rtation 90 RH or less Operation Storage 1000m or less Altitude Transportation 10000m or less Note Ambient temperature is the internal temperature of the control box 4 Power supply a This servo amplifier can be supplied from star connected supply with earthed neutral point of overvoltage category III set forth in EN 60664 1 However when using the neutral point of 400V system for single phase supply...

Page 485: ...Standard compliant products given this Servo Amplifier 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 servo amplifier b The sizes of the wires given this Servo Amplifier Instruction Manual meet t...

Page 486: ...HF SP102 HC LP52 Note1 HC LP102 HC UP72 Note1 HF JP53 Note2 Note2 3 HF JP73 Note2 Note2 HF JP103 Note2 Note 1 When using this servo amplifier with software version B2 or below it is required to set parameter No Po04 to 1 For the servo amplier with software version B3 or above setting the parameter is not required 2 The servo motor is available for servo amplifiers with software version B3 or above...

Page 487: ...xcept MR J3W 0303BN6 Servo amplifier Discharge time min MR J3W 22B 5 MR J3W 44B 6 MR J3W 77B MR J3W 1010B 11 6 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor servo amplifier and servo motor power line from overloads The operation characteristics of the electronic thermal relay are shown below It is recommended to use an un...

Page 488: ...5 140 167 for wiring Wires Note 1 Servo amplifier Note 3 L1 L2 L3 L11 L21 Note 2 3 U V W P C P D Note 2 B1 B2 THM1 THM2 24 0 PM MR J3W 0303BN6 AWG19 AWG16 Note 4 MR J3W 22B MR J3W 44B MR J3W 77B MR J3W 1010B 2mm2 AWG14 1 25mm2 AWG16 0 2mm2 AWG24 Note 1 Wires are selected based on the highest rated current among combining servo motors 2 This wire size indicates the size of cable extension which is ...

Page 489: ...l circuit power supply Main circuit power supply 24VDC CP30 BA 1P 1 M 10A Note For operation characteristics use an intermediate speed type b MR J3W 22B to MR J3W 1010B Molded case circuit breaker Note Fuse Servo motor total output Current Voltage AC V Current A Voltage AC V 300W or less 30A frame 5A 15 From over 300W to 600W 30A frame 10A 20 From over 600W to 1kW 30A frame 15A 240 20 300 From ove...

Page 490: ... U V W A axis servo motor CNP3A U V W U V W B axis servo motor CNP3B 11 Approval mark of UL CSA standards This servo amplifier complies with UL and CSA standards and is labeled with the corresponding approval mark Approval mark NRTL Listing to UL 508C Testing by TÜV Rheinland according to UL and CSA standards ...

Page 491: ...wing points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev 15 and ICAO TI 2009 2010 edition For lithium metal batteries cells are classified as UN3090 and batteries contained in or packed with equipment are classified as UN3091 a A package containing 24 cells or 12 batteries or less that are not contained in equipment are no lo...

Page 492: ...countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex II Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled 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 c...

Page 493: ...duct Model Wire size Insulator Outer sheath Minimum bend radius Finished outer diameter Applicable standard wire part 5 Standard SC EPWS1CBL M L AWG18 4C 50mm Approximately 6 2mm UL 13 CL3 6 Direct connection to rotary servo up to 10m Long bending life SC EPWS1CBL M H AWG19 4C 40mm Approximately 5 7mm UL AWM 2103 7 Linear servo up to 10m AWG18 4C ETFE 50mm Approximately 6 2mm UL 13 CL3 8 Linear se...

Page 494: ...WS1CBL M H Motor side Amplifier side L m 200 20 10 23 30 25 14 Cable outer diameter 5 Standard Approximately 6 2 6 Long bending life Approximately 5 7 7 8 9 10 SC EPWS2CBL M L SC EPWS2CBL M H L m 200 Motor side Amplifier side 200 Cable outer diameter 7 Standard 10m or less Approximately 6 2 8 Standard 11 to 30m Approximately 11 1 9 Long bending life 10m or less Approximately 5 7 10 Long bending li...

Page 495: ... changed The sentences are changed Servo motor is added Note 3 is changed The sentences about gain changing function are added The diagram is changed The table is changed and the sentences are added The sentences are added to CAUTION Note 5 is changed MR J3W 1010B is added The sentences of POINT is changed Added The sentences of INP A INP B SA A SA B TLC A TLC B and ABSV A ABSV B are changed or ad...

Page 496: ... content of the first digit is changed Po03 The setting content of the first digit is changed Po04 The setting content is changed POINT is added The sentences are changed The sentences are changed The sentences in POINT are changed MR J3W 0303BN6 is added POINT is added 16 3 1 Added 45 5 Changed from 45 2 46 1 Name is changed The sentences are changed E3 The content is changed E9 3 Added EB 1 1 to...

Page 497: ...and MR J3W 1010B servo amplifier are added HG AK and HF JP series servo motor are added This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2010 MI...

Page 498: ...hi Fu Plazz No 80 Xin Chang Road Shanghai 200003 China Setsuyo Enterprise Co Ltd 6F No 105 Wu Kung 3rd Rd Wu Ku Hsiang Taipei Hsine Taiwan Mitsubishi Electric Automation Korea Co Ltd 3F 1480 6 Gayang dong Gangseo gu Seoul 157 200 Korea Mitsubishi Electric Asia Pte Ltd 307 Alexandra Road 05 01 02 Mitsubishi Electric Building Singapore 159943 Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1...

Page 499: ... 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 note that the Product including it...

Page 500: ...T interface 2 axis AC Servo Amplifier J3W Series J3W Series MR J3W 0303BN6 MR J3W B Servo Amplifier Instruction Manual C C HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 The following servo motors will be available in the future All specifications of followings may be changed without notice HG AK0136B HG AK0236B HG AK0336B For situations of conformity with UL CSA standard of the MR J3W 0303BN6 s...

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