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Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

The Mitsubishi Electric MELSERVO-J4 series offers advanced servo amplifiers and motors for precise motion control. Unlock the full potential of this product by downloading the Instruction Manual from our website for free. Find detailed guidance, troubleshooting tips, and more to effortlessly optimize your machine's performance. manualshive.com

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12

Basic setting parameters ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Gain/filter setting parameters ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Extension setting parameters ([Pr. PC_ _ ])  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
I/O setting parameters ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Extension setting 2 parameters ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Extension setting 3 parameters ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Positioning control parameters ([Pr. PT_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Network setting parameters ([Pr. PN_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

5.3

Software limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

CHAPTER 6  NORMAL GAIN ADJUSTMENT

227

6.1

Different adjustment methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

Adjustment on a single servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Adjustment using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

6.2

One-touch tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

One-touch tuning flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Display transition and operation procedure of one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Caution for one-touch tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
One-touch tuning via a network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

6.3

Auto tuning  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

Auto tuning mode  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Auto tuning mode basis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Adjustment procedure by auto tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Response level setting in auto tuning mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

6.4

Manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

6.5

2 gain adjustment mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

CHAPTER 7  SPECIAL ADJUSTMENT FUNCTIONS

247

7.1

Filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

Machine resonance suppression filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Adaptive filter II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Shaft resonance suppression filter  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
Low-pass filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Advanced vibration suppression control II. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Command notch filter  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

7.2

Gain switching function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
Gain switching procedure  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

7.3

Tough drive function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

Vibration tough drive function  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Instantaneous power failure tough drive function  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

7.4

Compliance with SEMI-F47 standard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

7.5

Model adaptive control disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

7.6

Lost motion compensation function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

7.7

Super trace control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

CHAPTER 8  TROUBLESHOOTING

280

Summary of Contents for MELSERVO-J4 series

Page 1: ...General Purpose AC Servo CC Link IE Field Network Interface Servo Amplifier Instruction Manual Motion Mode MR J4 _GF_ MR J4 _GF_ RJ ...

Page 2: ......

Page 3: ...ions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols In this Instruction Manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this Instruction Manual keep it accessible to the o...

Page 4: ...n electric shock always connect the protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet To avoid an electric shock insulate the connections of the power supply terminals CAUTION Install the servo amplifier servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to smoke or a fire Al...

Page 5: ...onnect 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 servo amplifier heat sink regenerative resistor servo motor etc may be hot while the power is on and for some time after power off Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables ...

Page 6: ...failure malfunction etc When you keep or use the equipment please fulfill the following environment When the product has been stored for an extended period of time contact your local sales office When handling the servo motor be careful with the sharp edges of the servo motor The servo amplifier must be installed in a metal cabinet When fumigants that contain halogen materials such as fluorine chl...

Page 7: ... wires are not tightened enough to the terminal block the wires or terminal block may generate heat because of the poor contact Be sure to tighten the wires with specified torque Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction Configure a circuit to turn off EM2 or EM1 when the main circuit power supply is turned off to prevent an unexpecte...

Page 8: ...agnetic interference Electromagnetic interference may affect the electronic equipment used near the servo amplifier Do not burn or destroy the servo amplifier Doing so may generate a toxic gas Use the servo amplifier with the specified servo motor Wire options and peripheral equipment etc correctly in the specified combination Otherwise it may cause an electric shock fire injury etc The electromag...

Page 9: ...ected restart after an instantaneous power failure After an earthquake or other natural disasters ensure safety by checking the conditions of the installation mounting wiring and equipment before switching the power on to prevent an electric shock injury or fire CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut...

Page 10: ...may malfunction 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 STO FUNCTION OF THE SERVO AMPLIFIER When using the STO function of the servo amplifier refer to the following Page 453 USING STO FUNCTION For the MR J3 D05 safety logic unit refer to the following Page 586 MR J3 D05 Safety logic unit C...

Page 11: ... name Manual No MELSERVO MR J4 _GF_ RJ Servo Amplifier Instruction Manual I O Mode SH NA 030221ENG MELSERVO MR J4 _GF_ RJ Servo Amplifier Instruction Manual CC Link IE Field Network Basic SH NA 030273ENG MELSERVO J4 Servo Amplifier Instruction Manual Troubleshooting SH NA 030109ENG MELSERVO MR D30 Instruction Manual 1 SH NA 030132ENG MELSERVO Servo Motor Instruction Manual Vol 3 2 SH NA 030113ENG ...

Page 12: ...TER 2 INSTALLATION 76 2 1 Installation direction and clearances 77 2 2 Keeping out of foreign materials 79 2 3 Encoder cable stress 79 2 4 Inspection items 79 2 5 Parts having service life 80 2 6 Restrictions when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level 81 CHAPTER 3 SIGNALS AND WIRING 82 3 1 Connection example of power circuit 83 200 V class 84 400 ...

Page 13: ...X Works 131 4 2 Startup 132 4 3 Switch setting and display of the servo amplifier 134 Switches 134 Scrolling display 135 Status display of a station 136 CC Link IE Field status display LED 137 4 4 Test operation 138 4 5 Test operation mode 139 Test operation mode in MR Configurator2 139 Motor less operation in controller 142 4 6 Home position return mode 143 Outline of home position return 143 CiA...

Page 14: ...g 234 One touch tuning via a network 235 6 3 Auto tuning 237 Auto tuning mode 237 Auto tuning mode basis 238 Adjustment procedure by auto tuning 239 Response level setting in auto tuning mode 240 6 4 Manual mode 242 6 5 2 gain adjustment mode 245 CHAPTER 7 SPECIAL ADJUSTMENT FUNCTIONS 247 7 1 Filter setting 247 Machine resonance suppression filter 247 Adaptive filter II 250 Shaft resonance suppres...

Page 15: ...R D05UDL3M B STO cable 332 Battery cable junction battery cable 333 Ethernet cable 334 11 2 Regenerative options 335 Combination and regenerative power 335 Selection of the regenerative option 337 Parameter setting 341 Connection of regenerative option 341 Dimensions 346 11 3 FR BU2 H brake unit 353 Selection 353 Brake unit parameter setting 354 Connection example 355 Dimensions 363 11 4 FR RC H p...

Page 16: ...T6VCASE battery case 452 CHAPTER 13 USING STO FUNCTION 453 13 1 Introduction 453 Summary 453 Terms related to safety 453 Cautions 453 Residual risks of the STO function 454 Specifications 454 Maintenance 455 13 2 STO I O signal connector CN8 and pin assignment 456 Pin assignment 456 Signal device explanations 456 How to pull out the STO cable 457 13 3 Connection example 458 Connection example for ...

Page 17: ...racteristics 508 Overload protection characteristics 508 Power supply capacity and generated loss 509 Dynamic brake characteristics 509 CHAPTER 16 FULLY CLOSED LOOP SYSTEM 513 16 1 Functions and configuration 513 Function block diagram 513 Selecting procedure of control mode 514 System configuration 516 16 2 Load side encoder 518 Linear encoder 518 Rotary encoder 518 Configuration diagram of encod...

Page 18: ...Recommendations on the Transport of Dangerous Goods 569 Appendix 3 Symbol for the new EU Battery Directive 571 Appendix 4 Compliance with global standards 572 Terms related to safety IEC 61800 5 2 Stop function 572 About safety 572 Installation direction and clearances 578 Electrical Installation and configuration diagram 578 Signal 580 Maintenance and service 581 Transportation and storage 582 Te...

Page 19: ...t dynamic brake 621 Without regenerative resistor 622 Special coating specification product IEC 60721 3 3 Class 3C2 623 Appendix 11Driving on off of main circuit power supply with DC power supply 625 Connection example 625 Magnetic contactor 626 Appendix 12List of registration objects 627 Servo cyclic transmission function 627 Servo transient transmission function 629 Appendix 13Status of general ...

Page 20: ...nction provides strong support for the machine maintenance and inspection MR J4 _GF_ servo amplifier supports the Safe Torque Off STO function By combining with optional MR J3 D05 the servo amplifier supports Safe stop 1 SS1 function The servo amplifier has a USB communication interface Therefore you can connect the servo amplifier to the personal computer with MR Configurator2 installed to perfor...

Page 21: ...ATION 1 2 Function block diagram 19 1 1 2 Function block diagram The function block diagram of this servo is shown below The diagram shows for MR J4 _GF_ RJ as an example MR J4 _GF_ servo amplifier does not have CN2L connector ...

Page 22: ...ier STO circuit CN5 USB USB Personal computer Controller or servo amplifier Controller or servo amplifier CN1A CN1B D A Analog monitor 2 channels Position command input CN3 Servo amplifier U V W U V W P3 P4 4 Diode stack Relay P B RA 24 V DC B1 B2 Battery For absolute position detection system CN4 STO switch Model speed Model torque M CN2 CN8 Control circuit power supply Model position control Mod...

Page 23: ...cifications 3 Servo amplifiers MR J4 70GF RJ or more have a cooling fan 4 MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 of MR J3 servo amplifiers 5 This is for MR J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector 6 The power factor improving AC reactor can also be used In this case the ...

Page 24: ...B STO circuit CN5 USB USB CN1A CN1B D A CN3 Servo amplifier U V W U V W P3 P4 2 Relay P B RA B1 CN4 M CN2 CN8 Control circuit power supply CHARGE lamp Regene rative TR Regenerative option L3 L2 L1 U U U Current detection Overcurrent protection Voltage detection Base amplifier STO switch Servo motor 24 V DC Encoder Model position Current control Actual position control Actual speed control Virtual ...

Page 25: ...rol Actual speed control Virtual motor Virtual encoder Cooling fan Current detection Overcurrent protection Voltage detection Power supply 1 Base amplifier STO circuit Personal computer Analog monitor 2 channels Position command input Servo amplifier 24 V DC Battery For absolute position detection system STO switch Model speed Model torque Control circuit power supply Model position control Model ...

Page 26: ...he servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop Ensure the safety in the entire equipment For alarms for which the servo motor does not decelerate to stop refer to the following Page 280 TROUBLESHOOTING 5 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot b...

Page 27: ...P3 and P4 Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder L11 L21 Cooling fan 2 Encoder N C D L3 L2 L1 Dynamic brake circuit Current detection Overcurrent protection Voltage detection Power supply 1 MC MCCB Base amplifier STO circuit CN5 USB USB Personal computer CN1A CN1B D A Analog monitor 2 channels Position command input CN3 Servo ampli...

Page 28: ...Current detector Virtual motor Virtual encoder L11 L21 Cooling fan Encoder N C Current detection Overcurrent protection Voltage detection Power supply 1 MC MCCB Base amplifier STO circuit CN5 USB USB CN1A CN1B D A Position command input CN3 Servo amplifier Diode stack U V W U V W P3 P4 2 Relay P B RA 24 V DC B1 B2 Battery For absolute position detection system CN4 STO switch M CN2 CN8 Control circ...

Page 29: ... position detection system CN4 M CN2 CN8 Servo motor External regenerative resistor or regenerative option Electromagnetic brake STO switch Control circuit power supply Current detection Overcurrent protection Voltage detection Base amplifier STO circuit Step down circuit Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder Position command inpu...

Page 30: ...he servo motor does not stop immediately but coasts at an alarm occurrence for which the servo motor does not decelerate to stop Ensure the safety in the entire equipment For alarms for which the servo motor does not decelerate to stop refer to the following Page 280 TROUBLESHOOTING 5 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot b...

Page 31: ...amic brake circuit Current detection Overcurrent protection Voltage detection Power supply 2 MC MCCB Base amplifier STO circuit Position command input Servo amplifier U V W U V W Diode stack Relay P B RA 24 V DC B1 B2 Battery For absolute position detection system CN4 STO switch Model speed Model torque M CN2 CN8 Control circuit power supply Model position control Model speed control Servo motor C...

Page 32: ... phase 200 V AC to 240 V AC 50 Hz 60 Hz At DC input 8 283 V DC to 340 V DC Rated current A 0 2 0 3 Permissible voltage fluctuation At AC input 1 phase 170 V AC to 264 V AC At DC input 8 241 V DC to 374 V DC Permissible frequency fluctuation Within 5 Power consumption W 30 45 Inrush current A Page 325 Inrush currents at power on of main circuit and control circuit Interface power supply Voltage 24 ...

Page 33: ...ential output method Page 18 Summary 12 The communication cycle depends on the controller specifications and the number of axes connected 13 Use an external dynamic brake for this servo amplifier Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at emergency stop Ensure the safety in the entire equipment 14 The external dynamic brake cannot be use...

Page 34: ...ld communication cycle 7 0 5 ms 1 0 ms 2 0 ms 4 0 ms Fully closed loop control Compatible 10 Scale measurement function Compatible 10 Load side encoder interface 6 Mitsubishi Electric serial interface Communication function USB connection to a personal computer or others MR Configurator2 compatible Encoder output pulses Compatible A B Z phase pulse Analog monitor Two channels Protective functions ...

Page 35: ...tible with the two wire type four wire type and A B Z phase differential output method Page 18 Summary 7 The communication cycle depends on the controller specifications and the number of axes connected 8 Use an external dynamic brake for this servo amplifier Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at emergency stop Ensure the safety in ...

Page 36: ...ms 2 0 ms 4 0 ms Fully closed loop control Supported Scale measurement function Supported Load side encoder interface 6 Mitsubishi Electric serial interface Communication function USB connection to a personal computer or others MR Configurator2 compatible Encoder output pulses Compatible A B Z phase pulse Analog monitor Two channels Protective functions Overcurrent shut off regenerative overvoltag...

Page 37: ...ends on the setting value of Pr PF18 STO diagnosis error detection time and whether STO input diagnosis by TOFB output is performed or not For details refer to the Function column of Pr PF18 as follows Page 215 Detailed list of parameters 6 The MR J4 _GF1 servo amplifier is compatible only with the two wire type The MR J4 _GF1 RJ servo amplifier is compatible with the two wire type four wire type ...

Page 38: ...M U2PAD 10M 0SS0 LM U2PAF 15M 0SS0 TM RFM004C20 TM RG2M004E30 2 4 TM RU2M004E30 2 4 TM RG2M009G30 2 TM RU2M009G30 2 MR J4 60GF RJ 51 52 53 LM U2PBD 15M 1SS0 TM RFM006C20 TM RFM006E20 MR J4 70GF RJ 73 73 72 73 LM H3P3B 24P CSS0 LM H3P3C 36P CSS0 LM H3P7A 24P ASS0 LM K2P2A 02M 1SS1 LM U2PBF 22M 1SS0 TM RFM012E20 TM RFM012G20 TM RFM040J10 MR J4 100GF RJ 81 102 53 3 103 TM RFM018E20 MR J4 200GF RJ 121...

Page 39: ...side 1 HG SR HG JR MR J4 60GF4 RJ 524 534 MR J4 100GF4 RJ 1024 534 2 734 1034 MR J4 200GF4 RJ 1524 2024 734 2 1034 2 1534 2034 MR J4 350GF4 RJ 3524 1534 2 2034 2 3534 MR J4 500GF4 RJ 5024 3534 2 5034 MR J4 700GF4 RJ 7024 5034 2 6014 701M4 7034 MR J4 11KGF4 RJ 8014 12K14 11K1M4 9034 MR J4 15KGF4 RJ 15K14 15K1M4 MR J4 22KGF4 RJ 20K14 25K14 22K1M4 LM FP5H 60M 1SS0 Servo amplifier Rotary servo motor L...

Page 40: ...switching function Advanced vibration suppression control This function suppresses vibration at the arm end or residual vibration Page 254 Advanced vibration suppression control II Machine resonance suppression filter This is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system Page 247 Machine resonance suppression fi...

Page 41: ...ge 36 Combinations of servo amplifiers and servo motors Page 465 USING A LINEAR SERVO MOTOR Direct drive servo system Direct drive servo system can be configured to drive a direct drive motor For the software version of the servo amplifier that is compatible refer to the following Page 36 Combinations of servo amplifiers and servo motors Page 493 USING A DIRECT DRIVE MOTOR Fully closed loop system...

Page 42: ...st of registration objects Scale measurement function The function transmits position information of a scale measurement encoder to the controller by connecting the scale measurement encoder in semi closed loop control This is used with servo amplifiers with software version A1 or later Page 535 Scale measurement function Home position return mode The servo amplifier operates in the home position ...

Page 43: ...g KC certification number The year and month of manufacture Serial number IP20 KCC REI MEK TC301A079G51 Max Surrounding Air Temp 55 C POWER 100W MR J4 10GF AC SERVO SER A5X001001 OUTPUT 3PH170V 0 360Hz 1 1A MAN IB NA 0300175 INPUT 3AC AC200 240V 0 9A 1 5A 50 60Hz STD IEC EN 61800 5 1 DATE 2015 10 MODEL Series Rated output CC Link IE Field Network Special specifications Symbol Rated output kW 10 0 ...

Page 44: ...witch SW1 1 4 USB communication connector CN5 Used to connect a personal computer Page 381 MR Configurator2 5 I O signal connector CN3 Used to connect digital I O signals Page 95 I O signal connection example Page 104 Connectors and pin assignment 6 STO input signal connector CN8 Used to connect the MR J3 D05 safety logic unit and external safety relay Page 453 USING STO FUNCTION Page 586 MR J3 D0...

Page 45: ...power connector CNP2 Used to connect the control circuit power supply and regenerative option Page 83 Connection example of power circuit Page 98 Explanation of power supply system 16 Servo motor power output connector CNP3 Used to connect the servo motor 17 Charge lamp When the main circuit is charged this will light up While this lamp is lit do not reconnect the cables 18 1 2 External encoder co...

Page 46: ...otor Page 83 Connection example of power circuit Page 98 Explanation of power supply system 4 Control circuit power connector CNP2 Connect the control circuit power supply and regenerative option 5 Charge lamp When the main circuit is charged this will light While this lamp is lit do not reconnect the cables 6 Protective earth PE terminal Page 83 Connection example of power circuit Page 98 Explana...

Page 47: ...rcuit terminal block TE1 Connect the input power supply 3 Battery holder Install the battery for absolute position data backup Page 384 Battery 4 Rating plate Page 41 Model designation 5 Regenerative option power factor improving reactor terminal block TE3 Used to a connect a regenerative option and a power factor improving DC reactor Page 83 Connection example of power circuit Page 98 Explanation...

Page 48: ...l block TE3 Used to connect a power factor improving DC reactor Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Instal...

Page 49: ...nnect a power factor improving DC reactor and a regenerative option Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Main circuit terminal block TE1 1 Used to connect input power and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Used to house the battery for a...

Page 50: ...r improving DC reactor and a regenerative option Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Main circuit terminal block TE1 1 Used to connect input power and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Used to house the battery for absolute position da...

Page 51: ...l connection example Page 104 Connectors and pin assignment 8 Ethernet cable connector CN1B Used to connect the controller or the servo amplifier 9 2 Encoder connector CN2 Used to connect the servo motor encoder or external encoder Refer to the following for the compatible external encoders Page 18 Summary Page 104 Connectors and pin assignment Servo Motor Instruction Manual Vol 3 10 Battery conne...

Page 52: ...nit This connector is attached only on MR J4 _GF_ RJ 20 Optional unit connector 2 CN9 This connector is used for connection with an optional unit This connector is attached only on MR J4 _GF_ RJ No Name Application Detailed explanation 1 Main circuit power connector CNP1 Connect the input power supply Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Rating p...

Page 53: ...y system 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Battery holder Install the battery for absolute position data backup Page 384 Battery 4 Rating plate Page 41 Model designation 5 Power factor improving reactor terminal block TE3 Used to connect a power factor improving DC reactor Page 83 Connection example of power circuit Page ...

Page 54: ...ctor improving DC reactor Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Install the battery for absolute position da...

Page 55: ...connect a power factor improving DC reactor or a regenerative option Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Main circuit terminal block TE1 1 Used to connect input power and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Used to house the battery for ...

Page 56: ...or improving DC reactor or a regenerative option Page 83 Connection example of power circuit Page 98 Explanation of power supply system 2 Main circuit terminal block TE1 1 Used to connect input power and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal 5 Battery holder Used to house the battery for absolute position da...

Page 57: ...t cable connector CN1B Used to connect the controller or servo amplifier 9 2 Encoder connector CN2 Used to connect the servo motor encoder or external encoder Refer to the following for the compatible external encoders Page 18 Summary Page 104 Connectors and pin assignment Servo Motor Instruction Manual Vol 3 10 Battery connector CN4 Used to connect the battery for absolute position data backup Pa...

Page 58: ...is manual 18 1 2 External encoder connector CN2L Used to connect the external encoder Refer to the following for the compatible external encoders Page 18 Summary Page 104 Connectors and pin assignment Linear Encoder Instruction Manual 19 Optional unit connector 1 CN7 This connector is used for connection with an optional unit The connector is attached only on MR J4 _GF1_ RJ 20 Optional unit connec...

Page 59: ...moving or installing the front cover turn off the power and wait for 15 minutes or more until the charge lamp turns off Then confirm that the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier 1 Hold the ends of lower side of ...

Page 60: ... of the front cover 1 Insert the front cover setting tabs into the sockets of servo amplifier 2 places 2 Push down the cover supporting at point A 3 Press the cover against the terminal box until the installing knobs click Front cover setting tab A A Setting tab ...

Page 61: ...wrong axis to U V W or CN2 of the servo amplifier may cause a malfunction The CN1A and CN1B connectors are designed for CC Link IE Field Network only Do not connect these connectors to other than CC Link IE Field Network Doing so may cause a malfunction CN4 Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Servo motor Personal computer MR Configurator2 CN3 CN8 CN2 CN2L 4 W V U M...

Page 62: ...eration pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 This is for MR J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the...

Page 63: ...J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 Always connect between P and D terminals When using the...

Page 64: ...J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 Always connect between P and D terminals When using the...

Page 65: ...ctor 4 This is for MR J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 When using the regenerative optio...

Page 66: ...N2L 4 W V U CN4 L11 L21 CN8 CN1A CN1B R S T L1 L3 L2 Line noise filter FR BLF Regenerative option 5 Servo motor Personal computer Magnetic contactor 3 1 MC Power factor improving DC reactor FR HEL Junction terminal block Safety relay or MR J3 D05 safety logic unit Battery Molded case circuit breaker MCCB Power supply 2 Servo system controller or servo amplifier Servo system controller or servo amp...

Page 67: ...oltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 This is for MR J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the fully closed loop sy...

Page 68: ...is is for MR J4 _GF RJ servo amplifier MR J4 _GF servo amplifier does not have CN2L connector When using MR J4 _GF RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 When using the regenerative option refer t...

Page 69: ... 4 This is for MR J4 _GF4 RJ servo amplifier MR J4 _GF4 servo amplifier does not have CN2L connector When using MR J4 _GF4 RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 Always connect between P and D ter...

Page 70: ... L3 CN4 R S T CN1A CN1B CN2L 4 R S T Line noise filter FR BSF01 Regenerative option Servo motor Personal computer Magnetic contactor 3 1 MC Power factor improving DC reactor FR HEL H Junction terminal block Safety relay or MR J3 D05 safety logic unit Battery Molded case circuit breaker MCCB Power supply 2 D 5 Servo system controller or servo amplifier Servo system controller or servo amplifier ...

Page 71: ...at may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 This is for MR J4 _GF4 RJ servo amplifier MR J4 _GF4 servo amplifier does not have CN2L connector When using MR J4 _GF4 RJ servo amplifier in the linear servo system or in the fully closed loop system connect an exte...

Page 72: ...or 4 This is for MR J4 _GF4 RJ servo amplifier MR J4 _GF4 servo amplifier does not have CN2L connector When using MR J4 _GF4 RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 When using the regenerative opti...

Page 73: ...or 4 This is for MR J4 _GF4 RJ servo amplifier MR J4 _GF4 servo amplifier does not have CN2L connector When using MR J4 _GF4 RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 When using the regenerative opti...

Page 74: ... CN3 CN2 CN4 CN8 CN1A CN1B CN2L 4 Line noise filter FR BLF Regenerative option 5 Servo motor Personal computer Magnetic contactor 3 1 MC Power factor improving DC reactor FR HEL H Junction terminal block Safety relay or MR J3 D05 safety logic unit Battery Molded case circuit breaker MCCB Power supply 2 Servo system controller or servo amplifier Servo system controller or servo amplifier MR Configu...

Page 75: ...tage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 This is for MR J4 _GF4 RJ servo amplifier MR J4 _GF4 servo amplifier does not have CN2L connector When using MR J4 _GF4 RJ servo amplifier in the linear servo system or in the fully closed loop s...

Page 76: ...4 This is for MR J4 _GF4 RJ servo amplifier MR J4 _GF4 servo amplifier does not have CN2L connector When using MR J4 _GF4 RJ servo amplifier in the linear servo system or in the fully closed loop system connect an external encoder to this connector Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 When using the regenerative option ...

Page 77: ... this is used as a fully closed loop system the external encoder status is returned Refer to the following and Linear Encoder Instruction Manual for the compatible external encoders Page 18 Summary 5 Be sure to connect between P and D terminals When using the regenerative option refer to the following Page 335 Regenerative options CN4 CN5 MR Configurator2 CN3 CN8 CN2 CN2L 4 W V U D 5 CN1A CN1B P C...

Page 78: ...ake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or apply heavy impact on the servo amplifiers and the servo motors Otherwise it may cause injury malfunction etc Do not drop or strike the servo amplifier Isolate it from all impact loads Do not install or operate the servo amplifier which have been damaged or have any parts missing When the equipment has...

Page 79: ... be 120 mm or more 2 When mounting MR J4 500GF RJ maintain a minimum clearance of 25 mm on the left side CAUTION The equipment must be installed in the specified direction Otherwise it may cause a malfunction Leave specified clearances between the servo amplifier and the cabinet walls or other equipment Otherwise it may cause a malfunction 40 mm or more 10 mm or more 10 mm or more 2 40 mm or more ...

Page 80: ...clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case keep the ambient temperature within 0 to 45 or use the servo amplifier with 75 or less of the effective load ratio 1 For 11 kW to 22 kW servo amplifiers the clearance between the bottom and ground will be 120 mm or more 2 When mounting MR J4 500GF RJ maintain a minimum clearance of 25 mm be...

Page 81: ... the bending radius should be made as large as possible Refer to the following for the bending life Page 324 Cable bending life 2 4 Inspection items It is recommended that the following points periodically be checked Check for loose terminal block screws Retighten any loose screws Check the cables and the like for scratches or cracks Inspect them periodically according to operating conditions espe...

Page 82: ...their lives when the power has been turned on forced stop by EM1 Forced stop 1 has occurred and sudden stop command from controller has been executed 100 000 times in total or when the STO has been turned on and off 1 000 000 times while the servo motor is stopped under servo off state However the lives of relays may depend on the power supply capacity Servo amplifier cooling fan The cooling fan b...

Page 83: ...aller effective load ratio Page 77 Installation direction and clearances Input voltage Generally withstand voltage decreases as altitude increases however there is no restriction on the withstand voltage Use in the same manner as in 1000 m or less Page 30 Servo amplifier standard specifications Parts having service life Smoothing capacitor The capacitor will reach the end of its life in 10 years o...

Page 84: ...C relay for control output should be fitted in the specified direction Otherwise the converter unit and the drive unit will malfunction and will not output signals disabling the emergency stop and other protective circuits Use a noise filter etc to minimize the influence of electromagnetic interference Electromagnetic interference may be given to the electronic equipment used near the servo amplif...

Page 85: ...of the main circuit power supply CAUTION Always connect a magnetic contactor between the power supply and the main circuit power supply L1 L2 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 contactor is not connected continuous flow of a large current may cause a fire when the servo amplifier...

Page 86: ... applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power ...

Page 87: ...plied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is ...

Page 88: ...ure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an une...

Page 89: ...g on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 ...

Page 90: ...OCOM CN3 RA1 CN3 EM2 DICOM MC 7 5 24 V DC 12 Malfunction 4 3 phase 200 V AC to 240 V AC Servo amplifier 1 10 2 Servo motor Motor Encoder Encoder cable 3 6 Malfunction 4 RA1 OFF ON Emergency stop switch Forced stop 2 5 Short circuit connector 9 Packed with the servo amplifier Main circuit power supply 8 11 24 V DC 12 External dynamic brake optional 15 16 Cooling fan power supply 14 Cooling fan 13 ...

Page 91: ...urn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circuit connector came with a servo amplifier 10 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 404 Molded case c...

Page 92: ...circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using...

Page 93: ...s voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circu...

Page 94: ... ON MC SK CN8 MCCB 10 11 13 BU BV BW MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM 24 V DC 15 24 V DC 15 3 phase 380 V AC to 480 V AC Step down transformer 12 2 Emergency stop switch Servo amplifier Servo motor External dynamic brake optional 16 17 Cooling fan power supply 14 Cooling fan Encoder cable 3 Encoder Main circuit power supply 8 Short circuit connector 9 Packed with the servo amplifier 5 Malfunct...

Page 95: ...t to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circuit connector came with a servo amplifier 10 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 404 Molded case circuit breakers fuses magnetic contactors 11 Connec...

Page 96: ...forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circuit connector came with a servo amplifier 1...

Page 97: ...ke end Reverse rotation stroke end Proximity dog 13 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse differential line driver CN3 12 Electromagnetic brake interlock 14 13 MBR 9 INP 15 ALM 6 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR Malfunction 11 In position 11 LG Control common RA1 RA2 RA3 DOCOM TPR2 3 1 10 TPR1 Main circuit power supply ...

Page 98: ...PD06 7 The device is available only with MR J4 _GF_ RJ 8 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 9 When not using the STO function attach the short circuit connector came with a servo amplifier 10 Supply 24 V DC 10 for interfaces from outside Set the total current capacity to 300 mA 300 mA is the value ap...

Page 99: ...line driver CN3 12 Electromagnetic brake interlock 14 13 MBR 9 INP 15 ALM 6 LA 16 LAR 7 LB 17 LBR 8 LZ 18 LZR Malfunction 11 In position 11 LG Control common RA1 RA2 RA3 DOCOM TPR2 3 1 10 TPR1 Main circuit power supply 8 Personal computer CN5 MR Configurator2 5 USB cable MR J3USBCBL3M option 24 V DC 10 Analog monitor 1 10 V DC Analog monitor 2 10 V DC MO1 MO2 4 14 SD Plate 2 m or less 10 m or less...

Page 100: ... resistor connect P and C factory wired When using a regenerative option disconnect wires of P and C for the built in regenerative resistor And then connect wires of the regenerative option to P and C Page 335 Regenerative options 400 V class MR J4 350GF4 RJ or less When using a servo amplifier built in regenerative resistor connect P and D factory wired When using a regenerative option disconnect...

Page 101: ...eration converter Power regeneration common converter Brake unit This terminal is used for a power regeneration converter power regeneration common converter and brake unit Page 353 FR BU2 H brake unit Page 366 FR RC H power regeneration converter Page 370 FR CV H power regeneration common converter Protective earth PE Connect it to the grounding terminal of the servo motor and to the protective e...

Page 102: ...with the main circuit power supply off and then the servo on command is transmitted AL E9 Main circuit off warning will occur Turning on the main circuit power supply stops the warning and starts the normal operation 3 The servo amplifier receives the servo on command in 3 s to 4 s network initial communication time after the main circuit power supply is switched on Page 100 Timing chart Timing ch...

Page 103: ... 10GF RJ to MR J4 100GF RJ MR J4 200GF RJ MR J4 350GF RJ Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK H7 5 AWG 18 to 14 3 9 mm or shorter 9 J FAT OT N or J FAT OT JST CNP2 05JFAT SAXGDK H5 0 CNP3 03JFAT SAXGDK H7 5 Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD...

Page 104: ...mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK HT10 5 AWG 16 to 14 3 9 mm or shorter 10 J FAT OT XL JST CNP2 05JFAT SAXGDK HT7 5 CNP3 03JFAT SAXGDK HT10 5 Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK H7 5 AWG 18 to 14 3 9 mm or shorter 9 J FAT OT N or J FAT OT JST CNP2 05JFAT SAXGDK H5 0 CNP3 03JFAT SAX...

Page 105: ...y the spring and that the conductive part of the stripped wire will not be exposed Release the open tool to fix the wire Pull the wire lightly to confirm that the wire is surely connected In addition make sure that no conductor wire sticks out of the connector The following shows a connection example of the CNP3 connector for MR J4 200GF RJ and MR J4 350GF RJ Servo amplifier Wire size Ferrule mode...

Page 106: ...e CN2 CN2L and CN3 connectors are connected to the protective earth terminal in the servo amplifier 1 The MR J4 _GF_ servo amplifier does not have CN2L connector 2 This is a connector of 3M Refer to the following for connections of external encoders Page 18 Summary Screw Screw Ground plate Cable CN5 USB connector Refer to section 11 7 CN3 CN4 Battery connector Refer to section 11 8 1 2 3 5 4 6 7 9...

Page 107: ... Pr PA04 to 0 0 _ _ to enable EM1 When EM1 is turned off open between commons the base circuit shuts off and the dynamic brake operates to decelerate the servo motor to a stop The forced stop will be reset when EM1 is turned on short between commons Set Pr PA04 to 0 1 _ _ to disable EM1 DI 1 Touch probe 1 TPR1 CN3 10 The device is available only with MR J4 _GF_ RJ The touch probe function is avail...

Page 108: ... positioning completion stop switching on the PC Proportion control upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift When the shaft is to be locked for a long time switch on the PC Proportion control at the same time to make the torque less than the rated one Do not use PC Proportional control in the torque mode When PC Proportional cont...

Page 109: ...en an instantaneous power failure occurs Ready RD Enabling servo on to make the servo amplifier ready to operate will turn on RD Speed reached SA SA will turn off during servo off When the servo motor speed reaches the following range SA will turn on Set speed Set speed 0 05 20 r min When the preset speed is 20 r min or less SA always turns on The device cannot be used in the position mode and tor...

Page 110: ...with Pr PC03 Output pulse specification dividing ratio setting and electronic gear setting can be selected Encoder B phase pulse differential line driver LB LBR CN3 7 CN3 17 Encoder Z phase pulse differential line driver LZ LZR CN3 8 CN3 18 The encoder zero point signal is output in the differential line driver type One pulse is output per servo motor revolution This turns on when the zero point p...

Page 111: ...ill stop with the dynamic brake Keep the servo on command from controller and ready on command from controller on while EM2 Forced stop 2 is off When the servo on command from controller or ready on command from controller is off forced stop deceleration base circuit shut off delay time and vertical axis freefall prevention do not function Forced stop deceleration function When EM2 is turned off d...

Page 112: ... of the deceleration command base power is cut and the dynamic brake activates 0 r min ON OFF Enabled ON OFF Servo on command from controller Ready on command from controller ON OFF ON OFF ON Pr PC24 Deceleration time Command Ordinary operation Forced stop deceleration Dynamic brake Electromagnetic brake Zero speed Pr PC07 Base circuit Energy supply to the servo motor Servo motor speed MBR Electro...

Page 113: ...rate based on the deceleration time constant MBR Electromagnetic brake interlock will turn off and then after the delay time set in Pr PC02 the servo amplifier will be base circuit shut off status Adjustment While the servo motor is stopped turn off EM2 Forced stop 2 adjust the base circuit shut off delay time in Pr PC02 and set the value to approximately 1 5 times of the smallest delay time in wh...

Page 114: ...the freefall prevention compensation amount in Pr PC31 While the servo motor is stopped turn off the EM2 Forced stop 2 Adjust the base circuit shut off delay time in Pr PC02 in accordance with the travel distance Pr PC31 Adjust it considering the freefall prevention compensation amount by checking the servo motor speed torque ripple etc Residual risks of the forced stop function EM2 The forced sto...

Page 115: ...as a tandem structure If an alarm occurs with the forced stop deceleration function disabled the servo motor will stop with the dynamic brake When the forced stop deceleration function is enabled 1 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor CAUTION When an alarm has occurred remove its cause make sure that the operati...

Page 116: ...ff occurs is the same as the following section Page 114 When the forced stop deceleration function is not enabled MBR Electromagnetic brake interlock ON OFF ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON OFF Servo amplifier display 0 r min Servo motor speed ALM Malfunction No alarm Alarm No Braking by the dynamic brake Dynamic brake Braking by the electromagnetic brake Oper...

Page 117: ...CN2 EM2 CN3 20 LSP 2 LSN 12 DOG 19 TPR1 5 10 1 CN3 3 13 9 15 DOCOM INP 2 ALM USB D GND D 2 3 5 CN5 MBR TPR2 5 3 3 RA RA 3 2 4 7 8 MR2 MRR2 MX2 MXR2 LG CN2L 4 24 V DC 1 5 DICOM Approximately 4 3 k Approximately 4 3 k Servo amplifier Forced stop 2 Isolated 10 V DC 10 V DC External encoder Servo motor Encoder Encoder Differential line driver output 35 mA or less CN3 6 16 7 17 8 18 LA LAR LB LBR LZ LZ...

Page 118: ... diagram for sink input Refer to the following for source input Page 118 Source I O interface 1 It will be approximately 4 3 k for interface of CN3 1 and CN3 10 pins Digital output interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow to the collector terminal A lamp relay or photocouple...

Page 119: ...ng on the output contents 150 100 Am26LS32 or equivalent Servo amplifier LA LB LZ LAR LBR LZR SD LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ 2 LAR T Servo motor CCW rotation Time cycle T is determined by the settings of Pr PA15 and Pr PC03 LA LB LBR LZ LZR 400 μs or more LG MO1 MO2 Servo amplifier Output voltage 10 V 1 Maximum output current 1 mA Resolution 10 bits or equiva...

Page 120: ...circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current will flow from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier 1 If the voltage drop maximum of 2 6 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source Approximately 6 2 k DICOM For t...

Page 121: ...ing section Page 120 Timing chart CAUTION Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking Before operating the servo motor be sure to confirm that the electromagnetic brake operates properly Do not use the 24 V DC interface power supply for the ...

Page 122: ...where the moving part will not drop down for a vertical axis system etc 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Electromagnetic brake is released after the release delay time of electromagnetic brake and operation time of external circuit relay etc For the release delay time of electromagnetic brake refer to Servo Motor Instruction Manual Vol 3 3 Give t...

Page 123: ...tivated OFF Electromagnetic brake is activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor MBR Electromagnetic brake interlock ON ALM Malfunction ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON 1 OFF 0 r min Servo motor speed Model speed command 0 and equal to or less than zero speed 2 Disabled...

Page 124: ...ved Alarm occurrence Alarm No No alarm Model speed command 0 and equal to or less than zero speed 1 MBR Electromagnetic brake interlock ON OFF ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON OFF Servo amplifier display 0 r min Servo motor speed ALM Malfunction Tb Pr PC02 Electromagnetic brake sequence output Operation delay time of the electromagnetic brake ON ON OFF Release...

Page 125: ...rake is activated 8D No alarm d1 ON OFF ON OFF 0 r min Network communication shut off occurrence Model speed command 0 and equal to or less than zero speed 1 Tb Pr PC02 Electromagnetic brake sequence output Operation delay time of the electromagnetic brake ON ON OFF OFF MBR Electromagnetic brake interlock ON no alarm OFF alarm Base circuit Energy supply to the servo motor Servo amplifier display S...

Page 126: ...OFF ON OFF 2 The time until a voltage drop is detected ON OFF Dynamic brake Forced stop deceleration Dynamic brake Electromagnetic brake Electromagnetic brake Operation delay time of the electromagnetic brake 0 r min Approx 10 ms 1 Servo motor speed Main circuit power supply Base circuit Energy supply to the servo motor MBR Electromagnetic brake interlock ALM Malfunction ON no alarm OFF alarm Elec...

Page 127: ...rcuit power supply off with control circuit power supply on 1 Variable according to the operation status 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated Ready off command from controller It is the same as the following section Page 124 Ready off command from controller Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake MBR Electromagnetic bra...

Page 128: ...Guidelines 1 For the power supply specifications refer to the following Page 30 Servo amplifier standard specifications WARNING Ground the servo amplifier and servo motor securely To prevent an electric shock always connect the protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet CN1A Ensure to connect the wire to the PE terminal of the servo amplifi...

Page 129: ...h SW2 SW3 4 Parameter setting Set the parameters as necessary such as the used operation mode and regenerative option selection Page 168 PARAMETERS When a simple motion module QD77GF_ or RD77GF_ is used as a controller set Pr PD41 to _ 1 _ _ enabled only for home position return mode 5 Test operation of the servo motor alone in test operation mode For the test operation with the servo motor discon...

Page 130: ...The power supplied to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier should satisfy the defined specifications Page 30 FUNCTIONS AND CONFIGURATION When the power factor improving DC reactor is not used between P3 and P4 should be connected 1 The 100 V class servo amplifiers do not have P3 and P4 Connection of servo amplifier and servo motor The servo amplifier power output U V W...

Page 131: ...ver 5 m and equal to or less than 10 m using a brake unit Page 353 FR BU2 H brake unit When you use a power regeneration common converter For 5 kW or less servo amplifiers the lead wire between P terminal and D terminal should not be connected For 7 kW servo amplifiers the lead wire of built in regenerative resistor connected to P terminal and C terminal should not be connected The wire of power r...

Page 132: ...nnect between P3 and P4 When you use an option and peripheral equipment 100 V class When you use a regenerative option The lead wire between P terminal and D terminal should not be connected The regenerative option should be connected to P terminal and C terminal Twisted wires should be used Page 341 Connection of regenerative option I O signal The I O signals should be connected correctly Use DO ...

Page 133: ...the CC IE Field Configuration window according to the operation mode to be used Precautions for Detect Now With GX Works connected devices can be automatically configured by performing Detect Now in the CC IE Field Configuration window However the contents of Station specific mode setting in Pr PN03 and the operation mode setting cannot be discriminated Make Station specific mode setting according...

Page 134: ...etting The following encoder cables are of four wire type When using any of these encoder cables set Pr PC04 to 1 _ _ _ to select the four wire type Incorrect setting will result in AL 16 Encoder initial communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Set the parameters according to the structure and specifications of the machine Page 168 PARAMETERS After setting the ...

Page 135: ...and model code Unit Operation command Stopping condition Controller Servo off command The base circuit is shut off and the servo motor coasts Ready off command The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop Quick stop command The servo motor decelerates to a stop with the command Servo amplifier Alarm occurrence The servo motor decelerates to a stop ...

Page 136: ...ng explains the mode select switches and the station number setting rotary switch Test operation select switch SW1 1 To use the test operation mode turn ON up the switch Turning ON up the switch enables the test operation mode In the test operation mode the functions such as JOG operation positioning operation and machine analyzer are available with MR Configurator2 Station number setting rotary s...

Page 137: ...he network initial communication status are displayed in that order For example the following shows when AL 16 1 Encoder initial communication Receive data error 1 is occurring Status 1 digit Station No 2 digits b C d Indicates ready off and servo off status Indicates ready on and servo off status Indicates ready on and servo on status Status After 0 8 s Alarm No After 0 8 s Blank After 0 2 s Stat...

Page 138: ...tion Ready on and servo off Ready on and servo on 1 1 1 When an alarm No or warning No is displayed Initial data communication with the controller initialization communication Ready off and servo off Example Blinking Blinking After 0 8 s Blank After 0 8 s When AL 50 Overload 1 occurs at station No 1 Example Blinking Blinking After 0 8 s Blank After 0 8 s When AL E1 Overload warning 1 occurs at sta...

Page 139: ...ializing standby Communication disconnection with the controller 1 Ready off The ready off command from the controller was received 1 Servo on The servo on command from the controller was received 1 Servo off The servo off command from the controller was received 1 Alarm occurring An alarm or warning has occurred in the servo amplifier 2 Alarm and warning The alarm No and the warning No that occur...

Page 140: ...wing for the test operation mode Page 139 Test operation mode 2 Test operation of the servo motor alone by commands In this step confirm that the servo motor rotates correctly under the commands from the controller Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal 3 Test operati...

Page 141: ... connected or not Exercise control on the jog operation screen of MR Configurator2 Operation pattern Operation method When the check box of Rotation only while the CCW or CW button is being pushed is checked When the check box of Rotation only while the CCW or CW button is being pushed is not checked CAUTION The test operation mode is designed for checking servo operation It is not for checking ma...

Page 142: ...Configurator2 For full information refer to Help of MR Configurator2 Output signal DO forced output Output signals can be switched on off forcibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the DO forced output screen of MR Configurator2 Item Initial value Setting range Travel distance pulse 4000 0 to 99999999 Motor speed r min 200 0 ...

Page 143: ...the servo amplifier When initialization is completed the decimal point on the first digit will blink When an alarm or warning also occurs during the test operation the decimal point on the first digit will blink as follows 4 Start operation with the personal computer Set SW1 1 to ON up 1 ON 2 1 ON 2 After 1 6 s After 0 2 s Blinking After 0 8 s After 0 8 s After 0 2 s Blinking Blinking ...

Page 144: ...otor less operation will be disabled from the next power on Load conditions Alarms The following alarms and warning do not occur However the other alarms and warnings occur as when the servo motor is connected AL 16 Encoder initial communication error 1 AL 1E Encoder initial communication error 2 AL 1F Encoder initial communication error 3 AL 20 Encoder normal communication error 1 AL 21 Encoder n...

Page 145: ...position specified by the first Z phase signal or the position of the first Z phase signal shifted by the specified home position shift distance is used as the home position 33 Reverse rotation 4 Stopper type Stopper position reference Forward rotation A workpiece is pressed against a mechanical stopper and the position where it is stopped is set as the home position 36 Reverse rotation 2 Count ty...

Page 146: ...he home position If the stroke end is detected during home position return AL 90 Home position return incomplete warning occurs 21 Homing without index pulse Reverse rotation Same as the dog type front end reference home position return Note that if the stroke end is detected during home position return AL 90 Home position return incomplete warning occurs 22 Homing without index pulse Reverse rota...

Page 147: ... 33 Address decreasing direction Dog type rear end detection Z phase reference 34 Count type front end detection Z phase reference 36 Stopper type stopper position reference 38 Dog type rear end detection rear end reference 39 Count type front end detection front end reference 40 Dog cradle type 41 Dog type last Z phase reference 42 Dog type front end reference 43 Dogless Z phase reference 3 Addre...

Page 148: ...G Proximity dog polarity selection of Pr PT29 Function selection T 3 Setting 0 detects a proximity dog when DOG Proximity dog is switched off Setting 1 detects a proximity dog when DOG Proximity dog is switched on 0 0 0 Pr PT29 DOG Proximity dog polarity selection 0 Dog detection with off 1 Dog detection with on ...

Page 149: ...dog type last Z phase reference home position return and Method 4 has the operation of the dog cradle type home position return at a forward rotation start However if the stroke end is detected during home position return AL 90 occurs Method 5 and 6 Homing on negative home switch and index pulse These home position return types use the front end of the proximity dog as reference and set the Z phas...

Page 150: ...f Method 11 and 12 is the reversed direction Method 17 to 30 Homing without index pulse Method 17 to 30 have the operation of Method 1 to Method 14 however these types set the home position not on the Z phase but on the dog The following figure shows the operation of the home position return type of Method 19 and Method 20 Method 19 and Method 20 have the operation of Method 3 and Method 4 however...

Page 151: ...a home position The operation is the same as that of the dogless Z phase reference home position return except that the creep speed is applied at the start Method 35 and 37 Homing on current position These home position return types set the current position as a home position Page 158 Method 35 and Method 37 Homing on current position Index Pulse 33 34 ...

Page 152: ...rse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start 3 ms or shorter Home position return speed Deceleration time constant Home position shift distance Home position return position data ON OFF Proximity dog Creep speed Z phase DOG Proximity dog Acceleration time constant Home p...

Page 153: ...n time constant Creep speed Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant Home position return direction Home position return start position Home position ...

Page 154: ...F Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start 3 ms or shorter Home position return speed Deceleration time constant Home position shift distance Home position return position data ON OFF Proximity dog Creep speed Z phase DOG Proximity dog Acceleration time constant Home position return direction Home position return start position After retracting to be...

Page 155: ...reep speed Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant Home position return direction Home position return start position Home position shift distance Se...

Page 156: ...eed Home position return position data Proximity dog Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start DOG Proximity dog Acceleration time constant 3 ms or shorter Home position return direction Home position return start position After retracting to before proximity ...

Page 157: ...r proximity dog Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant 3 ms or shorter Home position return direction Home position return start position Home position shift distance Travel distance ...

Page 158: ...me position return speed Home position return position data Proximity dog Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start DOG Proximity dog Acceleration time constant 3 ms or shorter Home position return direction Home position return start position After retracting...

Page 159: ...tance after proximity dog Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant 3 ms or shorter Home position return direction Home position return start position Home position shift distance Travel...

Page 160: ... position shift distance ON OFF ON OFF Controlword bit 4 Homing operation start Creep speed Creep speed Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Z phase Acceleration time constant 3 ms or shorter Home position return start position Home position return direction Se...

Page 161: ...When the movement is returned at the stroke end 1 This is not available with the software limit Home position return speed Home position shift distance Creep speed td Proximity dog 1 Home position return position data Deceleration time constant Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF ...

Page 162: ...nce after proximity dog enough for deceleration from the home position return speed to the creep speed When a home position return is started from the proximity dog When the movement is returned at the stroke end 1 This is not available with the software limit Home position return speed Creep speed Proximity dog 1 Deceleration time constant Home position return position data Servo motor speed Reve...

Page 163: ...rque limit value is reached TLC remains on after the home position return is completed When the stroke end is detected Statusword bit 12 Homing attained ON OFF Servo motor speed Controlword bit 4 Homing operation start ON OFF Statusword bit 10 Target reached ON OFF Acceleration time constant Home position return speed Home position return position data 3 ms or shorter 5 ms or longer ON OFF TLC Lim...

Page 164: ...k the home position return speed and creep speed When a home position return is started from the proximity dog When the movement is returned at the stroke end 1 This is not available with the software limit Travel distance after proximity dog Home position shift distance Home position return speed Creep speed Proximity dog 1 Deceleration time constant Home position return position data Servo motor...

Page 165: ...en the movement is returned at the stroke end 1 This is not available with the software limit Proximity dog Home position return speed Creep speed Deceleration time constant Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation s...

Page 166: ...speed Home position return position data Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start ON OFF Z phase DOG Proximity dog Acceleration time constant Home position return direction Home position return start position Home position shift distance Servo m...

Page 167: ...ware limit 1 Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF ON OFF Statusword bit 12 Homing attained ON OFF ON OFF Controlword bit 4 Homing operation start 3 ms or shorter Home position return speed Deceleration time constant Home position shift distance Home position return position data Acceleration time constant ON OFF Proximity dog Creep spe...

Page 168: ...re limit 1 ON OFF ON OFF Deceleration time constant Creep speed Travel distance after proximity dog Home position shift distance Home position return speed Home position return position data Proximity dog Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Controlword bit 4 Homing operation start DOG Proximity...

Page 169: ... Homing operation start Creep speed Servo motor speed Reverse rotation 0 r min Forward rotation Statusword bit 10 Target reached ON OFF Statusword bit 12 Homing attained ON OFF Z phase Acceleration time constant 3 ms or shorter Deceleration time constant Home position shift distance Home position return speed Home position return position data Home position return start position Home position retu...

Page 170: ... loop system Lin use of linear servo motors DD use of direct drive motors CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable Do not change the parameter settings as described below Doing so may cause an unexpected condition such as failing to start up the servo amplifier Changing the values of the parameters for manufacturer setti...

Page 171: ...t negative direction thrust limit 1000 0 PA13 For manufacturer setting 0000h PA14 POL Rotation direction selection travel direction selection 0 PA15 ENR Encoder output pulses 4000 pulse rev PA16 ENR2 Encoder output pulses 2 1 PA17 MSR Servo motor series setting 0000h PA18 MTY Servo motor type setting 0000h PA19 BLK Parameter writing inhibit 00ABh PA20 TDS Tough drive setting 0000h PA21 AOP3 Functi...

Page 172: ...ration suppression control 1 Vibration frequency 100 0 Hz PB20 VRF12 Vibration suppression control 1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control 0000h PB25 BOP1 Function selec...

Page 173: ...ession control 2 Resonance frequency 100 0 Hz PB54 VRF23 Vibration suppression control 2 Vibration frequency damping 0 00 PB55 VRF24 Vibration suppression control 2 Resonance frequency damping 0 00 PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching 0 0 Hz PB57 VRF22B Vibration suppression control 2 Resonance frequency after gain switching 0 0 Hz PB58 VRF23B Vibrat...

Page 174: ...MO2 Analog monitor 2 offset 0 mV PC13 For manufacturer setting 0 PC14 0 PC15 0 PC16 0000h PC17 COP4 Function selection C 4 0000h PC18 COP5 Function selection C 5 0010h PC19 COP6 Function selection C 6 0000h PC20 COP7 Function selection C 7 0000h PC21 BPS Alarm history clear 0000h PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop deceleration time constant 100 ms PC25 For manufacture...

Page 175: ...000h PC54 0000h PC55 0000h PC56 0000h PC57 0000h PC58 0000h PC59 0000h PC60 0000h PC61 0000h PC62 0000h PC63 0000h PC64 0000h PC65 50 00 PC66 10 PC67 FEWL Following error output level 0000h pulse PC68 FEWH 00C0h PC69 FEWF Following error output filtering time 10 ms PC70 For manufacturer setting 100 PC71 10 PC72 20 00 PC73 10 PC74 10 0 PC75 10 PC76 COPE Function selection C E 0001h PC77 For manufac...

Page 176: ...e selection 3 0003h PD10 For manufacturer setting 0000h PD11 DIF Input filter setting 0004h PD12 DOP1 Function selection D 1 0101h PD13 DOP2 Function selection D 2 0000h PD14 DOP3 Function selection D 3 0000h PD15 For manufacturer setting 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0 PD21 0 PD22 0 PD23 0 PD24 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0 PD31 0 PD3...

Page 177: ...e PE08 DUF Fully closed loop dual feedback filter 10 rad s PE09 For manufacturer setting 0000h PE10 FCT3 Fully closed loop function selection 3 0000h PE11 For manufacturer setting 0000h PE12 0000h PE13 0000h 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 000...

Page 178: ...st motion compensation function selection 0000h PE49 LMCD Lost motion compensation timing 0 0 1 ms PE50 LMCT Lost motion compensation non sensitive band 0 pulse kpulse PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0 00 PE62 0 00 PE63 0 00 PE64 0 00 No Symbol Name Initial value Unit Operation mode Standard...

Page 179: ...etting 200 PF23 OSCL1 Vibration tough drive Oscillation detection level 50 PF24 OSCL2 Vibration tough drive function selection 0000h PF25 CVAT SEMI F47 function Instantaneous power failure detection time 200 ms PF26 For manufacturer setting 0 PF27 0 PF28 0 PF29 0000h PF30 0 PF31 FRIC Machine diagnosis function Friction judgement speed 0 r min mm s PF32 For manufacturer setting 50 PF33 0000h PF34 M...

Page 180: ...urer setting 0000h PF48 0000h PF49 100 PF50 100 PF51 0000h PF52 0000h PF53 0 PF54 0 PF55 0 PF56 0 PF57 0000h PF58 0000h PF59 0000h PF60 0000h PF61 0000h PF62 0000h PF63 0000h PF64 0000h No Symbol Name Initial value Unit Operation mode Standard Full Lin DD ...

Page 181: ... error detection level 100 PL08 LIT3 Linear servo motor DD motor function selection 3 0010h PL09 LPWM Magnetic pole detection voltage level 30 PL10 For manufacturer setting 5 PL11 100 PL12 500 PL13 0000h PL14 0000h PL15 20 PL16 0 PL17 LTSTS Magnetic pole detection Minute position detection method Function selection 0000h PL18 IDLV Magnetic pole detection Minute position detection method Identifica...

Page 182: ...opper time 100 ms PT11 ZTT Stopper type home position return torque limit value 15 0 PT12 For manufacturer setting 0 PT13 100 PT14 0 PT15 LMPL Software limit 0000h pulse PT16 LMPH 0000h PT17 LMNL Software limit 0000h pulse PT18 LMNH 0000h PT19 For manufacturer setting 0000h PT20 0000h PT21 0000h PT22 0000h PT23 0 PT24 0 PT25 0 PT26 0000h PT27 0000h PT28 8 PT29 TOP3 Function selection T 3 0000h PT3...

Page 183: ...PT59 500 00 PT60 1000 00 PT61 200 00 PT62 0000h PT63 0000h PT64 0000h PT65 100 00 PT66 20000 00 PT67 VLMT Speed limit 500 00 r min mm s PT68 For manufacturer setting 0102h PT69 ZSTH Home position shift distance extension parameter 0 pulse PT70 For manufacturer setting 0000h PT71 DCTH Travel distance after proximity dog extension parameter 0 pulse PT72 For manufacturer setting 0000h PT73 0000h PT74...

Page 184: ...mmunication 0000h PN04 NWNO CC Link IE communication network number 0 PN05 CERI Communication error detection frequency setting 0 PN06 NOP1 Function selection N 1 0000h PN07 For manufacturer setting 0000h PN08 0000h PN09 0000h PN10 0000h PN11 0000h PN12 0000h PN13 0000h PN14 0000h PN15 0000h PN16 0000h PN17 0000h PN18 0000h PN19 0000h PN20 0000h PN21 0000h PN22 0000h PN23 0000h PN24 0000h PN25 000...

Page 185: ...er to the following for details of the positioning mode MR J4 _GF_ RJ Servo Amplifier Instruction Manual I O Mode This digit is available with servo amplifier with software version A3 or later 0h _ _ x _ Operation mode selection 0 Standard control mode 1 Fully closed loop control mode 4 Linear servo motor control mode 6 DD motor control mode Setting other than above will trigger AL 37 Parameter er...

Page 186: ...uired 80 MR RB1H 4 81 MR RB3M 4 Cooling fan is required 82 MR RB3G 4 Cooling fan is required 83 MR RB5G 4 Cooling fan is required 84 MR RB34 4 Cooling fan is required 85 MR RB54 4 Cooling fan is required 91 MR RB3U 4 Cooling fan is required 92 MR RB5U 4 Cooling fan is required FA When the supplied regenerative resistors or the regenerative option is cooled by the cooling fan to increase the abilit...

Page 187: ...he forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 2 0 _ _ 0 0 _ _ MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration Neither is used MBR Electromagnetic brake interlock turns off after the forced stop deceleration Neither ...

Page 188: ...LN Reverse rotation torque limit negative direction thrust limit You can limit the torque or thrust generated by the servo motor When you output the torque or thrust with analog monitor output the larger value of Pr PA11 Forward rotation torque limit positive direction thrust limit or Pr PA12 Reverse rotation torque limit negative direction thrust limit will be the maximum output voltage 8 V Set t...

Page 189: ...e 635 Encoder output pulse setting method The maximum output frequency is 4 6 Mpulses s Set the parameter within this range Setting range 1 to 4194304 4000 pulse rev No symbol name Setting digit Function Initial value unit Setting value Servo motor rotation direction linear servo motor travel direction Position mode Positioning address increase Velocity mode Speed command Positive Position mode Po...

Page 190: ...gear setting _ _ 3 _ of Encoder output pulse setting selection in Pr PC03 Refer to the following for details Page 635 Encoder output pulse setting methodThe maximum output frequency is 4 6 Mpulses s Set the parameter within this range Selecting Dividing ratio setting _ _ 1 _ of Encoder output pulse setting selection in Pr PC03 will disable the setting value Setting range 1 to 4194304 1 No symbol n...

Page 191: ...S0 A601h LM U2PAF 15M 0SS0 B201h LM U2PBB 07M 1SS0 B401h LM U2PBD 15M 1SS0 2601h LM U2PBF 22M 1SS0 2201h LM U2P2B 40M 2SS0 2301h LM U2P2C 60M 2SS0 2401h LM U2P2D 80M 2SS0 LM F 2401h LM FP2D 12M 1SS0 natural cooling 2601h LM FP2F 18M 1SS0 natural cooling 4201h LM FP4B 12M 1SS0 natural cooling 4401h LM FP4D 24M 1SS0 natural cooling 4601h LM FP4F 36M 1SS0 natural cooling 4801h LM FP4H 48M 1SS0 natura...

Page 192: ...te when Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine resonance suppression filter 2 are enabled Page 267 Tough drive function 0h _ x _ _ SEMI F47 function selection 0 Disabled 1 Enabled Selecting 1 enables to avoid triggering AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation In Pr PF25 S...

Page 193: ...abled 00h Setting example To activate the drive recorder when AL 50 Overload 1 occurs set 5 0 0 0 To activate the drive recorder when AL 50 3 Thermal overload error 4 during operation occurs set 5 0 0 3 PA24 AOP4 Function selection A 4 _ _ _ x Vibration suppression mode selection 0 Standard mode 1 3 inertia mode 2 Low response mode When you select the standard mode or low response mode Vibration s...

Page 194: ...al setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB04 FFC Feed forward gain Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed will be almost 0 When the super trace control is enabled constant speed and uniform acceleration deceleration droop pulses will be almost 0 However sudden acceleration deceleration will increase the overshoot A...

Page 195: ...el but will be liable to generate vibration and noise The setting of this parameter will be automatic or manual depending on the setting of Pr PA08 Refer to the table of Pr PB08 for details Setting range 0 1 to 1000 0 33 7 ms PB11 VDC Speed differential compensation Set the differential compensation To enable the parameter at all times select Continuous PID control enabled _ _ 3 _ of PI PID switch...

Page 196: ...width selection 0 2 1 3 2 4 3 5 0h x _ _ _ For manufacturer setting 0h PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 2 selection in Pr PB16 Setting range 10 to 4500 4500 Hz PB16 NHQ2 Notch shape selection 2 Set forms of the machine reson...

Page 197: ...t the low pass filter Refer to the following table for the relation of setting values for the related parameter to the status of this parameter Setting range 100 to 18000 3141 rad s PB19 VRF11 Vibration suppression control 1 Vibration frequency Set the vibration frequency for vibration suppression control 1 to suppress low frequency machine vibration When Vibration suppression control 1 tuning mod...

Page 198: ... vibration suppression control II Setting range 0 00 to 0 30 0 00 PB23 VFBF Low pass filter selection _ _ _ x Shaft resonance suppression filter selection Select the shaft resonance suppression filter 0 Automatic setting 1 Manual setting 2 Disabled When you select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 the shaft resonance suppression filter is not available ...

Page 199: ...B Position loop gain after gain switching Set the position loop gain for when the gain switching is enabled When a value less than 1 0 rad s is set the value will be the same as that of Pr PB08 This parameter is enabled only when Gain adjustment mode selection is set to Manual mode _ _ _ 3 in Pr PA08 Setting range 0 0 to 2000 0 0 0 rad s PB31 VG2B Speed loop gain after gain switching Set the speed...

Page 200: ...led only when the following conditions are fulfilled Gain adjustment mode selection is set to Manual mode _ _ _ 3 in Pr PA08 Vibration suppression control 1 tuning mode selection is set to Manual setting _ _ _ 2 in Pr PB02 Gain switching selection is set to Switching is enabled by control command from controller and Input device CDP Gain switching _ _ _ 1 in Pr PB26 Switching during driving may ca...

Page 201: ... 6 _ _ 2 7 _ _ 2 8 _ _ 2 9 _ _ 2 A _ _ 2 B _ _ 2 C _ _ 2 D _ _ 2 E _ _ 2 F _ _ 3 0 _ _ 3 1 _ _ 3 2 _ _ 3 3 _ _ 3 4 _ _ 3 5 _ _ 3 6 _ _ 3 7 _ _ 3 8 _ _ 3 9 _ _ 3 A _ _ 3 B _ _ 3 C _ _ 3 D _ _ 3 E _ _ 3 F Setting value Frequency Hz _ _ 4 0 _ _ 4 1 _ _ 4 2 _ _ 4 3 _ _ 4 4 _ _ 4 5 _ _ 4 6 _ _ 4 7 _ _ 4 8 _ _ 4 9 _ _ 4 A _ _ 4 B _ _ 4 C _ _ 4 D _ _ 4 E _ _ 4 F _ _ 5 0 _ _ 5 1 _ _ 5 2 _ _ 5 3 _ _ 5 4 _ ...

Page 202: ...Set forms of the machine resonance suppression filter 4 _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled When Enabled is set Pr PB17 Shaft resonance suppression filter is not available 0h _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x _ _ Notch width selection 0 2 1 3 2 4 3 5 0h x _ _ _ For manufacturer setting 0h PB50 NH5 Machine resonance suppress...

Page 203: ...setting value set Vibration suppression mode selection to 3 inertia mode _ _ _ 1 in Pr PA24 Page 254 Advanced vibration suppression control II Setting range 0 00 to 0 30 0 00 PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching Set the vibration frequency for vibration suppression control 2 for when the gain switching is enabled When a value less than 0 1 Hz is set ...

Page 204: ... parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection is set to Manual mode _ _ _ 3 in Pr PA08 Gain switching selection is set to Switching is enabled by control command from controller and Input device CDP Gain switching _ _ _ 1 in Pr PB26 Switching during driving may cause a shock Be sure to switch them after the servo motor stops Setting rang...

Page 205: ... If 1 is set in other systems than the fully closed loop system AL 37 Parameter error will occur The setting of this digit is used by servo amplifier with software version A1 or later 0 Servo motor encoder 1 Load side encoder When _ 1 0 _ is set to this parameter AL 37 Parameter error will occur 0h x _ _ _ For manufacturer setting 0h PC04 COP1 Function selection C 1 _ _ _ x For manufacturer settin...

Page 206: ...ning level setting with Pr PC38 0 Per 1 rev or 1 mm 1 Per 0 1 rev or 0 1 mm 2 Per 0 01 rev or 0 01 mm 3 Per 0 001 rev or 0 001 mm 0h PC07 ZSP Zero speed Set an output range of ZSP Zero speed detection ZSP Zero speed detection has hysteresis of 20 r min or 20 mm s Setting range 0 to 10000 50 r min mm s PC08 OSL Overspeed alarm detection level Set an overspeed alarm detection level When you set a va...

Page 207: ... 8 V max speed Torque or thrust 8 V max torque or max thrust 3 Servo motor speed 8 V max speed Torque or thrust 8 V max torque or max thrust 3 Current command 8 V max current command Speed command 8 V max speed Servo motor side droop pulses 10 V 100 pulses 2 Load side droop pulses 10 V 1000 pulses 2 Load side droop pulses 10 V 100000 pulses 2 Motor load side position deviation 10 V 100000 pulses M...

Page 208: ...it warning selection Enable or disable AL 99 Stroke limit warning 0 Enabled 1 Disabled When Disabled is selected AL 99 Stroke limit warning will not occur while LSP Forward rotation stroke end or LSN Reverse rotation stroke end is off but the operation will be stopped with the stroke limit 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PC20 COP7 Function selection C 7 _ _ _ x AL 10 U...

Page 209: ...od set 0 Incorrect setting will trigger AL 70 and AL 71 The setting of this digit is used by servo amplifier with software version A1 or later 0h PC27 COP9 Function selection C 9 _ _ _ x Encoder pulse count polarity selection Select a polarity of the linear encoder or load side encoder 0 Encoder pulse increasing direction in the servo motor CCW or positive direction 1 Encoder pulse decreasing dire...

Page 210: ...or excessive warning level The setting unit can be changed with Error excessive alarm error excessive warning level unit selection in Pr PC06 Set this per rev for rotary servo motors and direct drive motors Setting over 200 rev will be clamped with 200 rev Set this per mm for linear servo motors However setting 0 will not trigger AL 9B Error excessive warning When an error reaches the set value AL...

Page 211: ...g digit Function Initial value unit PD01 DIA1 Input signal automatic on selection 1 Select input devices to turn on automatically _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ HEX _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ BIN LSN Reverse...

Page 212: ...in Refer to the following table for settings 05h _ x _ _ For manufacturer setting 0h x _ _ _ 0h No symbol name Setting digit Function Initial value unit Setting value Input device _ _ 0 0 PC Proportional control LSP Forward rotation stroke end LSN Reverse rotation stroke end CDP Gain switching CLD Fully closed loop selection 1 _ _ 0 4 _ _ 0 A _ _ 0 B _ _ 0 D _ _ 0 E _ _ 2 2 DOG Proximity dog 1 Thi...

Page 213: ...DOP1 Function selection D 1 _ _ _ x For manufacturer setting 1h _ _ x _ 0h _ x _ _ 1h x _ _ _ Servo motor thermistor enabled disabled selection 0 Enabled 1 Disabled For servo motors without thermistor the setting will be disabled 0h PD13 DOP2 Function selection D 2 _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ INP In position on condition selection Select a condition for turning on INP In...

Page 214: ...witch installed in CW direction to LSN If wired in reverse the limit switches do not stop the servo motor When selecting 1 wire the limit switch installed in position address increasing direction to FLS and the limit switch installed in decreasing direction to RLS Then input signals from the controller If wired in reverse the limit switches do not stop the servo motor For details refer to the cont...

Page 215: ...nominator of electronic gear for the servo motor encoder pulse at the fully closed loop control Set the electronic gear so that the number of servo motor encoder pulses for one servo motor revolution is converted to the resolution of the load side encoder This parameter is supported with software version A1 or later Setting range 1 to 65535 1 PE06 BC1 Fully closed loop control Speed deviation erro...

Page 216: ..._ _ 0h PE44 LMCP Lost motion compensation positive side compensation value selection Set the lost motion compensation for when reverse rotation CW switches to forward rotation CCW in increments of 0 01 assuming the rated torque as 100 Setting range 0 to 30000 0 0 01 PE45 LMCN Lost motion compensation negative side compensation value selection Set the lost motion compensation for when forward rotat...

Page 217: ...et AL 68 1 Mismatched STO signal error is not detected The safety level depends on the setting values as follows When you do not use the STO function with the short circuit connector connected to the CN8 connector setting the parameter will not change the safety level When MR D30 functional safety unit is used the parameter is not available For safety levels with MR D30 refer to MR D30 Instruction...

Page 218: ... Select whether to generate an alarm or a warning when an oscillation continues at a filter readjustment sensitivity level of Pr PF23 The setting is always enabled regardless of the vibration tough drive in Pr PA20 0 AL 54 Oscillation detection will occur at oscillation detection 1 AL F3 1 Oscillation detection warning will occur at oscillation detection 2 Oscillation detection function disabled 0...

Page 219: ...0000 4 100000000 This digit is available with servo amplifier with software version A3 or later 0h PF40 MFPP Machine failure prediction parameter _ _ _ x Friction failure prediction Threshold multiplication Set a multiplication for calculating the threshold used in the friction failure prediction function Setting a small threshold multiplication for friction failure prediction will decrease the th...

Page 220: ...n warning selection When Automatic threshold setting _ _ _ 1 is set in Pr PF34 Friction failure prediction warning selection the value will be calculated automatically from the estimated friction torque at rated speed This parameter is available with servo amplifiers with software version A3 or later Setting range 0 to 20000 0 0 1 PF45 VAV Vibration failure prediction Average characteristic Set a ...

Page 221: ... mm Direct drive motor 0 09 rev Setting range 0 to 1000 0 mm 0 01 rev PL06 LB2 Speed deviation error detection level Set a speed deviation error detection level of the servo control error detection When the deviation between a model feedback speed and actual feedback speed is larger than the setting value AL 42 Servo control error will occur However when 0 is set the level varies depending on the ...

Page 222: ...ion detection method Set a closest value to the actual load For settings refer to the load to following tables Load to motor mass ratio load to motor inertia ratio for the setting value 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h Response of minute position detection method at magnetic pole detection Load to motor mass ratio load to motor inertia ratio PL18 IDLV Magnetic pole detection Minut...

Page 223: ...ome position return Torque limit value to a home position is set for the stopper type home position return Setting range 5 to 1000 100 ms PT11 ZTT Stopper type home position return torque limit value Set a torque limit value with to the maximum torque at stopper type home position return Setting range 0 1 to 100 0 15 0 PT15 LMPL Software limit lower four digits Set an address increasing side of th...

Page 224: ...anufacturer setting x _ _ _ BIN For manufacturer setting _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h Convert the setting value into hexadecimal as follows PT41 ORP Home position return inhibit function selection _ _ _ x Home position return inhibit selection 0 Disabled home position return allowed 1 Enabled home position return inhibited 0h _ _ x _ For manufacturer setting 0h _ x _ _...

Page 225: ...rection Method 6 Address increasing direction Method 3 Method 4 Method 8 8 Address increasing direction Method 11 11 Address decreasing direction Method 12 12 Address decreasing direction Method 19 19 Address increasing direction Setting value Home position return direction How to execute home position return Address increasing direction 1 2 4 Stopper type stopper position reference Count type fro...

Page 226: ...simple motion Setting range 0 00 to instantaneous permissible speed 500 00 r min mm s PT69 ZSTH Home position shift distance extension parameter Set the extension parameter of Pr PT07 When Pr PT69 is used the home position shift distance can be calculated as follows Home position shift distance Pr PT07 Pr PT69 65536 This parameter setting is available with servo amplifiers with software version A1...

Page 227: ...y setting Set the frequency of communication error detection until the detection of AL 8D 7 CC Link IE communication error 4 or AL 8D 8 CC Link IE communication error 5 When the parameter is set to 0 the frequency will be 8 Setting range 0 to 100 0 PN06 NOP1 Function selection N 1 _ _ _ x Communication error alarm history writing selection Select whether AL 8D 1 CC Link IE communication error 1 an...

Page 228: ...nd servo lock the shaft This will be enabled at power on and will be disabled in the velocity mode torque mode and homing mode Setting a same value to Software limit and Software limit will disable this function Setting a larger value to Software limit than Software limit will disable this function Current position Travel impossible Inhibited range Software limit Movable range Travel possible ...

Page 229: ...ode 6 1 Different adjustment methods Adjustment on a single servo amplifier The following table shows the gain adjustment modes that can be set on a single servo amplifier For gain adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the adjustment execute Auto tuning mode 2 and Manual mode in this order Gain adjustment mode explanation Gain adjustment mode Pr PA...

Page 230: ...n command from a 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 2 gain adjustment mode 1 interpolation mode Interpolation made for 2 or more axes The load fluctuation is large during driving Start End Yes No Yes No Yes No No Yes One touch tuning Yes Yes Yes...

Page 231: ...otor inertia ratio load to motor mass ratio PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation PB12 OVA Overshoot amount compensation PB13 NH1 Machine resonance suppression filter 1 PB14 NHQ1 Notch shape selection 1 PB15 NH2 Machine resonance suppression filter 2 PB16 NHQ2 Notch shape selection 2 PB18 LPF Low pass filter setting PB19 ...

Page 232: ...ed if the servo motor is not operating 3 One touch tuning start Start one touch tuning of MR Configurator2 4 Response mode selection Select a response mode high mode basic mode and low mode in the one touch tuning window of MR Configurator2 5 One touch tuning execution Push the start button to start one touch tuning Push it during servo motor driving When one touch tuning is completed normally the...

Page 233: ...lied In this case use the basic mode or low mode to readjust the gain Refer to the following table for selecting a response mode Response mode Explanation High mode This mode is for high rigid system 1 Basic mode This mode is for standard system Low mode This mode is for low rigid system Response mode Response Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine ...

Page 234: ...hile the servo motor stops C 0 0 2 or C 0 0 4 will be displayed at status in error code Refer to the following for error codes Page 233 If an error occurs During processing of one touch tuning the status will be displayed in the progress window as follows One touch tuning will be finished at 100 Completing the one touch tuning starts writing tuning parameters to the servo amplifier 0 0 0 0 is disp...

Page 235: ... one touch tuning C004 Time out 1 1 cycle time during the operation has been over 30 s Set the 1 cycle time during the operation to 30 s or less 2 The command speed is low Set the servo motor speed to 100 r min or higher 3 The operation interval of the continuous operation is short Maintain approximately 200 ms of the operation interval during motor driving C005 Load to motor inertia ratio misesti...

Page 236: ...n the one touch tuning window enables to rewrite the parameter to the initial value Clearing one touch tuning is completed the following window will be displayed returning to initial value Caution for one touch tuning The tuning is not available in the torque mode The one touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring The tuning is ...

Page 237: ...matically changes to 0 0 During one touch tuning stop 1 Basic mode 2 High mode 3 Low mode 2D51h 0 VAR One touch tuning status I8 ro 0 One touch tuning status Regardless of whether one touch tuning is properly completed or not the setting value changes to 100 at the completion Unit 2D52h 0 VAR One touch tuning Stop U16 wo 0 One touch tuning stop command Writing 1EA5h stops one touch tuning 2D53h 0 ...

Page 238: ...uning in progress Gains and filters will be adjusted automatically During one touch tuning the progress can be checked with One touch tuning status 2D51h 5 One touch tuning completion Check whether one touch tuning is completed normally with One touch tuning Error Code 2D54h When one touch tuning is completed normally the parameters will be set automatically Refer to the following for the paramete...

Page 239: ...s of linear servo motor s primary side or direct drive motor inertia 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 deceleration or on a machine which is extremely loose auto tuning may not function properly either In such cases use the auto tuning mode 2 or...

Page 240: ...rnal gain table The auto tuning results are saved in the EEP ROM of the servo amplifier every 60 minutes since power on At power on auto tuning is performed with the value of each loop gain saved in the EEP ROM being used as an initial value If sudden disturbance torque is imposed during operation the load to motor inertia ratio may be misestimated temporarily In such a case set Gain adjustment mo...

Page 241: ...rocedure is as follows Auto tuning adjustment Acceleration deceleration repeated Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Load to motor inertia ratio estimation value stable Set Pr PA08 to _ _ _ 2 and set Pr PB06 Load to motor inertia ratio load to motor mass ratio manually Adjust response level setting so that desired response is achieved on ...

Page 242: ...e vibration free range If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100 Hz filter tuning mode selection in Pr PB01 or machine resonance suppression filter in Pr PB13 to Pr PB16 Pr PB46 to Pr PB51 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to the fo...

Page 243: ...the response level 2 7 2 3 6 3 4 9 4 6 6 5 10 0 1 6 11 3 2 7 12 7 3 8 14 3 4 9 16 1 5 10 18 1 6 11 20 4 7 12 23 0 8 13 25 9 9 14 29 2 10 15 32 9 11 16 37 0 12 17 41 7 13 18 47 0 14 19 52 9 15 20 59 6 16 21 67 1 17 22 75 6 18 23 85 2 19 24 95 9 20 25 108 0 21 26 121 7 22 27 137 1 23 28 154 4 24 29 173 9 25 30 195 9 26 31 220 6 27 32 248 5 28 33 279 9 29 34 315 3 30 35 355 1 31 36 400 0 32 37 446 6 ...

Page 244: ... load to motor inertia ratio load to motor mass ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a small value to the model loop gain Set a large 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...

Page 245: ...age 239 Adjustment procedure by auto tuning 2 Change the setting of auto tuning to the manual mode Pr PA08 _ _ _ 3 3 Set the estimated value to the load to motor inertia ratio load to motor mass ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a small value to the model loop gain and the position loop gain Set a large value to the speed integral compensa...

Page 246: ... system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Pr PB08 Position loop gain This parameter determines the response level to a disturbance to the position control loop Increasing the value increases the response level to the disturbance but a too high value will increase vibration of the mechanical system Pr PB07 M...

Page 247: ...ally adjusted parameter The following parameters are adjustable manually 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot be made with 2 gain adjustment mode 1 Since the load to motor inertia ratio is not estimated in this mode set the value of a proper load to motor inertia ratio in Pr PB06 The following parameters are used for 2 gain adjustment mode 2 Auto...

Page 248: ...in Pr PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check value of the model loop gain and the load to motor inertia ratio in advance Check the upper setting limits 4 Set the 2 gain adjustment mode 1 Pr PA08 _ _ _ 0 Select the 2 gain adjustment mode 1 interpolation mode 5 When the load to motor inertia ratio is different from the design value select the 2 gain ...

Page 249: ...s a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration The machine characteristic can be grasped beforehand by the machine analyzer on MR Configurator2 This allows the required notch frequency and notch characteristics to be de...

Page 250: ...elect Enabled _ _ _ 1 of Machine resonance suppression filter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 Filter Setting parameter Precaution Parameter that is reset with vibration tough drive function Parameter automatically adjusted with one touch tuning Machine ...

Page 251: ...esonance suppression filter 4 Pr PB48 and Pr PB49 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 Machine resonance suppression filter 5 Pr PB50 and Pr PB51 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 5 selection in Pr PB51 However enabling the robust filter Pr PE41 _ _ _ 1 disables the machine resonance suppression filter 5 H...

Page 252: ...h depth in the manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics Function Adaptive filter adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since t...

Page 253: ...Yes Increase the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set Pr PB01 to _ _ _ 1 Factor The response has increased to the machine limit The machine is too complicated to provide the optimum filter If assumption fails after tuning is executed a...

Page 254: ...or inertia ratio The disabled setting increases the response of the servo amplifier for high resonance frequency Parameter Set Shaft resonance suppression filter selection in Pr PB23 To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manually select Manual setting The setting values are as follows Setting value...

Page 255: ...ault The filter frequency of the low pass filter is automatically adjusted to the value in the following equation However when an automatically adjusted value is smaller than VG2 the filter frequency will be the VG2 value To set Pr PB18 manually select Manual setting _ _ 1 _ of Low pass filter selection in Pr PB23 Parameter Set Low pass filter selection in Pr PB23 1 GD2 VG2 Filter frequency rad s ...

Page 256: ...ne does not vibrate When the advanced vibration suppression control Pr PB02 Vibration suppression control tuning mode is executed the vibration frequency at load side is automatically estimated to suppress machine side vibration two times at most In the vibration suppression control tuning mode this mode shifts to the manual setting after the positioning operation is performed the predetermined nu...

Page 257: ...rkpiece end device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side ...

Page 258: ...equency and resonance frequency have the following usable range and recommended range When a vibration peak can be confirmed with machine analyzer using MR Configurator2 or external equipment Setting item Vibration suppression control 1 Vibration suppression control 2 Vibration suppression control Vibration frequency Pr PB19 Pr PB52 Vibration suppression control Resonance frequency Pr PB20 Pr PB53...

Page 259: ...notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 ms after the servo motor stops after servo lock Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command By lowering the gain load side vibration such as work side vibration and base shake can be...

Page 260: ...2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F Disabled 2250 1125 750 562 450 375 321 281 250 225 204 187 173 160 150 140 132 125 118 112 107 102 97 93 90 86 83 80 77 75 72 70 66 62 59 56 53 51 48 46 45 43 41 40 38 37 36 35 2 33 1 31 3 29 6 28 1 26 8 25 6 24 5 23 4 22 5 21 6 20 8 20 1 19 4 18 8 1...

Page 261: ...on Applications The following shows when you use the function You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation You want to increase the gains during settling to shorten the stop settling time You want to change the gains using a control command from a controller to ensure stability of the servo system since the load to motor inertia ratio vari...

Page 262: ...ging CDP Pr PB26 GD2 Pr PB06 GD2B Pr PB29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PB60 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value VRF11 Pr PB19 VRF11B Pr PB33 Enabled VRF11 value VRF12 Pr PB20 VRF12B Pr PB34 Enabled VRF12 value CDL Pr PB27 VRF13 Pr PB21 VRF13B Pr PB35 Enabled VRF13 value VRF14 Pr ...

Page 263: ...suppress shock given to the machine if the gain difference is large at gain switching for example Parameter Symbol Name Unit Description PB26 CDP Gain switching function Used to select the changing condition PB27 CDL Gain switching condition kpulse s pulse r min Used to set the changing condition values PB28 CDT Gain switching time constant ms Set the filter time constant for a gain change at chan...

Page 264: ...2 Speed loop gain PB31 VG2B Speed loop gain after gain switching Speed integral compensation PB10 VIC Speed integral compensation PB32 VICB Speed integral compensation after gain switching Vibration suppression control 1 Vibration frequency PB19 VRF11 Vibration suppression control 1 Vibration frequency PB33 VRF11B Vibration suppression control 1 Vibration frequency after gain switching Vibration s...

Page 265: ...p gain after gain switching The gain switching vibration suppression control and gain switching model loop gain are used only with control command from the controller You can switch the vibration frequency resonance frequency vibration frequency damping resonance frequency damping and model loop gain of the vibration suppression control 1 and vibration suppression control 2 ...

Page 266: ...mping 0 10 PB29 GD2B Load to motor inertia ratio load to motor mass ratio after gain switching 10 00 Multiplier PB60 PG1B Model loop gain after gain switching 50 rad s PB30 PG2B Position loop gain after gain switching 84 rad s PB31 VG2B Speed loop gain after gain switching 4000 rad s PB32 VICB Speed integral compensation after gain switching 50 ms PB26 CDP Gain switching function 0001 Switch by co...

Page 267: ...witching selection 0003 switching by droop pulses PB27 CDL Gain switching condition 50 pulse PB28 CDT Gain switching time constant 100 ms After switching gain 63 4 CDT 100 ms Before switching gain Gain switching Control command from controller OFF ON OFF Model loop gain 100 120 3000 20 120 3000 20 50 84 4000 50 20 20 30 20 20 30 50 50 60 50 50 60 0 20 0 20 0 15 0 20 0 20 0 15 0 10 0 10 0 05 0 10 0...

Page 268: ...ing gain Gain switching Droop pulses pulse CDL CDL 0 Command pulses Droop pulses Command pulses Load to motor inertia ratio load to motor mass ratio 4 00 120 3000 20 4 00 120 3000 20 10 00 84 4000 50 10 00 84 4000 50 Position loop gain Speed loop gain Speed integral compensation Command pulses Droop pulses 100 pulses 100 pulses 0 Droop pulses pulse Switching time constant disabled Switching at 0 m...

Page 269: ...ilter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows One touch tuning execution Page 229 One touch tuning Manual setting Page 192 Gain filter setting parameters Pr PB_ _ The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter ...

Page 270: ...suppression filter is recommended because it is adjusted properly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 Enabling the robust filter disables the machine resonance suppression filter 5 The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Se...

Page 271: ...n Pr PA26 if an instantaneous power failure occurs during operation you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration You can also delay the time until the occurrence of AL 10 2 Voltage drop in the main circuit power Doing this will enable you to set a longer time in Pr PF25 SEMI F47 function Instantaneous power failure detection time W...

Page 272: ...after detecting the instantaneous power failure MBR Electromagnetic brake interlock turns off when the alarm occurs 1 For the undervoltage level refer to AL 10 2 Voltage drop in the main circuit power will occur when bus voltage is as follows in Parameter setting below Page 273 Parameter setting Control circuit power supply Bus voltage Undervoltage level 1 ALM Malfunction Pr PF25 Instantaneous pow...

Page 273: ...urs when the bus voltage decreases to the undervoltage level or lower regardless of the enabled instantaneous power failure tough drive 1 For the undervoltage level refer to AL 10 2 Voltage drop in the main circuit power will occur when bus voltage is as follows in Parameter setting below Page 273 Parameter setting Pr PF25 Instantaneous power failure time of the control circuit power supply ON OFF...

Page 274: ...e level refer to AL 10 2 Voltage drop in the main circuit power will occur when bus voltage is as follows iin Parameter setting below Page 273 Parameter setting Control circuit power supply Bus voltage Undervoltage levelv 1 ALM Malfunction MTTR During tough drive MBR Electromagnetic brake interlock Base circuit WNG Warning Pr PF25 Instantaneous power failure time of the control circuit power suppl...

Page 275: ...L 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation Parameter setting Setting Pr PA20 and Pr PF25 as follows will enable SEMI F47 function Enabling SEMI F47 function will change operation as follows The voltage will drop in the control circuit power at Rated voltage 50 or less After 200 ms AL 10 1 Voltage drop i...

Page 276: ... voltages between three pairs of lines between L1 and L2 L2 and L3 or L3 and L1 Star connection For the 3 phase L1 L2 L3 neutral point N star connection an instantaneous power failure occurs in the voltage between a pair of lines e g between L1 and N among voltages at six locations between three pairs of lines between L1 and L2 L2 and L3 or L3 and L1 and between one of the lines and the neutral po...

Page 277: ...eter Symbol Name PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation Function Explanation Forced stop deceleration function Pr PA04 Disabling the model adaptive control while the forced stop deceleration function is enabled AL 37 will occur The forced stop deceleration function is enabled at factory setting Set Pr PA04 to 0 _ _ _ Forced stop deceleration funct...

Page 278: ... PE47 For a vertical axis unbalanced torque occurs due to the gravity Although setting the torque offset is usually unnecessary setting unbalanced torque of a machine as a torque offset cancels the unbalanced torque The torque offset does not need to be set for a machine not generating unbalanced torque The torque offset cannot be used for linear servo motors and direct drive motors Set 0 00 Lost ...

Page 279: ...Increase the lost motion compensation by approximately 0 5 until the protrusions are eliminated When notches occur the compensation is excessive Decrease the lost motion compensation by approximately 0 5 until the notches are eliminated Different values can be set as the compensation for each of when the forward rotation CCW switches to the reverse rotation CW and when the reverse rotation CW swit...

Page 280: ...nt set Pr PE50 Lost motion compensation non sensitive band Increase the setting value so that the lost motion is not compensated twice Setting Pr PE50 may change the compensation timing Adjust the lost motion compensation timing in the following section Page 277 Adjusting the lost motion compensation timing Before timing delay compensation After timing delay compensation Compensation Travel direct...

Page 281: ...mmended that the acceleration time constant up to the rated speed be set to 1 s or more The following shows the adjustment procedure Control Position command the same command Droop pulses Normal control Droop pulses are always generated Feed forward gain Droop pulses are generated during acceleration deceleration Super trace control Droop pulses are almost 0 including the time of acceleration or d...

Page 282: ... occurs ALM Malfunction will turn off 8 1 Explanation for the lists No Name Detail No Detail name Indicates each No Name Detail No Detail name of alarms or warnings Stop method For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop deceleration For the alarms and warnings in which DB or EDB is written in the stop ...

Page 283: ... 9 DB 14 A Control process error 10 DB 14 B Control process error 11 DB 14 C Control process error 12 DB 14 D Control process error 13 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB 15 2 EEP ROM error during operation DB 15 4 Home position information read error DB 16 Encoder initial communication error 1 16 1 Encoder initial communication Receive data error 1 DB 16 2 Encoder initi...

Page 284: ... normal communication Receive data error 2 EDB 20 3 Encoder normal communication Receive data error 3 EDB 20 5 Encoder normal communication Transmission data error 1 EDB 20 6 Encoder normal communication Transmission data error 2 EDB 20 7 Encoder normal communication Transmission data error 3 EDB 20 9 Encoder normal communication Receive data error 4 EDB 20 A Encoder normal communication Receive d...

Page 285: ... 31 1 Abnormal motor speed SD 32 Overcurrent 32 1 Overcurrent detected at hardware detection circuit during operation DB 32 2 Overcurrent detected at software detection function during operation DB 32 3 Overcurrent detected at hardware detection circuit during a stop DB 32 4 Overcurrent detected at software detection function during a stop DB 33 Overvoltage 33 1 Main circuit voltage error EDB 34 S...

Page 286: ...1 46 4 Thermistor circuit error SD 1 1 1 46 5 Abnormal temperature of servo motor 3 DB 1 1 1 46 6 Abnormal temperature of servo motor 4 DB 1 1 1 47 Cooling fan error 47 1 Cooling fan stop error SD 47 2 Cooling fan speed reduction error SD 50 Overload 1 50 1 Thermal overload error 1 during operation SD 1 1 1 50 2 Thermal overload error 2 during operation SD 1 1 1 50 3 Thermal overload error 4 durin...

Page 287: ...ion DB 67 2 Encoder normal communication Receive data error 2 safety observation function DB 67 3 Encoder normal communication Receive data error 3 safety observation function DB 67 4 Encoder normal communication Receive data error 4 safety observation function DB 67 7 Encoder normal communication Transmission data error 1 safety observation function DB 68 STO diagnosis error 68 1 Mismatched STO s...

Page 288: ...mmunication Transmission data error 3 EDB 71 9 Load side encoder normal communication Receive data error 4 EDB 71 A Load side encoder normal communication Receive data error 5 EDB 72 Load side encoder normal communication error 2 72 1 Load side encoder data error 1 EDB 72 2 Load side encoder data update error EDB 72 3 Load side encoder data waveform error EDB 72 4 Load side encoder non signal erro...

Page 289: ...lization error 1 DB 84 3 Network module initialization error 2 DB 85 Network module error 85 1 Network module error 1 SD 85 2 Network module error 2 SD 85 3 Network module error 3 SD 86 Network communication error 86 1 Network communication error 1 SD 86 2 Network communication error 2 SD 86 3 Network communication error 3 SD 86 4 Network communication error 4 SD 8A USB communication time out erro...

Page 290: ...et Pr PE03 to 1 _ _ _ When a linear servo motor or direct drive motor is used set Pr PL04 to 1 _ _ _ 5 In some controller communication status the alarm factor may not be removed 6 This alarm will occur only in the J3 compatibility mode 7 Reset this while all the safety observation functions are stopped 8 In the parallel drive system the stop method is DB 8E USB communication error serial communic...

Page 291: ...hed 98 2 Reverse rotation side software stroke limit reached 99 Stroke limit warning 99 1 Forward rotation stroke end off 4 5 99 2 Reverse rotation stroke end off 4 5 99 4 Upper stroke limit off 5 99 5 Lower stroke limit off 5 9A Optional unit input data error warning 9A 1 Optional unit input data sign error 9A 2 Optional unit BCD input data error 9B Error excessive warning 9B 1 Excess droop pulse...

Page 292: ...fan stop E9 Main circuit off warning E9 1 Servo on signal on during main circuit off DB E9 2 Bus voltage drop during low speed operation DB E9 3 Ready on signal on during main circuit off DB E9 4 Converter unit forced stop DB EA ABS servo on warning EA 1 ABS servo on warning EB The other axis error warning EB 1 The other axis error warning DB EC Overload warning 2 EC 1 Overload warning 2 ED Output...

Page 293: ...ller and then check the repeatability Replace the controller AC The synchronous communications by specified cycle could not be made The setting of the station No is incorrect Check that a device is not assigned to the same station No Set it correctly Station No does not match with the station No set to the controller Check the controller setting and station No Set it correctly The communication cy...

Page 294: ...ONS 9 DIMENSIONS Only MR J4 _GF_ RJ is shown for dimensions MR J4 _GF_ does not have CN2L CN7 and CN9 connectors The dimensions of MR J4 _GF_ are the same as those of MR J4 _GF_ RJ except CN2L CN7 and CN9 connectors ...

Page 295: ... Mass 1 0 kg Unit mm 5 Approx 80 Approx 51 With MR BAT6V1SET A 155 168 161 6 CNP2 CNP1 CNP3 φ6 mounting hole 6 6 Approx 28 4 PE 156 6 50 Approx 37 5 Lock knob L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 PE Terminal Screw size M4 Tightening torque 1 2 N m Approx 6 Approx 50 156 0 5 Approx 6 Approx 6 Approx 168 2 M5 screw Mounting hole process drawing ...

Page 296: ...P3 φ6 mounting hole PE 161 168 Approx 28 4 Approx 37 5 Exhaust Lock knob Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 4 kg Unit mm L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 PE Terminal Screw size M4 Tightening torque 1 2 N m 156 0 5 Approx 6 Approx 6 Approx 168 Mounting hole process drawing Approx 60 42 0 3 Approx 12 Approx 6 3 M5 screw ...

Page 297: ... φ6 mounting hole PE Approx 37 5 Cooling fan intake Exhaust Lock knob L2 N P3 L11 L21 P4 L3 L1 C D P CNP1 CNP2 V W U CNP3 PE Terminal Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 2 1 kg Unit mm 156 0 5 Approx 168 3 M5 screw Mounting hole process drawing Approx 90 Approx 6 Approx 6 Approx 6 Approx 6 78 0 3 ...

Page 298: ... Mounting hole PE CNP3 CNP1 CNP2 Approx 37 5 Lock knob PE L3 L1 P3 P4 N L2 CNP1 L11 L21 C D P CNP2 V W U CNP3 Terminal Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 2 3 kg 6 10 R φ13 hole Mounting hole dimension 156 0 5 Approx 168 3 M5 screw Mounting hole process drawing Approx 90 Approx 6 Approx 6 Approx 6 Approx 6 78 0 3 ...

Page 299: ...ting hole With MR BAT6V1SET A 250 7 5 Approx 25 L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal TE2 TE1 V W U TE3 TE4 TE2 TE1 TE3 TE4 PE Screw size M3 5 Tightening torque 0 8 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Approx 105 Approx 6 Approx 6 93 0 5 4 M5 screw Mounting hole proce...

Page 300: ...ith MR BAT6V1SET A Cooling fan exhaust TE1 TE2 Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m PE TE3 PE Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Approx 172 Approx 6 Approx 6 160 0 5 4 M5 screw Mounting hole process drawing Approx 7 5 Approx 300 Approx 7 5 285 0 5 Mounti...

Page 301: ...prox 140 Approx 28 4 260 Approx 80 188 Intake 237 4 224 2 Approx 37 5 Cooling fan exhaust With MR BAT6V1SET A TE1 2 TE2 Screw size M6 Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m TE1 1 TE1 2 L11 L21 TE2 Terminal L1 L2 L3 V W C N P4P U P3 Approx 220 Approx 12 Approx 12 196 0 5 4 M5 screw...

Page 302: ...pprox 28 4 188 5 Intake 223 4 235 4 Cooling fan exhaust Approx 37 5 260 Approx 80 With MR BAT6V1SET A TE1 2 TE2 Screw size M8 Tightening torque 6 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M8 Tightening torque 6 0 N m Screw size M8 Tightening torque 6 0 N m TE1 1 TE1 2 TE2 Terminal L1 L2 L3 V W C N P4P U P3 L11 L21 Approx 260 Approx 12 Approx 12 236 0 5 4 M10 screw Mounti...

Page 303: ...M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 7 kg Unit mm 6 Approx 80 Approx 51 With MR BAT6V1SET A 195 Approx 28 4 156 6 12 6 60 6 12 168 161 CNP1 6 mounting hole PE CNP2 CNP3 Approx 37 5 Lock knob Approx 60 42 0 3 Approx 12 Approx 6 156 0 5 Approx 6 Approx 6 Approx 168 Mounting hole process drawing 3 M5 screw ...

Page 304: ...unting screw Screw size M5 Tightening torque 3 24 N m Mass 2 1 kg Unit mm 6 Approx 28 4 6 6 6 78 6 168 6 156 45 90 85 161 6 mounting hole PE CNP2 CNP1 CNP3 Approx 37 5 Cooling fan intake Approx 51 With MR BAT6V1SET A Approx 80 195 Exhaust Lock knob Approx 90 Approx 168 156 0 5 Approx 6 Approx 6 78 0 3 Approx 6 Approx 6 3 M5 screw Mounting hole process drawing ...

Page 305: ...28 4 Approx 35 9 6 200 Approx 80 37 5 2 6 mounting hole 250 7 5 6 CNP1 CNP2 CNP3 With MR BAT6V1SET A Intake Cooling fan exhaust Lock knob L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting hole process drawing Approx 250 Approx 7 5 Approx 7 5 235 0 5 Approx 105 Approx 6 Approx 6 93 0 5 4 M5 screw ...

Page 306: ...1 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 4 3 kg Unit mm 6 Approx 60 9 Approx 28 4 37 5 200 Approx 80 6 118 130 7 5 235 7 5 250 TE2 TE3 TE1 PE Built in regenerative resistor lead terminal fixing screw Screw size M4 Tightening torque 1 2 N m 2 6 mounting hole Cooling fan exhaust Intake With MR BAT6V1SET A 235 0 5 Approx 7 5 Approx 250 Approx 6 118 0 5...

Page 307: ... L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 6 5 kg Unit mm 172 160 6 6 7 5 285 Approx 28 4 Approx 102 9 6 200 37 5 Approx 80 TE3 TE1 Intake TE2 PE 6 300 7 5 2 6 mounting hole Built in regenerative resistor lead terminal fixing screw Screw size M4 Tightening torque 1 2 N m With MR BAT6V1SET A Cooling fan exhaust Approx 172 Approx 6 Approx 6 160 0 5 4 M5 screw ...

Page 308: ...prox 140 Approx 28 4 260 Approx 80 188 Intake 237 4 224 2 Approx 37 5 Cooling fan exhaust With MR BAT6V1SET A TE1 2 TE2 Screw size M6 Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m TE1 1 TE1 2 L11 L21 TE2 Terminal L1 L2 L3 V W C N P4P U P3 Approx 220 Approx 12 Approx 12 196 0 5 4 M5 screw...

Page 309: ...Approx 28 4 188 5 Intake 223 4 235 4 Cooling fan exhaust Approx 37 5 260 Approx 80 With MR BAT6V1SET A TE1 2 TE2 Screw size M8 Tightening torque 6 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M8 Tightening torque 6 0 N m Screw size M8 Tightening torque 6 0 N m TE1 1 TE1 2 TE2 Terminal L1 L2 L3 V W C N P4P U P3 L11 L21 Approx 260 Approx 12 Approx 12 236 0 5 4 M10 screw Mount...

Page 310: ...ightening torque 3 24 N m Mass 1 0 kg Unit mm 5 155 Approx 80 168 161 Approx 37 5 6 CNP2 CNP1 CNP3 φ6 Mounting hole 6 6 PE 156 6 50 Approx 28 4 With MR BAT6V1SET A Approx 51 L2 N L11 L21 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Approx 6 Approx 50 156 0 5 Approx 6 Approx 6 Approx 168 2 M5 screw Mounting hole process drawing ...

Page 311: ...ption Connector Shell kit Each type of dimension A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 Connector Shell kit Each type of dimension A B C D E F 10120 3000PE 10320 52A0 008 22 0 33 3 14 0 10 0 12 0 27 4 Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here ...

Page 312: ...310 9 DIMENSIONS 9 2 Connector SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 313: ...n characteristics When unbalanced torque is generated such as in a vertical lift machine the unbalanced torque of the machine should be kept at 70 or lower of the motor s rated torque This servo amplifier has solid state servo motor overload protection The servo motor overload current full load current is set on the basis of 120 rated current of the servo amplifier The following table shows combin...

Page 314: ...or increasing the maximum torque of the servo motor to 400 5024 7024 3534 1 6014 701M4 5034 1 7034 Characteristics d 8014 12K14 15K14 20K14 25K14 11K1M4 15K1M4 22K1M4 9034 Characteristics e Rotary servo motor Graph of overload protection characteristics HG KR HG MR HG SR HG UR HG RR HG JR ...

Page 315: ...istics Characteristics a Characteristics b Characteristics c Load ratio 1 2 1000 100 10 1 0 1 100 200 300 350 0 50 150 250 Operating Servo lock Operation time s 1000 100 10 1 0 1 100 200 300 400 0 Servo lock Operating 50 150 250 350 Load ratio 1 2 3 Operation time s 1000 100 10 1 0 1 100 200 300 400 0 Operating 50 150 250 350 Load ratio 1 3 Servo lock Operation time s ...

Page 316: ...status the servo amplifier may malfunction regardless of the electronic thermal protection 2 The load ratio ranging from 300 to 350 applies to the HG KR servo motor 3 The operation time at the load ratio of 300 to 400 applies when the maximum torque of HG JR servo motor is increased to 400 of rated torque 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio 1 3 Servo lock Operating Operat...

Page 317: ...enerated heat W 2 Area required for heat dissipation m2 At rated output At rated output Generated heat in the cabinet when cooled outside the cabinet 3 With servo off MR J4 10GF RJ HG MR053 0 3 25 15 0 5 HG MR13 0 3 25 15 0 5 HG KR053 0 3 25 15 0 5 HG KR13 0 3 25 15 0 5 MR J4 20GF RJ HG MR23 0 5 25 15 0 5 HG KR23 0 5 25 15 0 5 MR J4 40GF RJ HG MR43 0 9 35 15 0 7 HG KR43 0 9 35 15 0 7 MR J4 60GF RJ...

Page 318: ...1 2 HG JR734 1 3 60 18 1 2 HG JR1034 1 7 60 18 1 2 MR J4 200GF4 RJ HG SR1524 2 5 90 20 1 8 HG SR2024 3 5 90 20 1 8 HG JR1534 2 5 90 20 1 8 HG JR2034 3 5 90 20 1 8 MR J4 350GF4 RJ HG SR3524 5 5 130 20 2 6 HG JR3534 5 5 160 20 2 7 MR J4 500GF4 RJ HG SR5024 7 5 195 25 3 9 HG JR5034 7 5 195 25 3 9 MR J4 700GF4 RJ HG SR7024 10 300 25 6 0 HG JR7034 10 300 25 6 0 HG JR701M4 10 300 25 6 0 HG JR6014 8 6 25...

Page 319: ... heat generated by the servo amplifier Page 315 Amount of heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat bu...

Page 320: ... 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 Page 319 Dynamic brake time constant A working part generally has a friction force Therefore actual coasting distance will be shorter than a maximum coa...

Page 321: ... for equation 10 2 200 V class HG MR series HG KR series HG SR1000 r min series HG SR2000 r min series 0 10 20 30 40 50 0 1000 2000 3000 4000 5000 6000 73 43 23 13 053 Servo motor speed r min Dynamic brake time constant ms Dynamic brake time constant ms 0 10 20 30 40 50 0 1000 2000 3000 4000 5000 6000 73 43 23 13 053 Servo motor speed r min 121 0 20 40 60 80 100 0 250 500 750 1000 1250 1500 51 81 ...

Page 322: ...0 0 70 60 50 40 30 20 10 500 1000 1500 2000 2500 3000 0 15K1M 11K1M 22K1M 701M Dynamic brake time constant ms 503 353 203 53 103 73 153 260 0 220 180 140 100 60 20 1000 2000 3000 4000 5000 6000 0 703 903 Servo motor speed r min Dynamic brake time constant ms 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 153 503 103 353 203 Servo motor speed r min Dynamic brake time constant ms 352 500 10...

Page 323: ...24 7024 Dynamic brake time constant ms 0 10 20 30 40 50 60 0 500 1000 1500 2000 6014 8014 25K14 12K14 20K14 15K14 Servo motor speed r min Dynamic brake time constant ms Servo motor speed r min 50 0 40 30 20 10 500 1000 1500 2000 2500 3000 0 11K1M4 22K1M4 15K1M4 701M4 70 60 Dynamic brake time constant ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 120 100 80 60 40...

Page 324: ... values at the maximum speed of the servo motor The value in the parenthesis shows the value at the rated speed Servo motor Permissible load to motor inertia ratio multiplier HG KR053 30 HG KR13 HG KR23 HG KR43 HG KR73 HG MR053 35 HG MR13 32 HG MR23 HG MR43 HG MR73 HG SR51 30 HG SR81 HG SR121 HG SR201 HG SR301 16 HG SR421 15 HG SR52 30 HG SR102 HG SR152 21 HG SR202 HG SR352 13 15 HG SR502 HG SR702...

Page 325: ...11K1M 10 30 HG JR15K1M HG JR22K1M 20 30 HG JR601 5 HG JR801 30 HG JR12K1 20 30 HG JR15K1 17 30 HG JR20K1 26 30 HG JR25K1 21 30 HG JR534 30 30 HG JR734 HG JR1034 HG JR1534 HG JR2034 HG JR3534 20 30 1 HG JR5034 15 30 HG JR7034 11 30 HG JR9034 18 30 HG JR701M4 7 10 HG JR11K1M4 10 30 HG JR15K1M4 HG JR22K1M4 20 30 HG JR6014 10 HG JR8014 30 HG JR12K14 20 30 HG JR15K14 30 30 HG JR20K14 26 30 HG JR25K14 2...

Page 326: ...rovide a little allowance for these values a Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable b Standard encoder cable Standard motor power cable Standard electromagnetic brake cable Number of bending times time 1 108 5 107 1 107 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 Bend radius mm 4 7 10 20 40 70 100 200 b a ...

Page 327: ...supply L11 L21 MR J4 10GF RJ MR J4 20GF RJ MR J4 40GF RJ MR J4 60GF RJ 30 A attenuated to approx 3 A in 20 ms 20 A to 30 A attenuated to approx 1 A in 20 ms MR J4 70GF RJ MR J4 100GF RJ 34 A attenuated to approx 7 A in 20 ms MR J4 200GF RJ MR J4 350GF RJ 113 A attenuated to approx 12 A in 20 ms MR J4 500GF RJ 42 A attenuated to approx 20 A in 20 ms 34 A attenuated to approx 2 A in 20 ms MR J4 700G...

Page 328: ...currents reference data that will flow when 120 V AC is applied at the power supply capacity Servo amplifier Inrush currents A0 P Main circuit power supply L1 L2 Control circuit power supply L11 L21 MR J4 10GF1 RJ MR J4 20GF1 RJ MR J4 40GF1 RJ 38 A attenuated to approx 14 A in 10 ms 20 A to 30 A attenuated to approx 0 A in 1 ms to 2 ms ...

Page 329: ... rating of the cable connector servo amplifier and servo motor vary the overall IP rating depends on the lowest IP rating of all components Please purchase the cable and connector options indicated in this section WARNING Before connecting any option or peripheral equipment turn off the power and wait for 15 minutes or more until the charge lamp turns off Then confirm that the voltage between P an...

Page 330: ... power supply electromagnetic brake and encoder To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Brake connector Power connector Linear servo motor Linear encoder Power connector Direct drive motor Encoder connector To CN2 To CN2 Refer to Linear Encoder Instruction Manual for options for linear encoder Refer to Direct Drive Motor Instruction Manual for options for di...

Page 331: ... electromagnetic brake and encoder To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Brake connector Power connector Linear encoder Power connector Direct drive motor Encoder connector To CN2 To CN2 Refer to Linear Encoder Instruction Manual for options for linear encoder Refer to Direct Drive Motor Instruction Manual for options for direct drive motor power supply an...

Page 332: ... 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD to 3 9 mm CNP3 connector 03JFAT SAXGFK XL JST Applicable wire size 1 25 mm2 to 5 5 mm2 AWG 16 to 10 Insulator OD to 4 7 mm Supplied with 200 V class servo amplifiers of 2 kW and 3 5 kW Open tool Quantity 1 Model J FAT OT EXL JST CNP1 connector 06JFAT SAXGDK HT10 5 JST Applicable wire size 1 25 mm2 to 2 1 mm2 AWG 16 to 14 Insulator OD to 3 9 mm CNP2 conne...

Page 333: ...h battery unit 8 Junction battery cable MR BT6V2CBL_M Cable length 0 3 1 m Page 333 Battery cable junction battery cable For battery junction 9 Ethernet cable Page 334 Ethernet cable Category 5e or higher double shielded STP straight cable The double shielded STP straight cable is not an option Connection cable for CN1A CN1B connectors No Product name Model Description Remark MR J2HBUS_M PS7DW 20V...

Page 334: ...wires with orange insulator with red or black dots Cable model Cable length Application MR D05UDL3M B 3 m Connection cable for the CN8 connector Servo amplifier MR D05UDL3M B CN8 1 2 3 6 7 Plate STO2 TOFB1 TOFB2 Shield STO1 TOFCOM 8 4 5 STOCOM Yellow with black dots Yellow with red dots Gray with black dots Gray with red dots White with black dots White with red dots 1 2 1 6 4 8 CN8 connector 3 5 ...

Page 335: ...Application remark 0 3 m 1 m MR BT6V1CBL_M 03 1 Standard For connection with MR BT6VCASE MR BT6V2CBL_M 03 1 Standard For junction Figure Components Description 1 Cable VSVC 7 0 18 2C 2 Connector Housing PAP 02V O Contact SPHD 001G P0 5 JST 3 Connector Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent Figure Components Description 1 Cable VSVC 7 0 18 2C 2 Cable 3 Connector Housing PA...

Page 336: ...roduct example on the market is as follows For the latest product information contact the manufacturer 1 The SC E5EW cable is for in enclosure and indoor uses The SC E5EW L cable is for outdoor use Item Description Cable type Category 5e or higher double shielded STP straight cable Standard One of the following standards must be met IEEE802 3 1000BASE T ANSI TIA EIA 568 B Category 5e Connector RJ ...

Page 337: ...e a fire Servo amplifier Regenerative power W Built in regenerative resistor MR RB032 40 MR RB12 40 MR RB30 13 MR RB3N 9 MR RB31 6 7 MR RB32 40 MR RB50 13 1 MR RB5N 9 1 MR RB51 6 7 1 MR J4 10GF RJ 30 MR J4 20GF RJ 10 30 100 MR J4 40GF RJ 10 30 100 MR J4 60GF RJ 10 30 100 MR J4 70GF RJ 20 30 100 300 MR J4 100GF RJ 20 30 100 300 MR J4 200GF RJ 100 300 500 MR J4 350GF RJ 100 300 500 MR J4 500GF RJ 13...

Page 338: ... 4 22 1 MR RB5U 4 22 1 MR J4 60GF4 RJ 15 100 300 MR J4 100GF4 RJ 15 100 300 MR J4 200GF4 RJ 100 300 500 MR J4 350GF4 RJ 100 300 500 MR J4 500GF4 RJ 130 300 500 MR J4 700GF4 RJ 170 300 500 Servo amplifier Regenerative power W 2 External regenerative resistor accessory MR RB5K 4 10 MR RB6K 4 10 MR J4 11KGF4 RJ 500 800 500 800 MR J4 15KGF4 RJ 850 1300 850 1300 MR J4 22KGF4 RJ 850 1300 850 1300 Servo ...

Page 339: ... distance per servo motor revolution S PB mm rev PB Ball screw lead mm LB Ball screw length mm DB Ball screw diameter mm WL Moving part mass kg FC Load antidrag setting N TL Load torque converted into equivalent value on servo motor shaft N m η Drive system efficiency Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of ...

Page 340: ...ew and JL3 is the load moment of inertia of the coupling JL1 and JL2 can be calculated with the following expressions JL1 WL S 20 2 JL2 0 0078 LB 10 32 DB 10 4 From the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies Regenerative power Torque applied to servo motor N m 1 2 Energy E J 1 2 T2 TL E2 0 1047 N T2 t1 3 4 8 T4 T8 0 E4 E8 0 No regeneration 5 ...

Page 341: ...rom the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J ηm Es Ec Calculate the power consumption of the regenerative option on the basis of single cycle operation period tf s to select the necessary regenerative option PR W ER tf Servo amplifier Inverse efficiency Capacitor charging J MR J4 10GF...

Page 342: ...nerative resistor ER J η Es Ec From the total of ER s whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative option can be calculated with the following equation PR W total of positive ER s one cycle operation period tf Select a regenerative option from the PR value Regenerative option is not required when the energy consumption is equal to or le...

Page 343: ...ection with the servo amplifier Regenerative option selection 00 Regenerative option is not used For servo amplifier of 100 W regenerative resistor is not used For servo amplifier of 0 2 kW to 7 kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11 kW to 22 kW 01 FR BU2 FR BU2 H FR RC FR RC H FR CV FR CV H 02 MR RB03...

Page 344: ...erative load ratio is more than 60 in MR RB30 MR RB31 MR RB32 and MR RB3N forcefully cool the air with a cooling fan 1 0 m3 min or more 92 mm 92 mm A cooling fan is not required if the ambient temperature is 35 or less A cooling fan is required for the shaded area in the following graph 3 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact spe...

Page 345: ...m3 min or more 92 mm 92 mm 2 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA When using the regenerative option remove the servo amplifier s built in regenerative resistor wires across P to C fit them back to back and secure them to the frame ...

Page 346: ... thermal sensor in the most appropriate position on the design basis of the device or use the thermal sensor built in regenerative option MR RB5R MR RB9F MR RB9T MR RB5K 4 or MR RB6K 4 1 The following shows an indication example of symbol CAUTION The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protective cover Touching the resistor including wiring screw hol...

Page 347: ...on overheats abnormally 1 G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA When using cooling fans install them using the mounting holes provided in the bottom of the regenerative option Servo amplifier Regenerative option Resistance Regenerative power W Without cooling fans With cooling fans MR J4 11KGF PX MR J4 11KGF RZ MR RB5R 3 2 5...

Page 348: ...ons MR RB12 TE1 terminal Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 5 144 Approx 20 169 168 156 6 12 6 36 40 6 mounting hole TE1 15 Approx 6 149 2 Unit mm Mass 1 1 kg G3 G4 P C ...

Page 349: ...e M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Regenerative option Variable dimensions Mass kg A B MR RB30 17 335 2 9 MR RB31 MR RB32 MR RB3N MR RB34 4 23 341 MR RB3M 4 MR RB3G 4 MR RB3U 4 8 5 125 150 Approx 30 142 79 82 5 30 8 5 10 90 101 5 82 5 318 A B Air intake 7 100 Cooling fan mounting screw 2 M4 screw Unit mm P C G3 G4 ...

Page 350: ...1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Regenerative option Variable dimensions Mass kg A B MR RB50 17 217 5 6 MR RB51 MR RB5N MR RB54 4 23 223 MR RB5G 4 MR RB5U 4 2 3 133 82 5 49 82 5 Cooling fan mounting screw 2 M3 screw On opposite side 200 A B 8 120 108 12 12 5 162 5 350 162 5 12 5 7 Approx 30 7 14 slotted hole Air intake Unit mm P C G3 G4 ...

Page 351: ...032 TE1 terminal Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m TE1 30 15 99 1 6 119 144 12 156 168 6 6 5 6 mounting hole Approx 6 Approx 12 Approx 20 Unit mm Mass 0 5 kg G3 G4 P C ...

Page 352: ...htening torque 2 0 N m Mounting screw Screw size M8 Tightening torque 13 2 N m Regenerative option Mass kg MR RB5R 10 MR RB9F 11 MR RB9T MR RB5K 4 10 MR RB6K 4 11 480 10 260 230 10 2 10 mounting hole 500 30 427 43 197 15 2 3 Cooling fan intake 215 15 230 15 10 15 15 82 5 82 5 82 5 Approx 42 Cooling fan mounting screw 4 M3 screw Unit mm P C G3 G4 ...

Page 353: ...ions 351 11 MR RB1H 4 TE1 terminal Applicable wire size AWG 24 to 10 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 156 168 144 6 2 149 173 6 Approx 6 Approx 24 6 15 6 mounting hole 36 40 Unit mm Mass 1 1 kg P C G3 G4 ...

Page 354: ...G400 2 0Ω standard accessories Regenerative resistor Variable dimensions Mounting screw size Tightening torque N m Mass kg A C K GRZG400 0 8 10 5 5 39 M8 13 2 0 8 GRZG400 0 6 16 8 2 46 GRZG400 0 5 GRZG400 2 5 10 5 5 39 GRZG400 2 0 Approx K 1 6 Approx 47 9 5 40 411 385 10 Approx C Approx A Approx 2 4 40 Approx 330 Unit mm ...

Page 355: ...servo amplifier As compared to the MR RB regenerative option the brake unit can return larger power Use the brake unit when the regenerative option cannot provide sufficient regenerative capability When using the brake unit set Pr PA02 to _ _ 0 1 When using the brake unit always refer to the FR BU2 Instruction Manual Selection Use a combination of servo amplifier brake unit and resistor unit liste...

Page 356: ...rake mode switchover Impossible Do not change the parameter 1 Monitor display data selection Possible Refer to the FR BU2 Instruction Manual 2 Input terminal function selection 1 Impossible Do not change the parameter 3 Input terminal function selection 2 77 Parameter write selection 78 Cumulative energization time carrying over times CLr Parameter clear ECL Alarm history clear C1 For manufacturer...

Page 357: ...plifier and brake unit malfunction 5 Contact rating 1b contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 6 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one cable to each P and N terminals of...

Page 358: ... AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one cable to each P and N terminals of the servo amplifier 8 Always connect BUE and SD terminals factory wired 9 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop dec...

Page 359: ...esults in alarm occurrence or malfunction Always connect the terminals for master slave MSG to MSG SD to SD between the two brake units Do not connect the servo amplifier and brake units as below Connect the cables with a terminal block to distribute as indicated in this section N P Brake unit Brake unit Servo amplifier P N N P N P Brake unit Brake unit Servo amplifier P N N P Connecting two cable...

Page 360: ...E and SD terminals factory wired 9 Connect MSG and SD terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 10 For connecting P and N terminals of the servo amplifier to the terminal block use the cable indicated in the following section Page 362 Cables for connecting the servo amplifier and a distribution termin...

Page 361: ...t conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one cable to each P and N terminals of the servo amplifier 8 Always connect BUE and SD terminals factory wired 9 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic br...

Page 362: ... 6 Do not connect more than one cable to each P and N terminals of the servo amplifier 7 Always connect BUE and SD terminals factory wired 8 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic...

Page 363: ... short circuit or malfunction due to damage to the screw or the brake unit Wire the stripped cable after twisting to prevent the cable from becoming loose In addition do not solder it Screw size M3 Tightening torque 0 5 N m to 0 6 N m Wire size 0 3 mm2 to 0 75 mm2 Screw driver Small flat blade screwdriver Tip thickness 0 4 mm Tip width 2 5 mm Brake unit Main circuit terminal screw size Crimp termi...

Page 364: ...s MR J4 500GF RJ FR BU2 15K 1 FVD5 5 S4 JST a 2 8 4NS JST 2 b FR BU2 30K 1 FVD5 5 S4 JST a MR J4 700GF RJ FR BU2 15K 2 8 4NS JST 2 b FR BU2 30K 1 FVD5 5 S4 JST a MR J4 11KGF RJ FR BU2 15K 2 FVD8 6 JST c FR BU2 30K 1 FVD5 5 6 JST a FR BU2 55K 1 FVD14 6 JST d MR J4 15KGF RJ FR BU2 15K 2 FVD8 6 JST c FR BU2 30K 1 FVD5 5 6 JST a FR BU2 55K 1 FVD14 6 JST d MR J4 22KGF RJ FR BU2 55K 1 FVD14 8 JST d 400 ...

Page 365: ...U2 30K FR BU2 H30K FR BU2 55K FR BU2 H55K FR BU2 H75K Rating plate 5 hole Screw size M4 68 6 56 6 5 5 118 5 128 18 5 52 62 4 132 5 Unit mm 129 5 5 59 18 5 Rating plate 52 2 5 hole Screw size M4 128 5 5 118 5 108 6 6 96 Unit mm 18 5 Rating plate 52 72 5 142 5 128 118 5 5 5 6 158 6 170 2 5 hole Screw size M4 Unit mm ...

Page 366: ... 220 3 2 6 15 FR BR 30K 340 270 600 560 20 582 220 4 10 30 FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 400 V class FR BR H30K 340 270 600 560 20 582 220 4 10 30 FR BR H55K 480 410 700 620 40 670 450 3 2 12 70 H3 1 H1 3 Approx H2 Approx H2 D1 H 5 2 C Control circuit terminal Main circuit terminal W1 1 Approx 35 Approx 35 C C W 5 D 5 1 1 Approx 40 33 204 Eyebolt For FR BR 55K FR BR H55K an eyebol...

Page 367: ...H brake unit 365 11 MT BR5 H resistor unit Resistor unit Resistance Approximate mass kg 200 V class MT BR5 55K 2 0 50 400 V class MT BR5 H75K 6 5 70 4 15 mounting hole 300 75 75 450 7 5 7 5 M6 M4 193 189 480 510 85 85 800 37 60 21 10 40 30 NP Unit mm ...

Page 368: ...ers can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the 5 kW to 22 kW Connection example In this configuration only the STO function is supported The forced stop deceleration function is not available Power regeneration converter Nominal regenerative power kW Applicable servo amplifier FR RC 15K 15 MR J4 500GF RJ MR J4 700GF RJ MR J4 11KGF R...

Page 369: ...ors 5 For the power supply specifications refer to the following Page 30 Servo amplifier standard specifications 6 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 Configure up the circuit which shuts off main circuit power with external circuit at EM1 Forced stop 1 off 7 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker 8 This diagram...

Page 370: ...wer supply specifications refer to the following Page 30 Servo amplifier standard specifications 6 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 Configure up the circuit which shuts off main circuit power with external circuit at EM1 Forced stop 1 off 7 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker 8 This diagram shows sink I O ...

Page 371: ...70 200 450 432 195 10 10 8 3 2 87 19 FR RC 30K 340 270 600 582 195 10 10 8 3 2 90 31 FR RC 55K 480 410 700 670 250 12 15 15 3 2 135 55 FR RC H15K 340 270 600 582 195 10 10 8 3 2 90 31 FR RC H30K FR RC H55K 480 410 700 670 250 12 15 15 3 2 135 55 Power regeneration converter a b D AA BA FR RC 15K 260 412 10 200 432 FR RC 30K 330 562 10 270 582 FR RC 55K 470 642 12 410 670 FR RC H15K 330 562 10 270 ...

Page 372: ...polarity Connection with incorrect polarity will fail the FR CV H and servo amplifier Two or more FR CV H s cannot be installed to improve regeneration capability Two or more FR CV H s cannot be connected to the same DC power supply line When using FR CV H set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 When using the FR CV H power regeneration common converter set Pr PA02 to _ _ 0 1 and set Pr...

Page 373: ... of the servo amplifier with the maximum rated capacity should be equal to or less than the value of Maximum servo amplifier capacity in the following table The following table lists the restrictions When using the FR CV always install the dedicated stand alone reactor FR CVL Item FR CV _ 7 5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifi...

Page 374: ...d servo motor rated currents should be equal to or less than the applicable current A of the FR CV H Among the servo amplifiers connected to the FR CV H the rated capacity of the servo amplifier with the maximum rated capacity should be equal to or less than the value of Maximum servo amplifier capacity in the following table The following table lists the restrictions When using the FR CV H always...

Page 375: ...ntroller if an alarm occurs in the FR CV When the controller does not have an emergency stop input use the forced stop input of the servo amplifier to make a stop as shown in the diagram 4 When using FR CV always disconnect wiring between P3 and P4 terminals 5 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 6 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a mol...

Page 376: ...CV H When the controller does not have an emergency stop input use the forced stop input of the servo amplifier to make a stop as shown in the diagram 4 When using FR CV H always disconnect wiring between P3 and P4 terminals 5 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 6 When wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker 7 The ill...

Page 377: ...supply P4 N terminals between the FR CV and servo amplifier Grounding For grounding use the wire of the size equal to or greater than that indicated in the following table and make it as short as possible Total of servo amplifier capacities kW Wire mm2 1 or less 2 AWG 14 2 3 5 AWG 12 5 5 5 AWG 10 7 8 AWG 8 11 14 AWG 6 15 22 AWG 4 22 50 AWG 1 0 27 5 50 AWG 1 0 Total of servo amplifier capacities kW...

Page 378: ... Second unit 22 mm2 assuming that the total of servo amplifier capacities is 15 kW since 7 kW 3 5 kW 2 0 kW 12 5 kW Third unit 8 mm2 assuming that the total of servo amplifier capacities is 7 kW since 3 5 kW 2 0 kW 5 5 kW Fourth unit 2 mm2 assuming that the total of servo amplifier capacities is 2 kW since 2 0 kW 2 0 kW FR CV 55K Servo amplifier 15 kW Servo amplifier 7 kW Servo amplifier 3 5 kW Se...

Page 379: ... of the connected servo amplifiers are actually required Item Power regeneration common converter FR CV _ 7 5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities kW 3 75 5 5 7 5 11 15 18 5 27 5 Maximum servo amplifier capacity kW 3 5 5 7 11 15 15 22 Output Total of connectable servo motor rated currents A 33 46 61 90 115 145 215 Regenerative braking torque Short time rating To...

Page 380: ... 71 110 Regenerative braking torque Short time rating Total capacity of applicable servo motors 300 torque 60 s 1 Continuous rating 100 torque Power supply Rated input AC voltage frequency 3 phase 380 V AC to 480 V AC 50 Hz 60 Hz Permissible AC voltage fluctuation 3 phase 323 V AC to 528 V AC 50 Hz 60 Hz Permissible frequency fluctuation 5 Power supply capacity 2 kVA 17 20 28 41 52 66 100 IP ratin...

Page 381: ...tion terminal block 1 Symbol indicating cable length is put in _ 05 0 5 m 1 1 m 5 5 m Junction terminal block PS7DW 20V14B F CN3 MR J2HBUS_M Servo amplifier Cable clamp AERSBAN ESET TPR2 LSP 1 2 DOCOM MO1 3 4 LZ 8 LB 7 9 SD Shell MR J2HBUS_M 1 INP 5 6 10 TPR1 DICOM LA LG LSN 11 12 MBR MO2 13 14 LZR 18 LBR 17 19 DOG 15 16 20 EM2 ALM LAR Shell Shell Shell 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15...

Page 382: ...NS AND PERIPHERAL EQUIPMENT 11 6 Junction terminal block PS7DW 20V14B F recommended Dimensions of junction terminal block M3 6L M3 5L 36 5 27 8 18 8 7 62 44 11 54 63 4 5 4 5 5 4 60 50 9 3 27 TB E 6 1 42 6 2 Unit mm ...

Page 383: ... available only in the fully closed loop control mode 4 This is available only in the linear servo motor control mode 5 This is available only in the I O mode Item Description Project Create read save delete project system setting and print Parameter Parameter setting Monitor Display all I O monitor graph and ABS data display Diagnosis Alarm display alarm onset data drive recorder no motor rotatio...

Page 384: ...ws 8 1 Enterprise Microsoft Windows 8 1 Pro Microsoft Windows 8 1 Microsoft Windows 8 Enterprise Microsoft Windows 8 Pro Microsoft Windows 8 Microsoft Windows 7 Enterprise Microsoft Windows 7 Ultimate Microsoft Windows 7 Professional Microsoft Windows 7 Home Premium Microsoft Windows 7 Starter Microsoft Windows Vista Enterprise Microsoft Windows Vista Ultimate Microsoft Windows Vista Business Micr...

Page 385: ...at the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket When you use a personal computer with battery You can use as it is Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electricity due to connection with a personal computer and the ...

Page 386: ...ion system Page 447 ABSOLUTE POSITION DETECTION SYSTEM Selection of battery The available batteries vary depending on servo amplifiers Select a required battery Applications of the batteries Combinations of batteries and the servo amplifier 1 For using the MR J4 350GF4 RJ contact your local sales office Model Name Application Built in battery MR BAT6V1SET A Battery For absolute position data backu...

Page 387: ...manufacture of the built in MR BAT6V1 battery refer to the following Page 399 MR BAT6V1 battery Parts identification and dimensions Battery mounting Connect as follows 27 4 Connector for servo amplifier Case 51 37 5 Unit mm Mass 55 g including MR BAT6V1 battery Servo amplifier CN2 CN4 Encoder cable Servo motor MR BAT6V1SET A ...

Page 388: ...e battery installed Insert the battery after executing the earth wiring of the servo amplifier For the servo amplifier with a battery holder on the bottom WARNING Before replacing a battery turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off Then check the voltage between P and N with a voltage tester or others Otherwise an electric shock may occur In ...

Page 389: ...4 connector of the servo amplifier or the connector of the battery Install a battery and route the battery cable along the right side of the battery When connecting the encoder cable to CN2 or CN2L connector prevent the battery cable from being pinched Install a battery and connect the plug to the CN4 connector While pressing the lock release lever pull out the connector Press down the lock releas...

Page 390: ...6V1SET A reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET A 1 While pressing the locking part open the cover 2 Replace the battery with a new MR BAT6V1 battery 3 Press the cover until it is fixed with the projection of the locking part to close the cover Tab Cover Projection four places ...

Page 391: ...digit from left indicates a month Oct X Nov Y Dec Z For November 2013 the Serial No would be SERIAL _ 3Y _ _ _ _ _ _ Specification list 1 Quality of the batteries degrades by the storage condition The battery life is 5 years from the production date regardless of the connection status Item Description Battery pack 2CR17335A CR17335A 2 pcs in series Nominal voltage V 6 Nominal capacity mAh 1650 Sto...

Page 392: ...e position data will be erased when you transport a servo motor and machine apart When you transport a servo motor and machine apart disconnect only CN2 and CN4 of the servo amplifier When other connectors or cables are disconnected between the servo motor and battery the absolute position data will be deleted Servo amplifier Orange Connector for servo amplifier Black Connector for branch cable En...

Page 393: ...turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns off Then check the voltage between P and N with a voltage tester or others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier CAUTION The internal circuits of the servo amplifier may be damaged by ...

Page 394: ...ttery triggers AL 9F 1 4 Remove the old MR BAT6V1BJ from servo amplifier and mount the new MR BAT6V1BJ When the control circuit power supply is on AL 9F 1 occurs after 3 5 Mount the orange connector of the new MR BAT6V1BJ When the control circuit power supply is on AL 9F 1 is canceled MR BT6VCBL03M CN4 CN2 Servo amplifier Old MR BAT6V1BJ New MR BAT6V1BJ Orange Orange Black MR BT6VCBL03M CN4 CN2 Se...

Page 395: ...rvo motors One MR BT6VCASE can hold the absolute position data of up to 8 axis servo motors For direct drive motors up to four axes can be connected Servo motors and direct drive motors in the incremental system are included as the axis numbers Linear servo motors are not counted as the axis numbers Refer to the following table for the number of connectable axes of each servo motor Dimensions Serv...

Page 396: ...d be up to 4 axes Servo motors and direct drive motors in the incremental system are included as the axis Nos Linear servo motors are not counted as the axis Nos When using 1 axis servo amplifier When using up to 8 axis servo amplifiers Servo amplifier CN4 CN10 MR BT6VCASE MR BT6V1CBL_M CN4 CN10 MR BT6VCASE MR BT6V1CBL_M MR BT6V2CBL_M MR BT6V2CBL_M CN4 CN4 Servo amplifier First Servo amplifier Sec...

Page 397: ... until the charge lamp turns off Then check the voltage between P and N with a voltage tester or others Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground h...

Page 398: ... case MR BT6VCASE Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled 1 Remove the two screws using a Phillips screwdriver 2 Remove the cover Screws Cover CON2 CON3 CON1 CON4 CON5 Parts identification BAT1 BAT2 BAT3 BAT4 BAT5 ...

Page 399: ... incorrect direction the connector will break Place the MR BAT6V1 lead wire to the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 3 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 the lead wire caught in the c...

Page 400: ...arts Precautions for removal of battery The connector attached to the MR BAT6V1 battery has the lock release lever When removing the connector pull out the connector while pressing the lock release lever Battery cable removal CAUTION Pulling out the connector of the MR BT6V1CBL and the MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the con...

Page 401: ... regardless of the connection status Item Description Battery pack 2CR17335A CR17335A 2 pcs in series Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature 0 to 55 Operating temperature 0 to 55 Lithium content g 1 2 Mercury content Less than 1 ppm Dangerous goods class Inapplicable to the dangerous goods Class 9 Page 569 Handling of AC servo amplifier batteries for the United Nations R...

Page 402: ...used with the DC power supply input refer to the following Page 566 Selection example of wires Selection conditions of wire size are as follows Construction condition Single wire set in midair Wire length 30 m or less The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 5 Power regeneration converter lead Power regeneration converter N 3 Regenerat...

Page 403: ... CSA standard 5 This is for connecting to the linear servo motor with natural cooling method Use wires 5 of the following sizes with the power regeneration converter FR RC Servo amplifier Wire mm2 1 1 L1 L2 L3 2 L11 L21 3 P C 4 U V W 3 MR J4 10GF RJ 2 AWG 14 1 25 to 2 AWG 16 to 14 4 2 AWG 14 AWG 18 to 14 4 MR J4 20GF RJ MR J4 40GF RJ MR J4 60GF RJ MR J4 70GF RJ MR J4 100GF RJ MR J4 200GF RJ 3 phas...

Page 404: ...eration converter FR RC H 100 V class 1 The wire size shows applicable size of the servo amplifier connector and terminal block For wires connecting to the servo motor refer to each servo motor instruction manual 2 Be sure to use the size of 2 mm2 when corresponding to IEC EN UL CSA standard Servo amplifier Wire mm2 1 1 L1 L2 L3 2 L11 L21 3 P C 4 U V W 3 MR J4 60GF4 RJ MR J4 100GF4 RJ 2 AWG 14 1 2...

Page 405: ...r side crimp terminals Crimp terminal 2 Applicable tool Manufacturer Body Head Dice a FVD5 5 4 YNT 1210S JST b 1 8 4NS YHT 8S c FVD2 4 YNT 1614 d FVD2 M3 e FVD1 25 M3 YNT 2216 f FVD14 6 YF 1 YNE 38 DH 122 DH 112 g FVD5 5 6 YNT 1210S h FVD22 6 YF 1 YNE 38 DH 123 DH 113 i FVD38 8 YF 1 YNE 38 DH 124 DH 114 j FVD5 5 8 YNT 1210S k FVD8 6 YF 1 E 4 YNE 38 DH 121 DH 111 Symbol Servo amplifier side crimp t...

Page 406: ... Frame rated current Voltage AC V Class Current A Voltage AC V Power factor improving reactor is not used Power factor improving reactor is used MR J4 10GF RJ 30 A frame 5 A 30 A frame 5 A 240 T 10 300 S N10 S T10 MR J4 20GF RJ 30 A frame 5 A 30 A frame 5 A MR J4 40GF RJ 30 A frame 10 A 30 A frame 5 A 15 MR J4 60GF RJ 30 A frame 15 A 30 A frame 10 A 20 MR J4 70GF RJ 30 A frame 15 A 30 A frame 10 A...

Page 407: ... 4 S T21 MR J4 500GF4 RJ 30 A frame 20 A 30 A frame 20 A 50 MR J4 700GF4 RJ 30 A frame 30 A 30 A frame 30 A 65 S N20 S T21 MR J4 11KGF4 RJ 50 A frame 50 A 50 A frame 50 A 100 S N25 S T35 MR J4 15KGF4 RJ 60 A frame 60 A 60 A frame 60 A 150 S N35 S T35 MR J4 22KGF4 RJ 100 A frame 100 A 100 A frame 100 A 175 S N50 S T50 MR J4 10GF1 RJ 30 A frame 5 A 30 A frame 5 A 240 10 300 S N10 S T10 MR J4 20GF1 R...

Page 408: ...Page 572 Compliance with global standards Servo amplifier Molded case circuit breaker 1 Fuse Class T Fuse Class K5 Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J4 10GF RJ 30 A frame 5 A 240 1 300 1 250 MR J4 20GF RJ MR J4 40GF RJ MR J4 60GF RJ MR J4 70GF RJ MR J4 100GF RJ MR J4 200GF RJ MR J4 350GF RJ MR J4 500GF RJ MR J4 700GF RJ MR J4 11KGF RJ MR J4 15KGF RJ ...

Page 409: ...minimum clearance of 10 cm each at the top and bottom and 5 cm at the sides 200 V class 1 Use this for grounding 2 When using the power factor improving DC reactor remove the short bar between P3 and P4 3 Maximum dimensions The dimension varies depending on the input output lines 4 Selection conditions of wire size are as follows Wire type 600 V Grade heat resistant polyvinyl chloride insulated wi...

Page 410: ...set in midair Servo amplifier Powerfactor improving DC reactor Dimensions mm Terminal size Mass kg Wire mm2 4 W W1 H D 3 D1 D2 D3 d MR J4 200GF RJ FR HEL 3 7K 77 55 92 82 66 57 37 M4 M4 1 5 2 AWG 14 MR J4 350GF RJ FR HEL 7 5K 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 MR J4 500GF RJ FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J4 700GF RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 ...

Page 411: ... Grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in midair Servo amplifier Powerfactor improving DC reactor Dimensions mm Terminal size Mass kg Wire mm2 3 W W1 H D D1 D2 D3 d MR J4 60GF4 RJ FR HEL H1 5K 66 50 100 80 74 54 37 M4 M3 5 1 0 2 AWG 14 MR J4 100GF4 RJ FR HEL H2 2K 76 50 110 80 74 54 37 M4 M3 5 1 3 2 AWG 14 W1 D2 W 2 5 H 2 5 D or less...

Page 412: ...ulated wire HIV wire Construction condition Single wire set in midair Servo amplifier Powerfactor improving DC reactor Dimensions mm Terminal size Mass kg Wire mm2 3 W W1 H D D1 D2 D3 d MR J4 200GF4 RJ FR HEL H3 7K 86 55 120 95 89 69 45 M4 M4 2 3 2 AWG 14 MR J4 350GF4 RJ FR HEL H7 5K 96 60 128 105 100 80 50 M5 M4 3 5 2 AWG 14 MR J4 500GF4 RJ FR HEL H11K 105 75 137 110 105 85 53 M5 M5 4 5 3 5 AWG 1...

Page 413: ... HIV wire Construction condition Single wire set in midair Servo amplifier Powerfactor improving DC reactor Dimensions mm Terminal size Mass kg Wire mm2 3 W W1 H D D1 D2 D3 d MR J4 700GF4 RJ FR HEL H15K 105 75 152 125 115 95 62 M5 M6 5 0 5 5 AWG 10 MR J4 11KGF4 RJ 8 AWG 8 MR J4 15KGF4 RJ FR HEL H22K 133 90 178 120 95 75 53 M5 M6 6 0 8 AWG 8 MR J4 22KGF4 RJ FR HEL H30K 133 90 178 120 100 80 56 M5 M...

Page 414: ...kg W W1 H D 4 D1 D2 d MR J4 10GF RJ MR J4 20GF RJ MR J4 10GF1 RJ FR HAL 0 4K 104 84 99 72 51 40 M5 M4 0 6 MR J4 40GF RJ MR J4 20GF1 RJ FR HAL 0 75K 104 84 99 74 56 44 M5 M4 0 8 MR J4 60GF RJ MR J4 70GF RJ MR J4 40GF1 RJ FR HAL 1 5K 104 84 99 77 61 50 M5 M4 1 1 MR J4 100GF RJ 3 phase power supply input FR HAL 2 2K 115 4 40 115 77 71 57 M6 M4 1 5 MR J4 100GF RJ 1 phase power supply input MR J4 200GF...

Page 415: ...amplifier Power factor improving AC reactor Dimensions mm Terminal size Mass kg W W1 H D 2 D1 D2 d MR J4 350GF RJ FR HAL 7 5K 130 50 135 100 98 86 M6 M5 4 2 MR J4 500GF RJ FR HAL 11K 160 75 164 111 109 92 M6 M6 5 2 MR J4 700GF RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 11KGF RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 15KGF RJ FR HAL 22K 185 2 75 150 158 100 87 M6 M8 9 0 4 d mou...

Page 416: ...ing on the input output lines Servo amplifier Power factor improving AC reactor Dimensions mm Terminal size Mass kg W W1 H D 2 D1 D2 d MR J4 22KGF RJ FR HAL 30K 185 2 75 150 168 100 87 M6 M10 9 7 X D or less D1 2 D2 W1 W R T S Y Z H 5 4 d mounting hole 1 Y Z S T MC MCCB FR HAL Servo amplifier 3 phase 200 V class X R L1 L2 L3 3 phase 200 V AC to 240 V AC ...

Page 417: ...M3 5 1 5 MR J4 200GF4 RJ FR HAL H3 7K 135 120 115 69 70 6 57 M4 M3 5 2 5 Servo amplifier Power factor improving AC reactor Dimensions mm Terminal size Mass kg W W1 H D 2 D1 D2 d MR J4 350GF4 RJ FR HAL H7 5K 160 145 142 91 91 75 M4 M4 5 0 MR J4 500GF4 RJ FR HAL H11K 160 145 146 91 91 75 M4 M5 6 0 MR J4 700GF4 RJ MR J4 11KGF4 RJ FR HAL H15K 220 200 195 105 90 70 M5 M5 9 0 W 0 5 W1 R X Z S Y T H 5 D1...

Page 418: ...ues Avoid bundling power lines input output and signal cables together or running them in parallel to each other Separate the power lines from the signal cables Use a shielded twisted pair cable for connection with the encoder and for control signal transmission and connect the external conductor of the cable to the SD terminal Ground the servo amplifier servo motor etc together at one point Page ...

Page 419: ... equipment is recommended Techniques for noises radiated by the servo amplifier that cause peripheral equipment to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those induced electromagnetically or statically by the signal cables of the peripheral equipment locat...

Page 420: ...gnal lines side by side or bundling them together Insert a line noise filter to the I O cables or a radio noise filter on the input line Use shielded wires for the signal and power lines or put the lines in separate metal conduits 4 5 6 When the power lines and the signal lines are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through...

Page 421: ...g cable clamp fittings When using a data line filter Servo amplifier 200 mm to 300 mm or less Cable clamp fitting 80 mm or less Data line filter Servo amplifier Locate 5 mm to 10 mm away from the cabinet entrance Cable clamp fitting Outside the cabinet Inside the cabinet Servo amplifier 80 mm or less Data line filter Outside the cabinet Inside the cabinet Servo amplifier ...

Page 422: ... the following surge killer or equivalent Ex CR 50500 Okaya Electric Industries Note that a diode should be installed to a DC relay or the like Maximum voltage Not less than four times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Impedance 10 MHz to 100 MHz 100 MHz to 500 MHz 80 150 Rated voltage AC V C F 20 R 30 Test vol...

Page 423: ...tor and press that part against the grounding plate with the cable clamp If the cable is thin clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Dimensions 1 Screw hole for grounding Connect it to the grounding plate of the cabinet Model A B C Accessory fittings AERSBAN DSET 100 86 30 Clamp A 2 pcs AERSBAN ESET 70 56 Clamp B 1 pc Clamp fitting L A 70 B 45 Cable...

Page 424: ...rally four passes would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filter Otherwise 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 pa...

Page 425: ...ion diagram Dimensions Unit mm Make the connection cables as short as possible Grounding is always required When using the FR BIF with a single phase power supply always insulate the lead wires that are not used for wiring MR J4 350GF RJ or less MR J4 350GF4 RJ or less and MR J4 40GF1 RJ or less MR J4 500GF RJ or more MR J4 500GF4 RJ or more Radio noise filter Servo amplifier Power supply MC MCCB ...

Page 426: ...purpose items for lead length L contact the manufacturer Power supply voltage Varistor Maximum rating Maximum limit voltage Static capacity reference value Varistor voltage rating range V1 mA Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power A V AC Vrms DC V 8 20 s A 2 ms J W pF V 100 V class 200 V class TND20V 431K 275 350 10000 1 time 7000 2 times 195 1 0 100 7...

Page 427: ...n the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Page 426 Example of leakage current per km lg1 lg2 for CV cable run in metal conduit Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Page 426 Example of leakage current per km lg1 lg2 for CV cable run in metal conduit Ign Leakag...

Page 428: ...0 3 4 2 to 5 0 5 6 to 7 0 7 8 to 11 1 0 12 to 15 1 3 20 to 25 2 3 Servo amplifier capacity kW Leakage current mA 0 1 to 0 6 0 1 0 75 to 3 5 0 15 5 7 2 11 15 5 5 22 7 Servo amplifier Rated sensitivity current of earth leakage current breaker mA MR J4 10GF RJ to MR J4 350GF RJ MR J4 60GF4 RJ to MR J4 350GF4 RJ MR J4 10GF1 RJ to MR J4 40GF1 RJ 15 MR J4 500GF RJ MR J4 500GF4 RJ 30 MR J4 700GF RJ MR J4...

Page 429: ...s of equation 11 1 from the diagram 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 Ig 4 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more Use an earth leakage current breaker having Ig of 15 mA with the NV SP SW CP CW HW series Servo motor HG KR43 2 mm2 5 m 2 ...

Page 430: ...ier Recommended filter Soshin Electric Mass kg Model Rated current A Rated voltage VAC Leakage current mA MR J4 10GF RJ to MR J4 100GF RJ HF3010A UN 1 10 250 5 3 5 MR J4 200GF RJ MR J4 350GF RJ HF3030A UN 1 30 5 5 MR J4 500GF RJ MR J4 700GF RJ HF3040A UN 1 40 6 5 6 MR J4 11KGF RJ MR J4 15KGF RJ MR J4 22KGF RJ HF3100A UN 1 100 12 MR J4 60GF4 RJ MR J4 100GF4 RJ TF3005C TX 5 500 5 5 6 MR J4 200GF4 RJ...

Page 431: ...tion example 1 Refer to the following for the power supply specifications Page 30 Servo amplifier standard specifications 2 The example is when a surge protector is connected MCCB L1 L2 L3 L11 L21 Servo amplifier 1 2 3 4 5 6 E Surge protector 2 Power supply 1 1 2 3 MC EMC filter ...

Page 432: ...ilter recommended Dimensions EMC filter HF3010A UN HF3030A UN HF3040A UN 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 Unit mm IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3 25 length 8 Unit mm 3 M5 M4 85 1 210 2 85 1 ...

Page 433: ...ed 431 11 HF3100A UN TF3005C TX TF3020C TX TF3030C TX 2 6 5 8 2 φ6 5 145 1 165 3 M6 380 1 400 5 160 3 M8 Unit mm M8 290 2 100 1 308 5 332 5 Approx 12 2 3 M4 16 6 R3 25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx 67 5 3 Approx 160 170 5 M4 3 M4 Unit mm 100 1 16 ...

Page 434: ...HERAL EQUIPMENT 11 16 EMC filter recommended TF3040C TX TF3060C TX 180 2 Approx 91 5 Approx 190 200 5 M6 390 2 100 1 412 5 438 5 Approx 17 3 M6 22 22 8 R3 25 Length 8 for M6 Unit mm M4 M4 145 2 3 M6 160 1 175 2 IN 100 1 100 1 ...

Page 435: ... φ6 5 80 0 5 20 143 100 26 6 5 6 5 20 28 143 170 3 M8 option S hexagon socket head cap screw Output Protective earth PE M6 option S hexagon socket head cap screw Input Protective earth PE 3 M8 option S hexagon socket head cap screw M6 option S hexagon socket head cap screw Terminal block cover Terminal block cover Mounting hole Mounting hole Mounting plate 1 Model plate ...

Page 436: ...434 11 OPTIONS AND PERIPHERAL EQUIPMENT 11 16 EMC filter recommended Surge protector RSPD 250 U4 RSPD 500 U4 41 1 28 5 1 28 1 4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Lead Case Resin Unit mm 1 2 3 ...

Page 437: ...n of external dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated and is built in the servo amplifier of 7 kW or less Since it is not built in the servo amplifier of 11 kW or more purchase it separately Assign DB Dynamic brake interlock to any of CN3 9 CN3 13 and CN3 15 pins in Pr PD07 to Pr PD09 C...

Page 438: ... configured by one 7 Between P3 and P4 is connected by default When using the power factor improving DC reactor remove the short bar between P3 and P4 Additionally a power factor improving DC reactor and power factor improving AC reactor cannot be used together Page 407 Power factor improving DC reactors 8 The external dynamic brake cannot be used for compliance with SEMI F47 standard Do not assig...

Page 439: ...ed together Page 407 Power factor improving DC reactors 8 Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class 9 The power supply voltage of the inside magnet contactor for 400 V class external dynamic brake DBU 11K 4 and DBU 22K 4 is restricted as follows When using these external dynamic brakes use them within the following range of the power supply 10 ...

Page 440: ...d Servo motor speed Coasting Alarm ON OFF Emergency stop switch Absent Disabled Enabled Short Open Dynamic brake Base circuit ON OFF Dynamic brake Present DB Dynamic brake interlock Servo motor speed Alarm ON OFF Emergency stop switch Absent Disabled Enabled Short Open Dynamic brake Base circuit ON OFF Coasting Dynamic brake Present DB Dynamic brake interlock ...

Page 441: ...ore an output shortage occurs Only when DB is assigned as an output signal 2 Variable according to the operation status 15 ms to 60 ms 2 7 ms 1 10 ms Dynamic brake Coasting Electro magnetic brake interlock Electro magnetic brake operation delay time MBR Electromagnetic brake interlock Base circuit ON OFF Servo motor speed ALM Malfunction Main circuit Control circuit ON OFF Power Dynamic brake ON O...

Page 442: ...ulated wire HIV wire Construction condition Single wire set in midair External dynamic brake A B C D E F G Mass kg Connection wire mm2 1 U V W Except U V W DBU 11K 200 190 140 20 5 170 163 5 2 5 5 AWG 10 2 AWG 14 DBU 15K DBU 22K R1 250 238 150 25 6 235 228 6 5 5 AWG 10 2 AWG 14 C D 100 D 5 E E B A 5 F 2 3 G Unit mm a b 13 14 Terminal block Screw M3 5 Tightening torque 0 8 N m Screw M4 Tightening t...

Page 443: ...V wire Construction condition Single wire set in midair External dynamic brake Connection wire mm2 1 U V W Except U V W DBU 11K 4 5 5 AWG 10 2 AWG 14 DBU 22K 4 5 5 AWG 10 2 AWG 14 15 51 25 15 73 75 7 25 150 10 200 170 178 5 179 5 15 260 280 43 10 2 7 mounting hole 195 228 26 26 210 2 3 Mass 6 7 kg Unit mm a b 13 14 W V U Terminal block Screw M3 5 Tightening torque 0 8 N m TE1 TE2 Screw M4 Tighteni...

Page 444: ...abinet Please prepare screws for mounting They do not come with The environment outside the cabinet when using the panel through attachment should be within the range of the servo amplifier operating environment The panel through attachments are used for MR J4 11KGF RJ to MR J4 22KGF RJ and MR J4 11KGF4 RJ to MR J4 22KGF4 RJ The following shows the combinations MR J4ACN15K Panel cut dimensions How...

Page 445: ...anel through attachment MR J4ACN15K MR J3ACN 443 11 Mounting method Assembling the panel through attachment Installation to the inside cabinet Attachment Attachment Fit using the assembling screws Servo amplifier Cabinet Opening Servo amplifier ...

Page 446: ...N Panel cut dimensions How to assemble the panel through attachment 12 510 580 Approx 58 188 145 Approx 400 78 35 196 240 3 2 155 108 3 Approx 263 3 Panel Panel 20 6 Attachment Unit mm Mounting hole Servo amplifier Servo amplifier 236 255 270 125 331 39 5 535 510 18 203 39 5 4 M10 Screw Opening Unit mm Screw 2 places Attachment ...

Page 447: ...anel through attachment MR J4ACN15K MR J3ACN 445 11 Mounting method Assembling the panel through attachment Installation to the inside cabinet Fit using the assembling screws Attachment Servo amplifier Attachment Servo amplifier Opening Cabinet ...

Page 448: ...el through attachment MR J4ACN15K MR J3ACN Mounting dimensional diagram Approx 58 510 580 12 236 280 Approx 260 84 194 20 Unit mm 145 Approx 400 35 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 449: ...placed with other procedure than in the following section Page 391 Battery replacement procedure When the battery is used out of specification the absolute position data can be erased 12 1 Summary Features For normal operation 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 a...

Page 450: ... _ _ 1 in Pr PA03 to enable the absolute position detection system AL E3 Absolute position counter warning selection When a simple motion module QD77GF_ or RD77GF_ is used set Pr PC18 to _ _ 0 _ Controller Servo amplifier Servo motor CN2 CN1A Battery CN4 Absolute position detection system selection 0 Disabled used in incremental system 1 Enabled used in absolute position detection system Pr PA03 1...

Page 451: ...ION SYSTEM 12 1 Summary 449 12 Confirmation of absolute position detection data You can check the absolute position data with MR Configurator2 Choose Monitor and ABS Data Display to open the absolute position data display screen ...

Page 452: ...attery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Rotary servo motor 6000 only when acceleration time until 6000 r min is 0 2 s or more Direct drive motor 500 only when acceleration time until 500 r min is 0 1 s or more Battery backup time 2 Rotary servo motor Approximately 20 000 hours equipment power supply off ambient temperature 20 Appro...

Page 453: ...te position erased may occur 3 The power on time ratio of 25 is equivalent to when the power is on for 8 hours a day on weekdays and off on weekends Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Rotary servo motor 6000 only when acceleration time until 6000 r min is 0 2 s or more Battery backup time 2 ...

Page 454: ...ckup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Rotary servo motor 6000 only when acceleration time until 6000 r min is 0 2 s or more Direct drive motor 500 only when acceleration time until 500 r min is 0 1 s or more Battery backup time 2 Rotary servo motor Approximately 40 000 hours 2 axes or less 30 000 hours 3 axes or 10 000 hours 8 axes equipm...

Page 455: ...or damage to property Only qualified personnel are authorized to install start up repair or service the machines in which these components are installed They must be familiar with all applicable local regulations and laws in which machines with these components are installed particularly the standards mentioned in this manual The staff responsible for this work must be given express permission fro...

Page 456: ...e system Perform all risk assessments to the machine or the entire system To prevent accumulation of malfunctions perform function checks at regular intervals based on the risk assessments of the machine or the system Regardless of the system safety level malfunction checks should be performed at least once per year If the upper and lower power modules in the servo amplifier are shorted and damage...

Page 457: ...ith Drive safety function Page 280 TROUBLESHOOTING Base power supply for upper arm Base power supply for lower arm Shut off signal STO1 CN8 Monitor signal TOFB1 Shut off signal STO2 Monitor signal TOFB2 Shut off Shut off Servo motor M Power module STO2 STO1 ON OFF ON OFF ON OFF ON OFF 0 r min 8 ms Servo motor speed EM2 Forced stop 2 Magnetic contactor Base circuit Supplying energy to the servo mot...

Page 458: ...ing off EM2 Forced stop 2 DI 1 STO2 CN8 5 Input STO state 2 STO state base circuit shut off Open between STO2 and STOCOM STO release state in driving Close between STO2 and STOCOM Be sure to turn off STO2 after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 Forced stop 2 DI 1 TOFCOM CN8 8 Common terminal for monitor output signal in STO state DO 1 ...

Page 459: ...l State STO1 STO2 Between TOFB1 and TOFCOM Monitoring STO1 state Between TOFB2 and TOFCOM Monitoring STO2 state Between TOFB1 and TOFB2 Monitoring STO state of the servo amplifier Off Off On STO state base circuit shut off On STO state base circuit shut off On STO state base circuit shut off Off On On STO state base circuit shut off Off STO release state Off STO state base circuit shut off On Off ...

Page 460: ...of various safety standards Page 586 MR J3 D05 Safety logic unit The following diagram is for source interface For sink interface refer to the following Page 463 Sink I O interface 1 With TOFB whether the servo is in the STO state can be confirmed For connection examples refer to the following Page 459 External I O signal connection example using an MR J3 D05 safety logic unit Page 462 External I ...

Page 461: ...ple 459 13 External I O signal connection example using an MR J3 D05 safety logic unit This connection is for source interface For the other I O signals refer to the connection examples in the following section Page 97 For source I O interface ...

Page 462: ...O1A 4A 4B SDO1A SDI1A 1A 1B SDI1A SDI2A SRESA SDO2A TOFA 3A 3B 1A 1B 6A 6B 8A SDI2A SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SW1 1 FG 4 5 3 6 7 8 CN3 EM2 A axis CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24V 7A 0V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 1 MR J3 D05 2 2 S1 24 V 0 V STOA...

Page 463: ...ier via MR J3 D05 STOB is connected to the servo amplifier via MR J3 D05 A axis shutdown 1 and 2 B axis shutdown 1 and 2 STO1 STO2 Stop Operation Energizing close Shut off open EM2 input STO shut off Normal close Shut off open 0 r min Servo motor drivable Servo motor speed Servo amplifier Shut off delay STO status ...

Page 464: ...TO function of the servo amplifier by using Emergency switching off change S1 to EMG The stop category at this time is 0 If STO is turned off while the servo motor is rotating AL 63 STO timing error will occur K3 K3 CN8 KM1 CN3 20 STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM M KM1 KM1 EMG S4 S3 Safety relay module MELSEC QS90SR2S Fuse 24 V 0 V S2 S1 or EMG 1 Control circuit Power supply S1 STO shut off swi...

Page 465: ...driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or less maximum current 50 mA or less inrush current 100 mA or less A maximum of 5 2 V voltage drop occurs in the servo amplifier When outputting two STO states by using each TOFB 1 If the voltage drop maximum of 2 6 V interferes with the relay operation apply high...

Page 466: ... drop occurs in the servo amplifier When outputting two STO states by using each TOFB 1 If the voltage drop maximum of 2 6 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source When outputting two STO states by using one TOFB 1 If the voltage drop maximum of 5 2 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source...

Page 467: ...ing of the magnetic pole detection can be changed with Pr PL01 Page 479 For the absolute position linear encoder Home position return Reference home position 1048576 pulses unit initial value One servo motor revolution unit Home position return pitch can be changed with parameter setting Page 481 Home position return Absolute position detection system Absolute position encoder battery Not required...

Page 468: ... the following depending on servo amplifiers you use Page 59 Configuration including peripheral equipment CAUTION Connecting a linear servo motor for different axis to the U V W or CN2 may cause a malfunction Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN8 W V U Magnetic contactor L1 L2 L3 1 MC 3 Power factor improving DC reactor FR H...

Page 469: ...ifications refer to the following Page 30 Servo amplifier standard specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 For the branch cable use the MR J4THCBL03M o...

Page 470: ... standard specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 For the branch cable use the MR J4THCBL03M optional 5 Always connect between P and D terminals When u...

Page 471: ...e following Page 30 Servo amplifier standard specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 Always connect between P and D terminals When using the regenerati...

Page 472: ...magnetic interference Electromagnetic interference may be given to the electronic equipment used near the servo amplifier Do not install a power capacitor surge killer or radio noise filter optional FR BIF H with the power wire of the linear servo motor When using the regenerative resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative...

Page 473: ...ear servo motor series and linear servo motor type Refer to 2 in this section Set the linear encoder direction and the linear servo motor direction Refer to 3 in this section 1 Set the linear encoder resolution Refer to 4 in this section 1 Change the setting to disable the magnetic pole detection Refer to 3 of section 14 3 2 What is the type of the linear encoder Installation and wiring Perform th...

Page 474: ...peed in the positive and negative directions at that time with MR Configurator2 3 A positive value is displayed for the motor speed when 1 Pr PC27 is set to _ _ _ 0 2 the positive direction of the linear servo motor matches the increasing direction of the linear encoder and 3 the linear servo motor is operated in the positive direction If the positive direction of the linear servo motor does not m...

Page 475: ...ower is turned on The magnetic pole detection includes the following two methods Each method has advantages and disadvantages Select a magnetic pole detection method suitable for your usage The position detection method is selected in the initial setting Parameter Linear encoder resolution m 0 01 0 02 0 05 0 1 0 2 0 5 1 0 2 0 Setting value Pr PL02 1 1 1 1 1 1 1 2 Pr PL03 100 50 20 10 5 2 1 1 Magne...

Page 476: ...le detection voltage level to 10 7 Execute Positive direction travel or Negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time 8 Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled 1 2 3 4 5 The magnetic pole detection is carried out Is Pr PL09 the final value Has AL 27 Initial magnetic pole detection...

Page 477: ...amplifier Set Pr PL08 Linear servo motor DD motor function selection 3 to _ _ _ 4 to set the magnetic pole detection method to Minute position detection method Cycle the servo amplifier power 6 With Pr PL17 Magnetic pole detection Minute position detection method Function selection set the load to mass of the linear servo motor primary side ratio 2 7 Execute Positive direction travel or Negative d...

Page 478: ...When the test operation mode is selected with the test operation select switch SW1 1 the network communication for the servo amplifier and later shut off For the magnetic pole detection use the test operation mode positioning operation of MR Configurator2 Turn off the servo amplifier power and set the test operation select switch SW1 1 as follows Turning on the power enables the test operation mod...

Page 479: ...te position linear encoder is used if a gap is generated to the positional relation between the linear encoder and the linear servo motor perform the magnetic pole detection again The magnetic pole detection improves in accuracy when performed with no load An alarm may occur when the linear encoder is not mounted properly or when the linear encoder resolution setting Pr PL02 and Pr PL03 or the set...

Page 480: ... when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on 1 When you turn off LSP Forward rotation stroke end or LSN Reverse rotation stroke end during the magnetic pole detection the operation of the magnetic pole detection is carried on to the opposite direction When both LSP and LSN are off AL 27 Initial magnetic pole detection error occurs 2 The following shows the pitch...

Page 481: ...xecute the magnetic pole detection Page 478 For the incremental linear encoder 3 After completing the magnetic pole detection properly change Pr PL01 to _ _ _ 0 Magnetic pole detection disabled After the magnetic pole detection by disabling the magnetic pole detection function with Pr PL01 the magnetic pole detection after each power on is not required Linear servo motor series LM H3 LM F LM U2 LM...

Page 482: ...igurator2 automatically completes and the servo off status is established 2 Specify the setting value that is an approximately 70 of the value set when AL 50 Overload 1 AL 51 Overload 2 AL 33 Overvoltage AL E1 Overload warning 1 and AL EC Overload warning 2 occurred as the final setting value If AL 27 Initial magnetic pole detection error occurs with this value specify a value intermediate between...

Page 483: ... is 16 777 mm The value inside a bold box indicates the recommended stop interval for each linear encoder resolution CAUTION If the resolution or the stop interval the third digit of Pr PL01 of the linear encoder is large the linear servo motor may crash into the stroke end which is very dangerous Pr PL01 Stop interval setting at the home position return Setting value Stop interval pulse 0 8192 1 ...

Page 484: ...r and others Change the value of the third digit in Pr PL01 according to the linear encoder resolution When the home position return is performed from the position where the linear encoder home position does not exist in the home position return direction an error may occur depending on the home position return type If an error occurs change the home position return type or move the linear servo m...

Page 485: ...the case of a proximity dog type home position return the nearest reference home position after proximity dog off is the home position The linear encoder home position can be set in any position LZ Encoder Z phase pulse is outputted based on Stop interval selection at the home position return in Pr PL01 1 Changeable with Pr PL01 1048576 pulses n Linear encoder home position Home position Home posi...

Page 486: ...n the positioning operation screen of MR Configurator2 Operation pattern Operation method CAUTION The test operation mode is designed for checking servo operation It is not for checking machine operation Do not use this mode with the machine Always use the linear servo motor alone If the servo motor operates abnormally use EM2 Forced stop 2 to stop it Item Initial value Setting range Travel distan...

Page 487: ...ay be used independently of whether the servo is on or off and whether the controller is connected or not Perform on the program operation screen of MR Configurator2 For full information refer to Help of MR Configurator2 Operation procedure 1 Turn off the power 2 Turn ON up SW1 1 Turning ON up SW1 1 during power on will not enable the test operation mode 3 Turn on the servo amplifier When initiali...

Page 488: ...tion speed deviation and thrust deviation An error is detected when each method is enabled with Pr PL04 Linear servo motor DD motor function selection 2 The detection level can be changed with Pr PL05 Pr PL06 and Pr PL07 Outline of linear servo control error detection function Position deviation error detection Set Pr PL04 to _ _ _ 1 to enable the position deviation error detection When the differ...

Page 489: ...nd thrust 5 and the feedback thrust 6 in Outline of linear servo control error detection function if the deviation is more than the value of Pr PL07 Torque thrust deviation error detection level 1 to 1000 AL 42 3 Servo control error by torque thrust deviation will occur and the linear servo motor will stop The initial value of this detection level is 100 Change the setting value as necessary For O...

Page 490: ...ass of linear servo motor primary side 2 kg Load mass excluding the mass of the linear servo motor primary side 4 kg Mass ratio 4 2 2 times For the parameters set with the auto tuning function refer to the following Page 227 NORMAL GAIN ADJUSTMENT Machine analyzer function Make sure to perform the machine analyzer function after the magnetic pole detection If the magnetic pole detection is not per...

Page 491: ... the graph Use the linear servo motor with 70 or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion This servo amplifier has linear servo motor overload protection The linear servo motor overload current full load current is set on the basis of 120 rated current of the servo amplifier a LM H3 series LM K2 series b LM U2 series c LM F series natur...

Page 492: ... off LM H3P2A 07P BSS0 MR J4 40GF RJ MR J4 40GF1 RJ 0 9 35 15 0 7 LM H3P3A 12P CSS0 0 9 35 15 0 7 LM H3P3B 24P CSS0 MR J4 70GF RJ 1 3 50 15 1 0 LM H3P3C 36P CSS0 1 9 75 15 1 5 LM H3P3D 48P CSS0 MR J4 200GF RJ 3 5 90 20 1 8 LM H3P7A 24P ASS0 MR J4 70GF RJ 1 3 50 15 1 0 LM H3P7B 48P ASS0 MR J4 200GF RJ 3 5 90 20 1 8 LM H3P7C 72P ASS0 3 8 100 20 1 1 LM H3P7D 96P ASS0 MR J4 350GF RJ 5 5 130 20 2 7 LM ...

Page 493: ...rt may crash into the stroke end which is very dangerous Install the anti crash mechanism such as an air brake or an electric mechanical stopper such as a shock absorber to reduce the shock of moving parts No linear servo motor with an electromagnetic brake is available Linear servo motor primary side Coefficient A Coefficient B LM H3P2A 07P BSS0 7 15 10 3 2 94 10 3 LM H3P3A 12P CSS0 2 81 10 3 1 4...

Page 494: ...motor mass ratio of the dynamic brake by the following equation The upper limit is 300 times Permissible load to motor mass ratio at the time of using the dynamic brake Value in the table Linear servo motor maximum speed2 Actual using speed2 For example when an actual using speed is 2 m s or less for the LM H3P2A 07P motor maximum speed 3 0 m s the equation will be as follows Permissible load to m...

Page 495: ...CAUTION When using the direct drive motor read the Direct Drive Motor Instruction Manual Category Item Differences Remark Direct drive motor Rotary servo motor Motor pole adjustment Magnetic pole detection Required Not required adjusted before shipping Automatically executed at the first servo on after the power is turned on In the absolute position detection system the magnetic pole detection can...

Page 496: ...ending on servo amplifiers you use Page 59 Configuration including peripheral equipment CAUTION Connecting a direct drive motor for different axis to the U V W or CN2 may cause a malfunction Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN8 W V U Magnetic contactor L1 L2 L3 1 MC 3 Power factor improving DC reactor FR HEL Junction termin...

Page 497: ...ifier standard specifications 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 The battery unit is used for the absolute position detection system Page 447 ABSOLUTE POSITION D...

Page 498: ...iode installed to the DC relay for control output should be fitted in the specified direction Otherwise the converter unit and the drive unit will malfunction and will not output signals disabling the emergency stop and other protective circuits Use a noise filter etc to minimize the influence of electromagnetic interference Electromagnetic interference may be given to the electronic equipment use...

Page 499: ...example of power circuit Explanation of power supply system Page 98 Explanation of power supply system Signal device explanations Page 105 Signal device explanations Alarm occurrence timing chart Page 113 Alarm occurrence timing chart Interfaces Page 115 Interfaces Grounding Page 126 Grounding Switch setting and display of the servo amplifier Page 134 Switch setting and display of the servo amplif...

Page 500: ...detection system Installation and wiring Z phase pulse of the direct drive motor is turned on by the JOG operation 1 2 Perform the magnetic pole detection Refer to section 15 3 2 1 Absolute position detection system Incremental system Can you manually turn on the Z phase pulse of the direct drive motor Change the setting to disable the magnetic pole detection Refer to section 15 3 2 Z phase pulse ...

Page 501: ...ic pole detection The magnetic pole detection is not required for the configured absolute position detection system where the Z phase pulse of the direct drive motor can be turned on manually For this operation always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier Perform this operation by considering the safety Wh...

Page 502: ...er and then cycle the power of the servo amplifier Set Pr PL08 Linear servo motor DD motor function selection 3 to _ _ _ 0 to set the magnetic pole detection method to Position detection method Set Pr PL01 Linear servo motor DD motor function selection 1 to _ _ _ 1 to set Magnetic pole detection always enabled 1 Turn the servo amplifier power off and on again The magnetic pole detection is carried...

Page 503: ...selection 3 to _ _ _ 4 to set the magnetic pole detection method to Minute position detection method The magnetic pole detection is carried out Is the response of the minute position detection method set by Pr PL17 finalized Has an abnormal sound or vibration occurred during the magnetic pole detection Decrease the response by the minute position detection method of Pr PL17 by two as the final set...

Page 504: ...detection also in the torque mode At the magnetic pole detection whether the motor rotates in the forward or reverse direction is unpredictable Depending on the setting value of Pr PL09 Magnetic pole detection voltage level an overload overcurrent magnetic pole detection alarm or others may occur When performing the positioning operation from a controller use the sequence which confirms the normal...

Page 505: ...e magnetic pole detection the magnetic pole detection is carried on to the opposite direction When LSP and LSN are off AL 27 Initial magnetic pole detection error occurs Direct drive motor movement when LSP or LSN is off When LSP or LSN is off at servo on the magnetic pole detection is carried out as follows 15 s or less ON OFF ON OFF ON OFF 95 ms Servo on command Base circuit RD Ready Magnetic po...

Page 506: ...wing procedure 1 Set Pr PL01 Linear servo motor DD motor function selection 1 to _ _ _ 1 Magnetic pole detection at first servo on 2 Execute the magnetic pole detection Page 503 Incremental system 3 After the completion of the magnetic pole detection change Pr PL01 to _ _ _ 0 Magnetic pole detection disabled After the magnetic pole detection by turning on the Z phase pulse in JOG operation and by ...

Page 507: ...ify a value intermediate between the value set at AL 50 Overload 1 AL 51 Overload 2 AL E1 Overload warning 1 or AL EC Overload warning 2 and the value set at the magnetic pole detection alarm as the final setting value 3 Perform the magnetic pole detection again with the final setting value Setting example In this example the final setting value of Pr PL09 is 49 Setting value at the alarm occurren...

Page 508: ...or detection level 1 0 01 rev to 1000 10 rev AL 42 1 Servo control error by position deviation will occur and the direct drive motor will stop The initial value of this detection level is 0 09 rev Replace the set value as required For Outline of servo control error detection function refer to the following Page 506 Outline of servo control error detection function Speed deviation error detection S...

Page 509: ...e initial value of this detection level is 100 Replace the set value as required For Outline of servo control error detection function refer to the following Page 506 Outline of servo control error detection function Detecting multiple deviation errors When setting Pr PL04 as shown below multiple deviation errors can be detected For the error detection methods refer to the following Page 506 Posit...

Page 510: ... for each axis The direct drive motor overload current full load current is set on the basis of 120 rated current of the servo amplifier 1 If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a direct drive motor stop status servo lock status or in a 50 r min or less low speed operation status the servo amplifier may malfunction regardles...

Page 511: ...cy Direct drive motor Servo amplifier Power supply capacity kVA Servo amplifier generated heat W Area required for heat dissipation m2 At rated output With servo off TM RG2M002C30 MR J4 20GF RJ MR J4 20GF1 RJ 0 25 25 15 0 5 TM RU2M002C30 TM RG2M004E30 MR J4 20GF RJ MR J4 20GF1 RJ 0 5 25 15 0 5 TM RU2M004E30 TM RG2M004E30 1 MR J4 40GF RJ MR J4 40GF1 RJ 0 7 35 15 0 7 TM RU2M004E30 1 TM RG2M009G30 MR...

Page 512: ...irect drive motor rotor kg Dynamic brake time constant s te Delay time of control section There is internal relay delay time of about 10 ms s Dynamic brake time constant The following shows necessary dynamic brake time constant for equation 15 1 Dynamic brake time constant Time te V0 ON OFF EM1 Forced stop 1 Machine speed JM te τ 1 JL 60 V0 Lmax 15 1 Time constant ms Direct drive motor speed r min...

Page 513: ... 300 400 500 600 Direct drive motor speed r min 0 0 60 70 80 50 40 30 20 10 0 100 200 300 400 500 600 Time constant τ ms Time constant τ ms Time constant τ ms TM RG2M002C30 TM RU2M002C30 TM RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 Direct drive motor speed r min 0 0 25 30 20 15 10 5 0 100 200 300 400 500 600 ...

Page 514: ...or inertia ratio exceeds the indicated 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 the value at the rated speed of the direct drive motor Direct drive motor Permissible load to motor inertia ratio multiplier TM RFM_C20 100 300 TM...

Page 515: ...below The fully closed loop system is controlled in the load side encoder unit 1 Switching between semi closed loop control and fully closed loop control can be performed by changing the setting of Pr PE01 When semi closed loop control is selected a control is always performed on the bases of the position data of the servo motor encoder independently of whether the servo motor is at a stop or runn...

Page 516: ... Position is controlled according to the servo motor side data and load side data Advantage Control is performed according to the servo motor side data during operation and according to the load side data at a stop in sequence to raise the gains during operation and shorten the settling time A stop is made with the load side accuracy Fully closed loop control Feature Position is controlled accordi...

Page 517: ...ck control is shown below 1 ω a dual feedback filter band is set by Pr PE08 Servo motor during a stop 0 to Fully closed loop control In operation or more Semi closed loop control Semi closed loop control Fully closed loop control Dual feedback filter Servo motor Linear encoder Position control unit High pass filter Low pass filter 1 Frequency rad s Operation status Control status ...

Page 518: ...uired CN2 Servo amplifier CC Link IE compatible simple motion module CC Link IE Position command control signal Table Two wire type serial interface compatible linear encoder 1 Load side encoder signal Servo motor encoder signal Linear encoder head Servo motor CN2L CN2 A B Z phase pulse train interface compatible linear encoder or two wire four wire type serial interface compatible linear encoder ...

Page 519: ... encoder HG KR HG MR servo motor 4194304 pulses rev Drive part Servo amplifier Position command control signal 1 1 Load side encoder signal Servo motor encoder signal CC Link IE compatible simple motion module CC Link IE CN2L CN2 Servo motor A B Z phase differential output two wire type or four wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev or synchronous encoder Q171ENC W8 41...

Page 520: ...iagram of encoder cable Configuration diagram for servo amplifier and load side encoder is shown below Cables used vary depending on the load side encoder Linear encoder Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder MR J4 _GF_ servo amplifier MR J4 _GF_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in the following secti...

Page 521: ... a branch cable shown in the following section for MR J4 _GF_ RJ servo amplifier You can also use a four wire type linear encoder Page 519 MR J4 _GF_ servo amplifier Servo amplifier CN2 MR J4FCCBL03M branch cable Refer to section 16 2 4 Encoder of rotary servo motor 1 Encoder cable Refer to the Servo Motor Instruction Manual Vol 3 CN2 MOTOR SCALE 1 Load side encoder Servo motor HG KR HG MR CN2 CN2...

Page 522: ...0 0100PL shell kit 36310 3200 008 3M 2 Plug 36110 3000FD shell kit 36310 F200 008 3M LG View seen from wiring side 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2 1 MOTOR 2 Plate 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from wiring side 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 View seen from wiring side 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 BAT ...

Page 523: ...justment and operation check in fully closed loop system Selection of fully closed loop system Refer to 2 in this section Selection of load side encoder communication system Refer to 3 in this section Adjustment of dual feedback switching filter for dual feedback control Refer to 5 in this section Setting of load side encoder polarity Refer to 4 in this section Home position return operation Refer...

Page 524: ...m _ _ 0 _ Semi closed loop system standard control mode Servo motor encoder unit Semi closed loop control _ _ 1 _ Fully closed loop system fully closed loop control mode _ _ _ 0 Load side encoder unit Dual feedback control fully closed loop control 1 _ _ _ 1 Off Semi closed loop control On Dual feedback control fully closed loop control Operation mode selection Pr PA01 1 0 0 Semi closed loop syste...

Page 525: ...cted to CN2L connector in order to match the CCW direction of servo motor and the increasing direction of load side encoder feedback How to confirm the load side encoder feedback direction For the way of confirming the load side encoder feedback direction refer to the following Page 526 Confirmation of load side encoder position data CAUTION Do not set an incorrect direction to Encoder pulse count...

Page 526: ...d side encoder so that the number of load side encoder pulses per servo motor revolution is within the following range 4096 212 Number of load side encoder pulses per servo motor revolution 67108864 226 When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0 05 μm Conditions Servo motor resolution 4194304 pulses rev Servo motor reduction ratio 1 11 Ball sc...

Page 527: ... diameter on the servo motor side 30 mm Pulley diameter on the rotary encoder side 20 mm Rotary encoder resolution 4194304 pulses rev When the pulley diameters or reduction ratios differ consider that in calculation Servo motor Rotary encoder HG KR or HG MR servo motor 4194304 pulses rev Drive part Pulley diameter d1 30 mm Pulley diameter d2 20 mm Pr PE04 Pr PE34 Pr PE05 Pr PE35 4194304 20 1 1 419...

Page 528: ...leared to 0 when the home position reference mark or Z phase is passed through by moving the load side encoder When it is not cleared the following factors can be considered 1 The installation of the load side encoder was not correct 2 The encoder cable was not wired correctly 3 Confirmation of load side encoder feedback direction Setting of load side encoder polarity Confirm that the directions o...

Page 529: ...etting Increasing the dual feedback filter setting shortens the settling time but increases servo motor vibration since the motor is more likely to be influenced by the load side encoder vibration The maximum setting of the dual feedback filter should be less than half of the PG2 setting Reduction of settling time Increase the dual feedback filter setting Suppression of vibration Decrease the dual...

Page 530: ... return using incremental linear encoder When the linear encoder home position reference mark exists in the home position return direction When an incremental linear encoder is used the home position is the position per servo motor revolution to the linear encoder home position reference mark passed through first after a home position return start In the case of a dog type home position return aft...

Page 531: ...e position for when using the rotary encoder of a serial communication servo motor for the load side encoder is at the load side Z phase position Operation from controller An absolute type linear encoder is necessary to configure an absolute position detection system under fully closed loop control using a linear encoder In this case the encoder battery need not be installed to the servo amplifier...

Page 532: ...o the permissible speed of Pr PE06 Fully closed loop control speed deviation error detection level the function generates AL 42 2 Servo control error by speed deviation and stops The initial value of Pr PE06 is 400 r min Change the set value as required Position deviation error detection Set Pr PE03 to _ _ _ 2 to enable the position deviation error detection Comparing the servo motor side feedback...

Page 533: ...achine analyzer function of MR Configurator2 Test operation mode Test operation mode is enabled by MR Configurator2 For details on the test operation mode refer to the following Page 139 Test operation mode Function Item Usability Remark Test operation mode JOG operation It drives in the load side encoder resolution unit Positioning operation The fully closed loop system is operated in the load si...

Page 534: ...the power is supplied to the two encoders of motor side and load side For the absolute position detection system with linear encoder the restrictions mentioned in this section apply Enable the absolute position detection system with Pr PA03 Absolute position detection system and use this servo within the following restrictions Using conditions Use an absolute type linear encoder with the load side...

Page 535: ...to 0 The symbol is indicated for reverse command pulse d Load side cumu feedback pulses Feedback pulses from the load side encoder are counted and displayed When the set value exceeds 999999999 it starts with 0 Click Clear to reset the value to 0 The symbol is indicated for reverse pulse e Load side droop pulses Droop pulses of the deviation counter between a load side position and a command are d...

Page 536: ...Setting of feedback pulse electronic gear l Parameter Dual feedback filter The band of Pr PE08 Fully closed loop dual feedback filter is displayed set in this parameter m Parameter fully closed loop function The parameter for the fully closed loop control is displayed or set Click Parameter setting to display the Fully closed loop control Basic window 1 Fully closed loop function selection Pr PE01...

Page 537: ...d HG MR series for driving and scale measurement encoder the optional four wire type encoder cables MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H and MR EKCBL50M H cannot be used When an encoder cable of 30 m to 50 m is needed fabricate a two wire type encoder cable according to the following section Page 606 Two wire type encoder cable for HG MR HG KR The scale measurement function compatible servo a...

Page 538: ...erface compatible linear encoder Load side encoder signal Servo motor encoder signal Linear encoder head Servo motor CN2L CN2 A B Z phase pulse train interface compatible linear encoder or two wire four wire type serial interface compatible linear encoder A B Z phase pulse train interface or serial interface Servo amplifier CC Link IE compatible simple motion module CC Link IE Position command con...

Page 539: ...oder HG KR HG MR servo motor 4194304 pulses rev Drive part Servo amplifier Position command control signal 1 1 Load side encoder signal Servo motor encoder signal CC Link IE compatible simple motion module CC Link IE CN2L CN2 Servo motor A B Z phase differential output two wire type or four wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev or synchronous encoder Q171ENC W8 419430...

Page 540: ...for MR J4 _GF_ servo amplifiers Do not use MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H or MR EKCBL50M H as they are four wire type When an encoder cable of 30 m to 50 m is needed fabricate a two wire type encoder cable according to the following section Page 606 Two wire type encoder cable for HG MR HG KR To use the scale measurement function in the absolute position detection system Pr PA22 1_ _ _ ...

Page 541: ...ut using an MR J4FCCBL03M branch cable for MR J4 _GF_ RJ servo amplifier You can also use a four wire type rotary encoder Servo amplifier Linear encoder CN2 Encoder of rotary servo motor Encoder cable Refer to Linear Encoder Instruction Manual Scale measurement encoder CN2L Servo amplifier CN2 MR J4FCCBL03M branch cable Refer to section 16 2 4 Encoder of rotary servo motor 1 Encoder cable Refer to...

Page 542: ...shell kit 36310 3200 008 3M 2 Plug 36110 3000FD shell kit 36310 F200 008 3M LG View seen from the wiring side 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2 1 MOTOR 2 Plate 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from the wiring side 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 View seen from the wiring side 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 B...

Page 543: ...ffers depending on the scale measurement encoder type For the communication method for using a linear encoder as scale measurement encoder refer to Linear Encoder Instruction Manual Select Four wire type because there is only four wire type for synchronous encoder Select the cable to be connected to CN2L connector in Pr PC26 Select a polarity of the scale measurement encoder with the following Enc...

Page 544: ...e cumulative feedback pulses are matched by moving the device scale measurement encoder manually in the servo off status If mismatched reverse the polarity Confirmation of scale measurement encoder position data Check the scale measurement encoder mounting and parameter settings for any problems Operate the device scale measurement encoder to check the data of the scale measurement encoder is rene...

Page 545: ...I32 ro Rotary encoder Multi revolution ABS counter Absolute position type linear encoder Fixed to 0 Incremental type linear encoder Fixed to 0 A B Z phase differential output type and incremental type linear encoder Fixed to 0 2D3Ch 0 VAR Scale measurement encoder alarm U16 ro 0 Normal Correct data is stored in each object Value other than 0 Error The previous value is stored in each object 2D38h ...

Page 546: ... and the objects 60BAh to 60BDh to any receive PDO or any receive SDO For settings of the servo cyclic transmission function and servo transient transmission function refer to the controller instruction manual Related object Touch probe detection resolution Touch probe1 Touch probe2 Input terminal TPR1 TPR2 Encoder resolution Pr PD37 _ _ _ 0 Selection of high precision touch probe is disabled 55 s...

Page 547: ...er as a trigger Unsupported 1 11 reserved The value at reading is undefined Set 0 when writing 12 0 Stop sampling at the rising edge of touch probe 2 1 Start sampling at the rising edge of touch probe 2 13 0 Stop sampling at the falling edge of touch probe 2 1 Start sampling at the falling edge of touch probe 2 14 reserved The value at reading is undefined Set 0 when writing 15 Bit Definition 0 0 ...

Page 548: ...ion1 positive value does not change 9 60B8h Bit 4 1 Turns on Sample positive edge Rising edge detection is enabled 10 60BAh Touch probe position1 positive value does not change 11 Turns on Touch Probe Signal TPR1 12 60B9h Bit 1 1 Turns on the Touch Probe1 negative edge stored status 12a 60BAh Sets the latched position feedback for Touch probe position1 negative value 13 60B8h Bit 0 0 Disables Touc...

Page 549: ... function with precision of 55 s On the other hand the high precision touch probe latches precisely startup of TPR2 touch probe 2 with precision of 2 s To use the high precision touch probe set Pr PD37 to _ _ _ 1 While the high precision touch probe is being used the encoder pulse output function cannot be used The precision of falling edge is 55 s in this case as well ...

Page 550: ...storation function is not available with a connection from a local station The backup restoration function is to back up and restore all parameter data point table data and cam data in the MR J4 _GF_ RJ to GOT using SLMP The following data can be backed up 1 Cam data can be backed up and restored only in the I O mode For details refer to the following and GOT User s Manual MR J4 _GF_ RJ Servo Ampl...

Page 551: ...eters 1010h before cycling the power For parameters requiring power cycling refer to the following Page 168 PARAMETERS The following table lists the related objects Refer to the controller instruction manual for setting of the servo parameter change function Index Sub Object Name Data Type Access Description 2001h 0 VAR PA01 I32 rw Pr PA_ _ group 2020h 0 VAR PA32 I32 rw 2081h 0 VAR PB01 I32 rw Pr ...

Page 552: ...ally written to the EEP ROM To write the new setting use the Store Parameters 1010h Executing Store Parameters 1010h takes about a maximum of 25 s because all parameters are written at the same time Be careful not to shut off the power during writing The following values are read from Store Parameters 1010h When a parameter is being saved 0 is read When no parameter is being saved 1 is read Index ...

Page 553: ...nd detects the vibration level both during servo motor operation and at a servo motor stop and vibration frequency both during servo motor operation and at a servo motor stop after operation is performed in any operation pattern Failure prediction function The failure prediction function predicts a failure of the equipment from the friction vibration level during servo motor operation and servo mo...

Page 554: ... motor Save the estimated static friction and dynamic friction Drive the servo motor Drive the servo motor The static friction and dynamic friction at rated speed are estimated The static friction and dynamic friction at rated speed are estimated Save the estimated static friction and dynamic friction 2 Pr PF19 Friction failure prediction Compensation coefficient 1 and Pr PF20 Friction failure pre...

Page 555: ...tion level and vibration frequency are estimated Save the estimated vibration level and vibration frequency Vibration failure prediction function Set Vibration failure prediction warning selection _ _ x _ in Pr PF34 to _ _ 2 _ manual threshold setting Set Vibration failure prediction warning selection _ _ x _ in Pr PF34 to _ _ 1 _ automatic threshold setting Save the estimated vibration level and ...

Page 556: ...ion facilitating preventive maintenance In the friction vibration estimation function the friction estimation function estimates the friction of the drive system in the equipment and the vibration estimation function estimates the minute vibration level and vibration frequency based on the data in the servo amplifier The friction estimation function estimates and detects the static friction includ...

Page 557: ...values it is unnecessary to perform to and fro positioning operation By operating the servo motor in acceleration deceleration for forward rotation you can only estimate the static friction and dynamic friction at rated speed at forward rotation By operating the servo motor in acceleration deceleration for reverse rotation you can only estimate the static friction and dynamic friction at rated spe...

Page 558: ...he equipment from the increase and decrease in the dynamic friction at rated speed estimated by the friction estimation function If a failure of the equipment is predicted AL F7 2 Friction failure prediction warning will occur In the friction failure prediction function a threshold that triggers AL F7 2 can be set by the following two methods Automatic threshold setting From the dynamic friction a...

Page 559: ...reshold are automatically rewritten according to the dynamic friction at rated speed estimated in the servo amplifier At this time changing Friction failure prediction Threshold multiplication _ _ _ x in Pr PF40 enables to change the threshold If AL F7 2 Friction failure prediction warning occurs with the value obtained by the automatic threshold setting set _ _ _ 6 or more in Pr PF40 _ _ _ x Afte...

Page 560: ...alls within the upper lower limit threshold AL F7 2 will be canceled Page 557 Threshold setting method Threshold reset method To automatically reset thresholds after the upper and lower limit thresholds are set automatically set Friction failure prediction warning selection _ _ _ x in Pr PF34 to _ _ _ 3 threshold reset and then cycle the power After the power is cycled the thresholds are reset and...

Page 561: ...ion failure prediction function can be used with the following procedure Vibration failure prediction warning setting To enable the vibration failure prediction warning set Vibration failure prediction warning selection _ _ x _ in Pr PF34 to _ _ 1 _ automatic threshold setting or _ _ 2 _ manual threshold setting Threshold setting method For the automatic threshold setting Pr PF45 Vibration failure...

Page 562: ...e equipment from the servo motor total travel distance If the servo motor total travel distance exceeds the value of Failure prediction Servo motor total travel distance multiplication selection x _ _ _ in Pr PF34 Pr PF41 Failure prediction Servo motor total travel distance AL F7 3 Total travel distance failure prediction warning will occur The total travel distance failure prediction function can...

Page 563: ...ution of vibration failure prediction 3 During vibration failure prediction warning Bit 8 to 11 Total travel distance failure prediction status 0 Total revolution failure prediction disabled 1 During execution of total revolution failure prediction 2 During total revolution failure prediction warning Bit 12 to 15 Motor total travel distance calculation status 0 During stop of motor total travel di...

Page 564: ...ion progress The threshold creation progress used for vibration failure prediction is displayed in The creation of a threshold for vibration failure prediction will be completed at 100 2C2Fh 0 VAR Motor total distance U32 ro Motor total travel distance The motor total travel distance is displayed in units of rev or m Index Sub Object Name Data Type Access Description ...

Page 565: ...ifier with the DC power supply input The DC power supply input is available only with the MR J4 _GF RJ servo amplifiers Connection example For the signal and wirings not given in this section refer to the following Page 84 200 V class Page 90 400 V class CAUTION Ensure that polarity is correct Otherwise a burst damage etc may occur ...

Page 566: ...nnector came with a servo amplifier 6 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 7 Driving the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 8 Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply Always use the power sup...

Page 567: ...ort circuit connector came with a servo amplifier 6 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 7 Driving the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 8 Do not use the 24 V DC interface power supply for the magnetic contactor DC power supply Always use...

Page 568: ... crimp terminals 2 To connect these models to a terminal block be sure to use the screws that come with the terminal block Selection example of crimp terminals 1 Coat the crimping part with an insulation tube 2 Some crimp terminals may not be mounted depending on their sizes Make sure to use the recommended ones or equivalent ones Servo amplifier Wire mm2 1 L1 L2 L3 N L11 L21 MR J4 10GF RJ 2 AWG 1...

Page 569: ...olded case circuit breaker 1 Fuse Magnetic contactor 2 Frame rated current Voltage AC V Class Current A Voltage DC V Power factor improving reactor is not used Power factor improving reactor is used MR J4 10GF RJ 30 A frame 5 A 30 A frame 5 A 240 T 10 400 DUD N30 MR J4 20GF RJ 30 A frame 5 A 30 A frame 5 A MR J4 40GF RJ 30 A frame 10 A 30 A frame 5 A 15 MR J4 60GF RJ 30 A frame 15 A 30 A frame 10 ...

Page 570: ...main circuit power supply L1 L2 L3 N install an overcurrent protection device fuse etc to protect the branch circuit Servo amplifier Fuse Class T Fuse Class K5 Current A Voltage DC V Current A Voltage DC V MR J4 10GF RJ 1 400 1 400 MR J4 20GF RJ MR J4 40GF RJ MR J4 60GF RJ MR J4 70GF RJ MR J4 100GF RJ MR J4 200GF RJ MR J4 350GF RJ MR J4 500GF RJ MR J4 700GF RJ MR J4 11KGF RJ MR J4 15KGF RJ MR J4 2...

Page 571: ...0 3 grams of lithium content must be handled as dangerous goods Class 9 depending on packaging requirements ER17330 MR BAT Cell 0 48 g 13 g A6BAT Cell 0 48 g 13 g Model Option model Type Lithium content Mass of battery Remark ER6 MR J2M BT Assembled battery Seven 4 55 g 112 g Assembled batteries with more than two grams of lithium content must be handled as dangerous goods Class 9 regardless of pa...

Page 572: ... the target batteries Containing lithium metal battery Regulations apply for transportation Transportation precaution for customers For sea or air transportation the handling label refer to the example above must be attached to the package of a Mitsubishi cell or battery In addition attaching it to the outer package containing several packages of Mitsubishi cells or batteries is also required When...

Page 573: ...ts 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 chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadm...

Page 574: ...ices MR J4 servo amplifiers comply with the following standards IEC EN 61800 5 1 IEC EN 61800 3 IEC EN 60204 1 ISO EN ISO 13849 1 Category 3 PL e IEC EN 62061 SIL CL 3 IEC EN 61800 5 2 STO Except for MR J4 03A6 and MR J4W2 0303B6 Refer to the following for compatible models Page 583 MR J4 servo amplifier MR J4 servo amplifiers can be used with the MR D30 functional safety unit MR J3 D05 safety log...

Page 575: ...with an insulation tube 2 Some crimp terminals may not be mounted depending on the size Make sure to use the recommended ones or equivalent ones Servo amplifier 7 75 60 stranded wire AWG 2 L1 L2 L3 L11 L21 P C U V W 3 MR J4 03A6 MR J4W2 0303B6 19 5 19 6 MR J4 10_ 1 MR J4 20_ 1 MR J4 40_ 1 MR J4 60_ 4 MR J4 70_ MR J4 100_ 4 MR J4 200_ 4 T MR J4 350_4 14 14 14 14 14 14 14 14 MR J4 200_ S 12 12 MR J4...

Page 576: ...cuit power use UL listed recognized 48 V DC 24 V DC power supplies which can generate more than 1 2 A 2 4 A per axis Servo amplifier 100 V class Molded case circuit breaker 120 V AC Fuse 300 V MR J4 10_1 MR J4 20_1 MR J4 40_1 NV50 SVFU 15A 50 A frame 15 A 20 A Servo amplifier 200 V class 1 Molded case circuit breaker 240 V AC Fuse 300 V MR J4 10_ MR J4 20_ MR J4 40_ MR J4 60_ T MR J4 70_ T MR J4W2...

Page 577: ...ctric HF3000A UN series TF3000C TX series COSEL FTB series Surge protector Okaya Electric Industries RSPD series Line noise filter Mitsubishi Electric FR BLF MR J4 series are not intended to be used on a low voltage public network which supplies domestic premises radio frequency interference is expected if used on such a network The installer shall provide a guide for Installation and use includin...

Page 578: ...nd the user must note the above point and use the product in a place except for home In addition use an EMC filter surge protector ferrite core and line noise filter on the primary side for inputs Use a ferrite core and line noise filter for outputs Use a distance greater than 30 m between the product and third party sensitive radio communications for an MR J4 22K_ 4 General cautions for safety pr...

Page 579: ...transportation To transport lithium batteries take actions to comply with the instructions and regulations such as the United Nations UN the International Civil Aviation Organization ICAO and the International Maritime Organization IMO The batteries MR BAT6V1SET MR BAT6V1SET A MR BAT6V1 and MR BAT6V1BJ are assembled batteries from two batteries lithium metal battery CR17335A which are not subject ...

Page 580: ... cover Touching the resistor including wiring screw hole area may cause a burn injury and electric shock Even if the power was shut off be careful until the bus voltage discharged and the temperature decreased because of the following reasons It may cause a burn injury due to very high temperature without cooling It may cause an electric shock due to charged capacitor of the servo amplifier WARNIN...

Page 581: ...oltage to 100 V and connect the main circuit power supply lines to L1 and L2 For 1 phase 200 V AC servo amplifiers connect the lines to L1 and L3 3 Please use a thermal sensor etc for thermal protection of the servo motor Main circuit 48 V DC input for MR J4 1 axis servo amplifier 1 Please use a thermal sensor etc for thermal protection of the servo motor MCCB or fuse Controller STO Encoder cable ...

Page 582: ...input 5 Symbol Device Connector Pin No TOFCOM Common terminal for monitor output signal in STO state CN8 8 TOFB1 Monitor output signal in STO1 state 6 TOFB2 Monitor output signal in STO2 state 7 Symbol Device Connector Pin No DICOM Digital I F power supply input CN3 5 10 DOCOM Digital I F common 3 SD Shield Plate CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM L...

Page 583: ...BAT6V1BJ For details and other battery backup time refer to the following Page 447 ABSOLUTE POSITION DETECTION SYSTEM 2 Quality of the batteries degrades by the storage condition The battery life is 5 years from the production date regardless of the connection status 3 The characteristic of smoothing capacitor is deteriorated due to ripple currents etc The life of the capacitor greatly depends on ...

Page 584: ...e with the instruction manual Do not put excessive load on the machine Do not hold the front cover cables or connectors when carrying the servo amplifier Otherwise it may drop Item Environment Ambient temperature Operation 0 to 55 Class 3K3 IEC EN 60721 3 3 Transportation 1 20 to 65 Class 2K4 IEC EN 60721 3 2 Storage 1 20 to 65 Class 1K4 IEC EN 60721 3 1 Ambient humidity Operation transportation s...

Page 585: ...60 Hz 2 3 phase 200 V AC to 240 V AC 50 Hz 60 Hz 2 1 phase 100 V AC to 120 V AC 50 Hz 60 Hz 3 phase 380 V AC to 480 V AC 50 Hz 60 Hz 48 V DC or 24 V DC Control circuit line voltage 1 phase 200 V AC to 240 V AC 50 Hz 60 Hz 2 1 phase 100 V AC to 120 V AC 50 Hz 60 Hz 1 phase 380 V AC to 480 V AC 50 Hz 60 Hz 24 V DC Interface SELV 24 V DC required current capacity MR J4 _A_ 500 mA MR J4 _B_ 300 mA MR ...

Page 586: ... 170 155 1 0 MR J4 70_ MR J4 100_ 60 168 185 1 4 MR J4 200_ 4 90 168 195 2 1 MR J4 350_ 90 168 195 2 3 MR J4 500_ 105 250 200 4 0 MR J4 700_ 172 300 200 6 2 MR J4 11K_ 4 MR J4 15K_ 4 220 400 260 13 4 MR J4 22K_ 4 260 400 260 18 2 MR J4 60_4 MR J4 100_4 60 168 195 1 7 MR J4 350_4 105 250 200 3 6 MR J4 500_4 130 250 200 4 3 MR J4 700_4 172 300 200 6 5 MR J4W2 0303B6 30 168 100 0 3 MR J4W2 22B MR J4W...

Page 587: ...6 M5 MR J4W2 22B MR J4W2 44B 6 6 156 0 5 6 M5 MR J4W2 77B MR J4W2 1010B 6 6 156 0 5 6 73 0 3 M5 MR J4W3 222B MR J4W3 444B 6 6 156 0 5 6 73 0 3 M5 d a e c b c d1 a1 e1 f MR J4 installation checklist for manufacturer installer The following items must be satisfied by the initial test operation at least The manufacturer installer must be responsible for checking the standards in the items Maintain an...

Page 588: ...n be set with MR J3 D05 The purpose of this function is as follows This function is available by using an MR J4 series servo amplifier with MR J3 D05 Controlled stop according to stop category 1 of IEC EN 60204 1 Emergency operation for IEC EN 60204 1 Emergency stop Refer to IEC EN 60204 1 2005 9 2 5 4 2 Emergency Stop Emergency stop must override all other functions and actuation in all operation...

Page 589: ...system as a whole must pass safety standards certification When the SS1 delay time is shorter than the required servo motor deceleration time if the forced stop function is malfunctioning or if STO EMG is engaged while the servo motor is still rotating the servo motor will stop with the dynamic brake or freewheeling For proper installation wiring and adjustment thoroughly read the manual of each i...

Page 590: ...SDI1B SDI2B STO1A STO2A SDO1A SDO2A SRESA SRESA TOF1A TOF2A STO1A STO2A SDO1A SDO2A TOFA 0V 24V DCDC power Safety logic TIMER1 TIMER2 A axis circuit SW1 SW2 B axis circuit A axis shutdown 1 and 2 B axis shutdown 1 and 2 Energizing close Shut off open Release close Normal open Normal close Shut off open A axis EMG start reset B axis EMG start reset A axis STO state 1 and 2 B axis STO state 1 and 2 ...

Page 591: ...s 4 point 2 systems SDO_ source sink compatible 3 Output method Photocoupler insulation open collector type Permissible current 40 mA 1 output Inrush current 100 mA 1 output Delay time setting A axis Select from 0 s 1 4 s 2 8 s 5 6 s 9 8 s or 30 8 s B axis Select from 0 s 1 4 s 2 8 s 9 8 s or 30 8 s Accuracy 2 Functional safety STO SS1 IEC EN 61800 5 2 EMG STOP EMG OFF IEC EN 60204 1 Safety perfor...

Page 592: ...n diagram The following shows the connection targets of the STO switch and STO release switch MR D05UDL_M STO cable for MR J3 series cannot be used MR J3 D05 FG STO switch STO release switch Magnetic contactor MCCB Power supply Servo motor MR J4_GF_ RJ STO cable MR D05UDL3M B CN9 CN10 CN8 CN3 L1 L2 L3 U V W EM2 Forced stop 2 ...

Page 593: ...O1A 4A 4B SDO1A SDI1A 1A 1B SDI1A SDI2A SRESA SDO2A TOFA 3A 3B 1A 1B 6A 6B 8A SDI2A SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 MR J4_GF_ RJ SW1 FG 4 5 3 6 7 8 CN3 EM2 A axis CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 MR J4_GF_ RJ SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24 V 7A 0 V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 MR J3 D05 1 1 2 2 S1 24 V DC 0 V STOA ...

Page 594: ...OF2B TOF1B 7 8 Inputs STO state of B axis driving device STO state base shutdown Open between TOF2B and TOF1B STO release state in driving Close between TOF2B and TOF1B I Device Symbol Pin No Function application I O division A axis shutdown 1 SDI1A SDI1A 1A 1B Connect this device to a safety switch for A axis driving device Input the same signal as A axis shutdown 2 STO state base shutdown Open b...

Page 595: ... 1A 1B Signal for releasing STO state base shutdown on A axis driving device Releases STO state base shutdown on A axis driving device by switching between SRESA and SRESA from on connected to off opened DI 1 B axis EMG start reset SRESB SRESB 2A 2B Signal for releasing STO state base shutdown on B axis driving device Releases STO state base shutdown on B axis driving device by switching between S...

Page 596: ...20 0 22 mm2 to 0 5 mm2 recommended electric wire UL 1007 and strip the wires to make the stripped length 7 0 mm 0 3 mm Confirm the stripped length with gauge etc before using the wires If the stripped wires are bent loose or too thick due to twisting too much fix the wires by twisting lightly etc Then confirm the stripped length before using the wires Do not use excessively deformed wires Smooth o...

Page 597: ...ptacle assembly 3 Insert the tool until it hits the surface of the receptacle assembly At this stage the tool is vertical to the receptacle assembly 4 Insert wires in the wiring hole till the end The wires should be slightly twisted in advance to prevent it from being loose It is easy to insert the wire if the wire is inserted diagonally while twisting the tool 5 Remove the tool ...

Page 598: ...ed 4 To remove the wires depress the spring by the screwdriver in the same way as connecting wires and then pull the wires out Connector insertion Insert the connector all the way straight until you hear or feel clicking When removing the connector depress the lock part completely before pulling out If the connector is pulled out without depressing the lock part completely the housing contact and ...

Page 599: ... 1 5 or longer from the end of the connector Be sure that wires are not pulled excessively when the connector is inserted Wiring FG Wire range Single wire 0 4 mm to 1 2 mm AWG 26 to AWG 16 Stranded wire 0 2 mm2 to 1 25 mm2 AWG 24 to AWG 16 wire 0 18 mm or more A 1 5 or more A Bottom face Lead wire ...

Page 600: ...Monitor LED for shut off 2 Off The shut off 2 is off The switch contact is closed On The shut off 2 is on The switch contact is opened TOF Monitor LED for STO state Off Not in STO state On In STO state SDO1 Monitor LED for SDO1 Off Not in STO state On In STO state SDO2 Monitor LED for SDO2 Off Not in STO state On In STO state SW Monitor LED for confirming shutdown delay setting Off The settings of...

Page 601: ...s on refer the following table and take the appropriate action Rotary switch setting and delay time at A B axis s B axis 0 s 1 4 s 2 8 s 5 6 s 9 8 s 30 8 s A axis 0 s 0 1 2 3 4 1 4 s 5 6 7 2 8 s 8 9 A 5 6 s B C 9 8 s D E 30 8 s F Event Definition Cause Action Power is not supplied Power LED does not turn on although power is supplied 1 24 V DC power supply is malfunctioning Replace the 24 V DC pow...

Page 602: ...5 CN8A CN8B CN9 CN10 Pin assignment Mounting screw Screw size M4 Tightening torque 1 2 N m Mass 0 2 kg 7 8 7 8 TOF2A TOF1A TOF2B TOF1B 5 6 5 6 STO2A STO2A STO2B STO2B 3 4 3 4 STO1A STO1B 1 2 1 2 STO1A STO1B 1A 1B 1A 1B SDI1A SDI1A SRESA SRESA 2A 2B 2A 2B SDI1B SDI1B SRESB SRESB 3A 3B 3A 3B SDO1B SDO1B SDI2A SDI2A 4A 4B 4A 4B SDO1A SDO1A SDI2B SDI2B 5A 5B SDO2B SDO2B 6A 6B SDO2A SDO2A 7A 7B 24 V 0 ...

Page 603: ...ctor MR J3 D05 attachment connector Connector for CN9 1 1871940 4 TE Connectivity Connector for CN10 1 1871940 8 TE Connectivity 2 STO cable MR D05UDL3M B Cable length 3 m Connector set 2069250 1 TE Connectivity Cabinet 10 mm or longer 80 mm or longer for wiring 30 mm or longer 10 mm or longer Top Bottom 40 mm or longer 40 mm or longer 40 mm or longer 30 mm or longer 100 mm or longer 10 mm or long...

Page 604: ...endix 6 EC declaration of conformity Appendix 6 EC declaration of conformity The MR J4 series servo amplifiers and MR J3 D05 safety logic unit complies with the safety component laid down in the Machinery directive ...

Page 605: ...APPX Appendix 6 EC declaration of conformity 603 A ...

Page 606: ...one after the replacement using MR Configurator2 Procedures 1 Read the magnetic pole information of the servo amplifier before the replacement 2 Write the read magnetic pole information to the servo amplifier after the replacement 3 Perform the test operation with the torque limit for ensuring the safety and confirm that there is no trouble CAUTION Be sure to write the magnetic pole information of...

Page 607: ...ation window 2 in figure 5 Confirm the data 1 and data 2 3 in figure of the magnetic pole information window and take notes How to write the magnetic pole information to the servo amplifier after the replacement 1 Open the project in MR Configurator2 select MR J4 GF RJ for model and select Linear for operation mode 2 Check that the personal computer is connected with the servo amplifier and select...

Page 608: ...lly pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Connector set 1 Servo amplifier side connector 2 Servo motor side connector MR ECNM Receptacle 36210 0100PL Shell kit 36310 3200 008 3M View seen from wiring side 1 or Connector set 54599 1019 Molex View seen from wiring side 1 Housing 1 172161 9 Connector pin 170359...

Page 609: ... wiring diagram 1 Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system 1 P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 LG MR MRR SHD P5 BAT BAT Servo amplifier side connector Servo motor side connector ...

Page 610: ... used to set the offset voltages to the analog output voltages Setting value is 999 mV to 999 mV Parameter Description Setting range mV PC11 This is used to set the offset voltage of MO1 Analog monitor 1 999 to 999 PC12 This is used to set the offset voltage of MO2 Analog monitor 2 Analog monitor 1 output selection the signal provided to the output across MO1 and LG 0 0 Pr PC09 Analog monitor 2 ou...

Page 611: ...r to the following for the detection point Page 613 Setting value Output item Description 00 Servo motor speed 01 Torque Thrust 7 02 Servo motor speed 03 Torque Thrust 7 04 Current command 7 Maximum speed CW direction CCW direction Maximum speed 0 8 V 8 V Maximum torque Power running in CW direction Power running in CCW direction Maximum torque 0 8 V 8 V Maximum speed CW direction CCW direction Ma...

Page 612: ...0000 pulses 0D Bus voltage 4 0E Speed command 2 3 Setting value Output item Description Maximum speed CW direction CCW direction Maximum speed 0 8 V 8 V 100 pulse CW direction CCW direction 100 pulse 0 10 V 10 V 1000 pulse CW direction CCW direction 1000 pulse 0 10 V 10 V 10000 pulse CW direction CCW direction 10000 pulse 0 10 V 10 V 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V...

Page 613: ...ses 15 Motor side load side position deviation 3 5 6 10 V 100000 pulses Setting value Output item Description 100 pulse CW direction CCW direction 100 pulse 0 10 V 10 V 1000 pulse CW direction CCW direction 1000 pulse 0 10 V 10 V 10000 pulse CW direction CCW direction 10000 pulse 0 10 V 10 V 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V 1 Mpulse CW direction CCW direction 1 Mpul...

Page 614: ...lly closed loop control Output in the servo motor encoder unit for the semi closed loop control 7 For details on the value of the maximum current command maximum torque for 8 V refer to the following Page 614 Maximum current command maximum torque for analog monitor 8 V 16 Servo motor side load side speed deviation 17 Internal temperature of encoder 10 V 128 Setting value Output item Description M...

Page 615: ...ed Torque Speed command 2 FBN FBD Droop pulses Speed command Position control Speed control PWM Current control Current command Bus voltage Speed command Current encoder Servo motor Encoder Current feedback Position feedback M Position command Differ entiation Differ entiation Dual filter Servo motor side droop pulses Load side droop pulses Servo motor side load side position deviation Load side e...

Page 616: ...0_ RJ MR J4 40_1 RJ 361 HG MR73 MR J4 70_ RJ 345 HG SR 1000 r min series HG SR51 MR J4 60_ RJ 311 HG SR81 MR J4 100_ RJ 329 HG SR121 MR J4 200_ RJ 353 HG SR201 MR J4 200_ RJ 334 HG SR301 MR J4 350_ RJ 366 HG SR421 MR J4 500_ RJ 347 HG SR 2000 r min series HG SR52 MR J4 60_ RJ 302 HG SR102 MR J4 100_ RJ 310 HG SR152 MR J4 200_ RJ 320 HG SR202 MR J4 200_ RJ 327 HG SR352 MR J4 350_ RJ 332 HG SR502 MR...

Page 617: ... SR 2000 r min series HG SR524 MR J4 60_4 RJ 313 HG SR1024 MR J4 100_4 RJ 322 HG SR1524 MR J4 200_4 RJ 330 HG SR2024 MR J4 200_4 RJ 327 HG SR3524 MR J4 350_4 RJ 336 HG SR5024 MR J4 500_4 RJ 336 HG SR7024 MR J4 700_4 RJ MR J4 DU900_4 RJ 346 HG JR 1000 r min series HG JR6014 MR J4 700_4 RJ MR J4 DU900_4 RJ 337 HG JR8014 MR J4 11K_4 RJ MR J4 DU11K_4 RJ 336 HG JR12K14 MR J4 11K_4 RJ MR J4 DU11K_4 RJ 3...

Page 618: ..._4 RJ 459 HG JR3534 MR J4 350_4 RJ 320 MR J4 500_4 RJ 470 HG JR5034 MR J4 500_4 RJ 320 MR J4 700_4 RJ MR J4 DU900_4 RJ 413 HG JR7034 MR J4 700_4 RJ MR J4 DU900_4 RJ 337 HG JR9034 MR J4 11K_4 RJ MR J4 DU900_4 RJ 336 Servo motor Servo amplifier drive unit Maximum current command maximum torque HG AK series HG AK0136 MR J4 03A6 MR J4W2 0303B6 380 HG AK0236 MR J4 03A6 MR J4W2 0303B6 380 HG AK0336 MR J...

Page 619: ..._ RJ 310 HG SR152W0C MR J4 200_ RJ 320 HG SR202W0C MR J4 200_ RJ 327 HG SR352W0C MR J4 350_ RJ 332 HG SR502W0C MR J4 500_ RJ 341 HG SR702W0C MR J4 700_ RJ MR J4 DU900_ RJ 336 HG JR 1500 r min series HG JR701MW0C MR J4 700_ RJ MR J4 DU900_ RJ 326 HG JR11K1MW0C MR J4 11K_ RJ MR J4 DU11K_ RJ 335 HG JR15K1MW0C MR J4 15K_ RJ MR J4 DU15K_ RJ 334 HG JR22K1MW0C MR J4 22K_ RJ MR J4 DU22K_ RJ 317 HG JR 3000...

Page 620: ...4 RJ 329 HG JR11K1M4W0C MR J4 11K_4 RJ MR J4 DU11K_4 RJ 338 HG JR15K1M4W0C MR J4 15K_4 RJ MR J4 DU15K_4 RJ 338 HG JR22K1M4W0C MR J4 22K_4 RJ MR J4 DU22K_4 RJ 342 HG JR 3000 r min series HG JR534W0C MR J4 60_4 RJ 320 MR J4 100_4 RJ 460 HG JR734W0C MR J4 100_4 RJ 320 MR J4 200_4 RJ 459 HG JR1034W0C MR J4 100_4 RJ 320 MR J4 200_4 RJ 459 HG JR1534W0C MR J4 200_4 RJ 320 MR J4 350_4 RJ 459 HG JR2034W0C ...

Page 621: ... RJ 815 Liquid cooling MR J4 500_ RJ 409 LM FP2F 18M 1SS0 Natural cooling MR J4 700_ RJ MR J4 DU900_ RJ 800 Liquid cooling MR J4 700_ RJ MR J4 DU900_ RJ 409 LM FP4B 12M 1SS0 Natural cooling MR J4 500_ RJ 742 Liquid cooling MR J4 500_ RJ 383 LM FP4D 24M 1SS0 Natural cooling MR J4 700_ RJ MR J4 DU900_ RJ 778 Liquid cooling MR J4 700_ RJ MR J4 DU900_ RJ 384 LM FP4F 36M 1SS0 Natural cooling MR J4 11K_...

Page 622: ...2K_ RJ 364 Direct drive motor Servo amplifier drive unit Maximum current command maximum torque TM RFM series TM RFM002C20 MR J4 20_ RJ 320 TM RFM004C20 MR J4 40_ RJ 321 TM RFM006C20 MR J4 60_ RJ 320 TM RFM006E20 MR J4 60_ RJ 333 TM RFM012E20 MR J4 70_ RJ 321 TM RFM018E20 MR J4 100_ RJ 321 TM RFM012G20 MR J4 70_ RJ 300 TM RFM048G20 MR J4 350_ RJ 321 TM RFM072G20 MR J4 350_ RJ 321 TM RFM040J10 MR J...

Page 623: ... occurrence Setting the following parameter disables the electronic dynamic brake When Pr PA04 is 2 _ _ _ default the motor can be a state of forced stop deceleration at an alarm occurrence Setting 0 _ _ _ in Pr PA04 disables the forced stop deceleration function Series Servo motor HG KR HG KR053 HG KR13 HG KR23 HG KR43 HG MR HG MR053 HG MR13 HG MR23 HG MR43 HG SR HG SR51 HG SR52 Servo amplifier P...

Page 624: ...s Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory When using any of these servo amplifiers always use the MR RB5R MR RB9F MR RB9T MR RB5K 4 or MR RB6K 4 regenerative option Series Rated output Symbol Rated output kW 11K 11 15K 15 22K 22 Power supply Symbol Power supply None 3 phase 200 V AC to 240 V AC 4 3 phase 380 V AC to 480 V AC Spe...

Page 625: ... name indicates Not all combinations of the symbols are available Series Rated output Symbol Rated output kW 10 0 1 20 0 2 40 0 4 60 0 6 70 0 75 100 1 200 2 350 3 5 500 5 700 7 11K 11 15K 15 22K 22 Power supply 1 1 phase 100 V AC to 120 V AC Symbol Power supply None 3 phase 200 V AC to 240 V AC 4 3 phase 380 V AC to 480 V AC Special specifications Symbol Special specifications KS MR J4 _GF_ RJ wit...

Page 626: ...m periodic inspections for any abnormality Standard for corrosive gases In IEC 60721 3 3 corrosive gases refer to sea salt sulfur dioxide hydrogen sulfide chlorine hydrogen chloride hydrogen fluoride ammonia ozone and nitrogen oxides shown in the environmental parameter column of the table below The table also shows the corrosive gas concentrations defined in IEC 60721 3 3 Class 3C2 The special co...

Page 627: ...he time to turn off the magnetic contactor 4 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 5 When not using the STO function attach the short circuit connector came with a servo amplifier 6 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However the...

Page 628: ...MR J4 10GF RJ SD N11 SD T12 MR J4 20GF RJ MR J4 40GF RJ MR J4 60GF RJ MR J4 70GF RJ MR J4 100GF RJ MR J4 200GF RJ SD N21 SD T21 MR J4 350GF RJ MR J4 500GF RJ SD N35 MR J4 700GF RJ SD N50 MR J4 11KGF RJ MR J4 15KGF RJ SD N65 MR J4 22KGF RJ SD N95 MR J4 60GF4 RJ SD N11 SD T12 MR J4 100GF4 RJ MR J4 200GF4 RJ MR J4 350GF4 RJ SD N21 SD T21 MR J4 500GF4 RJ MR J4 700GF4 RJ MR J4 11KGF4 RJ SD N25 MR J4 15...

Page 629: ...rrent as 100 2B0A 0 U16 ro Peak load ratio The maximum torque generated is displayed The highest value in the past 15 s is displayed with the rated torque being 100 2B0B 0 I16 ro Instantaneous torque The instantaneous torque is displayed The value of torque being occurred is displayed in real time considering a rated torque as 100 2B0C 0 I32 ro Within one revolution position Position within one re...

Page 630: ...position turns on is displayed 2B27 0 I16 ro Oscillation detection frequency Frequency at the time of oscillation detection is displayed 2B28 0 U16 ro Number of tough drive operations The number of tough drive functions activated is displayed 2B2D 0 I16 ro Unit power consumption The module power consumption is displayed The positive value is displayed in power running The negative value is display...

Page 631: ... occurrence time 1 to 16 are displayed Hexadecimal 2B0Fh 0 U16 ro Bus voltage The voltage of main circuit converter between P and N is displayed 2B08h 0 U16 ro Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in 2B09h 0 U16 ro Effective load ratio The continuous effective load current is displayed The effective value is displayed considering a ...

Page 632: ...y warning 3 The servo motor speed may too slow for friction estimation warning 4 The change in the servo motor speed may be small for friction estimation warning 5 The acceleration deceleration time constants may be too short for friction estimation warning 6 The operation time may not be enough warning When warning conditions for 2 to 6 are met at the same time the smaller number is returned When...

Page 633: ...EA5h clears the alarm history 2D33h 0 VISIBLE STRING ro Serial Number 2 The number of characters of the servo amplifier serial number N is displayed 1 to N The servo amplifier serial number is displayed 2D43h 0 VISIBLE STRING ro Optional unit identification information The number of characters of optional unit identification information N is displayed 1 to N When functional safety unit optional un...

Page 634: ...aced by the following China RoHS directive Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products The succeeding China RoHS directive has been in effect since July 1 2016 The China RoHS directive restricts the use of six hazardous substances lead mercury cadmium hexavalent chromium polybrominated biphenyls PBB and polybrominated diphenyl eth...

Page 635: ...11364 2014 Part name Hazardous substance name threshold standard 1 Environ ment Friendly Use Period mark 2 Remark Lead Pb Mercury Hg Cadmium Cd Hexavalent chromium Cr VI PBB PBDE Threshold of cadmium 0 01 wt 100 ppm Threshold of substances other than cadmium 0 1 wt 1000 ppm Servo amplifier Servo system controller Mounting board Heat sink Resin cabinet Plate and screw Servo motor Bracket Mounting b...

Page 636: ...5 lead by weight lead as an alloying element in aluminum containing up to 0 4 lead by weight and copper alloy containing up to 4 lead by weight e g brass made insert nuts Lead in high melting temperature type solders i e lead based alloys containing 85 by weight or more lead Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors e g p...

Page 637: ...ses and Pr PA16 Encoder output pulses 2 Set the A phase B phase pulse electronic gear with Pr PA15 Encoder output pulses and Pr PA16 Encoder output pulses 2 _ _ 4 _ A B phase pulse through output setting AL 37 Parameter error occurs A B phase pulse of A B Z phase differential output encoder is outputted This is enabled only when A B Z phase differential output encoder is used Output pulse A B phas...

Page 638: ...636 APPX Appendix 14 Encoder output pulse setting method MEMO ...

Page 639: ...Maintenance inspection and parts replacement Partially added and partially changed About the manuals MELSERVO MR D30 Instruction Manual is added Section 1 3 Partially changed Section 1 4 Available in the future is deleted Section 1 5 Partially added Section 2 1 Partially changed Section 2 4 Partially added Section 3 1 Partially changed Section 3 3 1 Available in the future is deleted Section 4 5 2...

Page 640: ...changed App 5 10 Partially changed App 12 POINT is added Partially added and partially changed App 13 Newly added February 2018 SH NA 030218ENG D Available on e Manual May 2018 SH NA 030218ENG E 100 V class is added Safety Instructions Partially changed About the manuals Partially added Section 1 2 Partially added and partially changed Section 1 3 Partially added Section 1 4 POINT is partially cha...

Page 641: ...ection 10 3 CAUTION is added Section 10 5 Table is added Section 11 1 The illustration is partially changed Section 11 2 Contents are partially added to the table The illustration is changed Section 11 5 Partially added and partially changed Section 11 7 Partially changed Section 11 8 Partially changed Section 11 9 Partially added Section 11 10 Partially added Section 11 11 Partially changed Secti...

Page 642: ...App 1 Partially changed App 4 Partially changed CAUTION is partially added App 7 Contents are partially changed in the table App 9 Partially added and partially changed App 10 Partially added App 11 Partially added and partially changed App 13 Partially added and partially changed App 15 Newly added This manual confers no industrial property rights or any rights of any other kind nor does it confe...

Page 643: ... of the Product from our company 8 any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc...

Page 644: ...and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Modbus is registered trademark of SCHNEIDER ELECTRIC USA INC Ethernet is a registered trademark of Fuji Xerox Co Ltd in Japan All other product names and company names are trademarks or registered trademarks of their respective companies SH NA 030218ENG E ...

Page 645: ......

Page 646: ...ject to change without notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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