Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User Manual Download Page 449 | Manualshive

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12 USING A FULLY CLOSED LOOP SYSTEM

12.2 Functions and configuration

447

12

Function block diagram

Fully closed loop system block diagram

A fully closed loop system block diagram is shown below. For a fully closed loop system, the position is controlled in the units
of the load-side encoder.

■

MR-J5-_G_/MR-J5W_-_G_

■

MR-J5-_A_

*1 A switch between semi closed loop control and fully closed loop control can be set with [Pr. PE01.0 Fully closed loop function selection].

For semi closed loop control, regardless of whether the servo motor stops or rotates, the position is always controlled based on servo
motor encoder position information.

*2 For fully closed loop control, dual feedback control, which combines servo motor feedback signals and load-side encoder feedback

signals, can be enabled with [Pr. PE08 Fully closed loop dual feedback filter]. When dual feedback control is enabled, the control
performance is improved by switching the control method to fully closed loop control when the servo motor is stopped and to semi
closed loop control when the servo motor is operating. When [Pr. PE08] is set to "4500", fully closed loop control is always enabled.

FBD

+

-

FBN

CDV

CMX

S

+

-

+

-

+

+

-

+

-

+

Servo motor-side
feedback pulses
(load-side resolution unit)

(Servo motor-side)
Droop pulses

(Servo motor-side)
Cumulative feedback
pulses

Load-side encoder
droop pulses

Load-side encoder
cumulative feedback
pulses

Fully closed loop
dual feedback
filter ([Pr. PE08])

*2

Servo motor

Linear encoder

Controller

Electronic gear

Fully closed loop function selection
([Pr. PE01.0])

*1

Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC03])

Fully closed loop control
error - Detection function
selection ([Pr. PE03.0])

Control
Monitor

Load-side feedback pulses

FBD

+

-

FBN

CDV

CMX

S

+

-

+

-

+

+

-

+

-

+

Servo motor-side
feedback pulses
(load-side resolution unit)

(Servo motor-side)
Droop pulses

(Servo motor-side)
Cumulative feedback
pulses

Load-side encoder
droop pulses

Load side encoder
cumulative feedback
pulses

Fully closed loop
dual feedback filter
([Pr. PE08])

*2

Servo motor

Linear encoder

Controller

Electronic gear

Encoder pulse setting
([Pr. PA15], [Pr. PA16],
and [Pr. PC19])

Fully closed loop control
error - Detection function
selection ([Pr. PE03.0])

Control
Monitor

Load-side feedback pulse

Fully closed loop function selection
([Pr. PE01.0])

*1

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Summary of Contents for MELSERVO-J5 MR-J5-G Series

Page 1: ...MR J5 User s Manual Hardware MR J5 _G_ MR J5W_ _G_ MR J5 _A_ Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ... Please follow the instructions of both levels because they are important to personnel safety Forbidden actions and required actions are indicated by the following diagrammatic symbols In this manual precautions for hazards that can lead to property damage instructions for other functions and other information are shown separately in the POINT area After reading this manual keep it accessible to t...

Page 4: ...efore wiring To prevent an electric shock connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the cabinet then connect the grounding lead wire to the ground To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the sw...

Page 5: ...nterface of the servo amplifier For details refer to the User s Manual Introduction This manual covers the following servo amplifiers MR J5 _G_ MR J5W_ _G_ MR J5 _A_ In this manual the servo amplifier names are abbreviated as shown below Symbol Servo amplifier G MR J5 _G_ WG MR J5W_ _G_ A MR J5 _A_ Rotary Servo Motor Linear Servo Motor Direct Drive Motor Partner Encoder Function Adjustment Object ...

Page 6: ...values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F ...

Page 7: ...dure 32 Fan unit installation procedure 33 2 5 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m 33 CHAPTER 3 SIGNALS AND WIRING 34 3 1 Example power circuit connections 35 200 V class 36 400 V class 40 Using servo amplifier with DC power supply input 41 3 2 Example I O signal connections 43 MR J5 _G_ 43 MR J5 _A_ 46 MR J5W_ _G_ 54 3 3 Explanation of power suppl...

Page 8: ...S 119 5 1 Overload protection characteristics 119 5 2 Power supply capacity and generated loss 122 Power supply capacity 122 Generated loss 128 Using servo amplifier with DC power supply input 129 5 3 Dynamic brake characteristics 130 Dynamic brake operation 131 5 4 Cable flex life 167 5 5 Inrush currents at power on of main circuit and control circuit 168 CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMEN...

Page 9: ...Selection example of wires 217 6 10 Molded case circuit breakers fuses magnetic contactors 219 Main circuit wiring connecting multiple servo amplifiers to one molded case circuit breaker 226 Example settings that comply with IEC EN UL 61800 5 1 and CSA C22 2 No 274 229 6 11 Power factor improving DC reactor 231 6 12 Power factor improving AC reactor 235 6 13 Relay recommended 239 6 14 Noise reduct...

Page 10: ...Battery less battery 293 Connecting the battery less encoder 293 Connecting the battery backup type absolute position encoder 294 7 3 Absolute position detection system by DIO A 296 Standard connection example 296 Signal explanation 297 Startup procedure 298 Absolute position data transfer protocol 299 Absolute position data transfer errors 312 7 4 Absolute position detection system via communicat...

Page 11: ... and pin assignments 336 9 5 Example I O signal connections 337 Input signal 337 Output signal 337 9 6 Connecting I O interfaces 338 Source input 338 Sink input 338 9 7 Wiring the SBC output 339 9 8 Noise reduction techniques 340 9 9 Example of connection with other devices 341 Safety sub function control by input device 341 Safety sub function control by network 342 CHAPTER 10 USING A LINEAR SERV...

Page 12: ...ol error detection function 417 11 5 Characteristics 420 Overload protection characteristics 420 Power supply capacity and generated loss 423 Power supply capacity and generated loss WG 424 Dynamic brake characteristics 426 Permissible load to motor inertia ratio when the dynamic brake is used 428 11 6 Absolute position detection system G WG 428 11 7 Absolute position detection system A 428 11 8 B...

Page 13: ... 462 Homing 462 Operation from controller 465 Fully closed loop control error detection function 465 About MR Configurator2 467 12 6 Options and peripheral equipment 469 MR J4FCCBL03M branch cable 469 12 7 Absolute position detection system 470 REVISIONS 472 WARRANTY 473 TRADEMARKS 474 ...

Page 14: ...tary encoder Rotary Servo Motor User s Manual HK series Page 343 USING A LINEAR SERVO MOTOR Page 395 USING A DIRECT DRIVE MOTOR Page 445 USING A FULLY CLOSED LOOP SYSTEM 5 Connecting options Connect options Page 169 OPTIONS AND PERIPHERAL EQUIPMENT 6 Other precautions If using the absolute position detection system and the STO function perform wiring and settings as necessary Page 290 ABSOLUTE POS...

Page 15: ...rs the maximum torque does not increase even when they are combined with a servo amplifier whose combination allows for increased torque as specified in the following tables 200 V class 1 axis servo amplifier Standard torque Increased torque Rotary servo motor Servo amplifier MR J5 _ 10_ 20_ 40_ 60_ 70_ 100_ 200_ 350_ HK KT_W 40 HK KT053W HK KT13W HK KT1M3W 60 HK KT13UW HK KT23W HK KT43W HK KT63W ...

Page 16: ...ed after September 2020 Rotary servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ 22G 44G 77G 1010G 222G 444G HK KT_W 40 HK KT053W HK KT13W HK KT1M3W 60 HK KT13UW HK KT23W HK KT43W HK KT63W 80 HK KT23UW HK KT43UW HK KT7M3W HK KT103W 90 HK KT7M3UW HK KT103UW HK KT_4_W 60 HK KT434W HK KT634W 80 HK KT7M34W HK KT1034W 90 HK KT1534W HK KT2034W HK KT2024W Rotary servo motor Servo amplifier ...

Page 17: ...2W Multi axis servo amplifier As long as the servo motor is compatible with the servo amplifier any combination of the following is possible servo motor series capacity rotary servo motor linear servo motor and direct drive motor Standard torque Increased torque Rotary servo motor Servo amplifier MR J5 _ 40_ 60_ 70_ 100_ 200_ 350_ 500_ 700_ HK ST_W 1 130 HK ST52W HK ST102W HK ST172W HK ST202AW HK ...

Page 18: ...uivalent to the combination of the HG RR103 and MR J4 200_ use the HK RT103W and MR J5 200_ in combination For how to calculate the coasting distance refer to the following page Page 130 Dynamic brake characteristics 400 V class Standard torque Increased torque Rotary servo motor Servo amplifier MR J5 _ Servo amplifier MR J5W2 _ 100_ 200_ 350_ 500_ 700_ 1010G HK RT_W 90 HK RT103W 2 HK RT153W 1 HK ...

Page 19: ...BSS0 LM H3S20 480 BSS0 LM H3S20 768 BSS0 LM H3P3A 12P CSS0 LM H3S30 288 CSS0 LM H3S30 384 CSS0 LM H3S30 480 CSS0 LM H3S30 768 CSS0 LM H3P3B 24P CSS0 LM H3P3C 36P CSS0 LM H3P3D 48P CSS0 LM H3P7A 24P ASS0 LM H3S70 288 ASS0 LM H3S70 384 ASS0 LM H3S70 480 ASS0 LM H3S70 768 ASS0 LM H3P7B 48P ASS0 LM H3P7C 72P ASS0 LM H3P7D 96P ASS0 Linear servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ ...

Page 20: ... 0SS0 LM U2SA0 420 0SS0 LM U2PAD 10M 0SS0 LM U2PAF 15M 0SS0 LM U2PBB 07M 1SS0 LM U2SB0 240 1SS1 LM U2SB0 300 1SS1 LM U2SB0 420 1SS1 LM U2PBD 15M 1SS0 LM U2PBF 22M 1SS0 LM U2P2B 40M 2SS0 LM U2S20 300 2SS1 LM U2S20 480 2SS1 LM U2P2C 60M 2SS0 LM U2P2D 80M 2SS0 Linear servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ Primary side coil Secondary side magnet 22G 44G 77G 1010G 222G 444G LM ...

Page 21: ...M FS40 480 1SS0 LM FS40 576 1SS0 LM FP4D 24M 1SS0 Linear servo motor Servo amplifier MR J5 _ Primary side coil Secondary side magnet 40_ 70_ 200_ 350_ 500_ LM K2P1A 01M 2SS1 LM K2S10 288 2SS1 LM K2S10 384 2SS1 LM K2S10 480 2SS1 LM K2S10 768 2SS1 LM K2P1C 03M 2SS1 LM K2P2A 02M 1SS1 LM K2S20 288 1SS1 LM K2S20 384 1SS1 LM K2S20 480 1SS1 LM K2S20 768 1SS1 LM K2P2C 07M 1SS1 LM K2P2E 12M 1SS1 LM K2P3C 1...

Page 22: ...AJS20 080 JSS0 LM AJS20 200 JSS0 LM AJS20 400 JSS0 LM AJP2D 23T JSS0 LM AJP3B 17N JSS0 LM AJS30 080 JSS0 LM AJS30 200 JSS0 LM AJS30 400 JSS0 LM AJP3D 35R JSS0 LM AJP4B 22M JSS0 LM AJS40 080 JSS0 LM AJS40 200 JSS0 LM AJS40 400 JSS0 LM AJP4D 45N JSS0 Linear servo motor Servo amplifier MR J5W2 _ Servo amplifier MR J5W3 _ Primary side coil Secondary side magnet 40_ 77_ 1010_ 444_ LM AJP1B 07K JSS0 LM ...

Page 23: ...f the following is possible servo motor series capacity rotary servo motor linear servo motor and direct drive motor Standard torque Direct drive motor Servo amplifier MR J5 _ 20_ 40_ 60_ 70_ 100_ 350_ 500_ TM RFM002C20 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM048G20 TM RFM072G20 TM RFM040J10 TM RFM120J10 TM RFM240J10 Direct drive motor Servo amplifier MR...

Page 24: ...e following is possible servo motor series capacity rotary servo motor linear servo motor and direct drive motor Standard torque Increased torque Direct drive motor Servo amplifier MR J5 _ 20_ 40_ TM RG2M002C30 TM RU2M002C30 TM RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 Direct drive motor Servo amplifier MR J5W2 Servo amplifier MR J5W3 22G 44G 77G 1010G 222G 444G TM RG2M002C30 TM RU2M002...

Page 25: ...er supply system wiring Check that the power supplied to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier satisfies the defined specifications For the power supply specifications refer to Servo amplifier standard specifications in User s Manual Introduction If the power factor improving DC reactor is not used check that P3 and P4 are connected P3 P4 Servo amplifier ...

Page 26: ... cause the servo amplifier and the servo motor to malfunction Check that the grounding terminal of the servo motor is connected to the PE terminal of the servo amplifier Check that the CN2 connector of the servo amplifier is securely connected to the encoder of the servo motor using a motor cable or encoder cable U M V W U V W Servo amplifier Servo motor CNP3A CNP3B CNP3C U V W M U V W M U V E E E...

Page 27: ...ng DC reactor Check that a power factor improving DC reactor is connected between P3 and P4 Page 231 Power factor improving DC reactor 1 Remove the wire between P3 and P4 I O signal wiring Check that I O signals are connected correctly If the DO forced output mode is used the pins of the CN3 connector can be forcibly switched on off This mode is used to check the wiring In this case switch on the ...

Page 28: ...nd servo motor Handling cables Check that the wiring cables have not been stressed Check that the encoder cable has been used within its flex life Page 167 Cable flex life Check that the connector of the servo motor has not been stressed Environment Check that signal cables and power cables have not been shorted primarily by wire offcuts and metallic dust ...

Page 29: ...ual Introduction To prevent a fire or injury from occurring in the event of an earthquake or other natural disaster securely install mount and wire the servo amplifier as stated in the user s manual When the product has been stored for an extended period of time contact your local sales office When handling the servo amplifier be careful with the edges of the servo amplifier Fumigants that are use...

Page 30: ... clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances When mounting servo amplifiers in this manner keep the ambient temperature within 0 C to 45 C or use the servo amplifiers with 75 or less of the effective load ratio 1 Leave a clearance of 100 mm or more above the fan units Cabinet Cabinet 40 mm or more Wiring allowance Servo amplifier 80 mm or more 10...

Page 31: ...P1 CNP2 and CNP3 connectors cannot be removed Refer to the following table for availability of close mounting Servo amplifier When 3 phase power supply is input When 1 phase power supply is input MR J5 10_ to MR J5 70_ Possible Possible MR J5 100_ to MR J5 200_ Impossible MR J5 350_ to MR J5 700_ MR J5W2 22G_ to MR J5W2 1010G_ Possible MR J5W3 222G_ to MR J5W3 444G_ Possible MR J5 60_4_ to MR J5 3...

Page 32: ... manner keep the ambient temperature within 0 C to 45 C or use the servo amplifiers with 75 or less of the effective load ratio 1 Leave a clearance of 100 mm or more above the fan units Other precautions When using heat generating equipment such as the regenerative option install it with full consideration of heat generation so that the servo amplifier is not affected Mount the servo amplifier on ...

Page 33: ... connector to prevent stress from being applied to the connecting part of the servo motor connector Use the optional motor cable encoder cable within the flex life range Prevent the cable insulator from being cut by sharp chips or from touching and rubbing against the machine corners Prevent the cables from getting stepped on by workers or run over by vehicles If installing the servo motor that mo...

Page 34: ... procedure Fan unit removal procedure 1 Remove the screws that fixed the fan unit Keep the removed screws for installation of the new fan unit 2 Pull up the cover of the fan unit using a precision screwdriver 3 Pull out the fan unit vertically ...

Page 35: ...ers close together while using them in environments comparable to those within the diagonal lines in the figure above use them at an effective load ratio of 75 or less Input voltage Generally withstand voltage decreases as altitude increases however there is no restriction on the withstand voltage Use in the same manner as when the altitude is 1000 m or less Parts with a service life Smoothing cap...

Page 36: ...n the correct direction Failing to do so may cause the amplifier to malfunction and not to output signals disabling protective circuits such as the emergency stop If the wires are not properly secured to the terminal block the poor contact may cause the wires and terminal block to generate heat Be sure to secure the wires with the specified torque Connecting the servo motor for an incorrect axis t...

Page 37: ...mmunication will be interrupted In the torque mode EM2 functions the same as EM1 If using the MR J5 servo amplifier with the DC power supply input refer to the following Page 41 Using servo amplifier with DC power supply input To prevent malfunction avoid bundling the servo amplifier s power lines input output and signal cables together or running them parallel to each other Separate the power lin...

Page 38: ...C to 240 V AC power supply G A MC 6 L1 L2 L3 P3 P4 P L11 L21 N D C U V W CNP1 12 CNP3 8 CNP2 U V E W CN2 8 MC MCCB MC SK M RA1 RA2 5 3 7 2 1 10 Malfunction 4 OFF ON Emergency stop switch Servo amplifier Servo motor 3 phase 200 V AC to 240 V AC 9 Motor Encoder Servo motor overheat protection 11 ...

Page 39: ...and operation pattern causing a dynamic brake deceleration during a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 219 Molded case circuit breakers fuses magnetic contactors 8 Connecting the servo motor for an ...

Page 40: ...CNP1 CNP3A 9 CNP2 U V W CN2A MC MCCB MC SK M N RA1 4 7 U V W CNP3B 9 U V W CN2B M 4 U V W CNP3C 9 U V E E E W CN2C M 4 PE 1 2 2 2 10 RA2 AND malfunction 3 OFF ON Emergency stop switch Servo amplifier A axis servo motor Power supply 6 Motor Encoder B axis servo motor Motor Encoder C axis servo motor 8 Motor Encoder Servo motor overheat protection 11 ...

Page 41: ...top deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 6 For 1 phase 200 V AC to 240 V AC power supply connect the power supply to L1 and L3 Leave L2 open 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 219 Molded case circuit breakers fuses magnetic contactors 8 This is fo...

Page 42: ... applied to the coil until closure of contacts of 80 ms or less The bus voltage may drop depending on the main circuit power supply voltage and operation pattern causing a dynamic brake deceleration during a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 a...

Page 43: ...ing a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 3 Operating the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 4 Do not share the 24 V DC power supply for interface with a magnetic contactor Use the power supply designed exclusively for the magnetic contactor 5 If wires used for L11 ...

Page 44: ...is not required delay the time to turn off the magnetic contactor 3 Operating the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 4 Do not share the 24 V DC power supply for interface with a magnetic contactor Use the power supply designed exclusively for the magnetic contactor 5 If wires used for L11 and L21 are thinner than wires used for L1 L2 L3 and N use a ...

Page 45: ...OM 5 CN1A CN1B RA1 RA2 RA3 CN8 MR J3USBCBL3M 1 CN6 MR Configurator2 5 Servo amplifier 10 m or less 10 m or less 24 V DC 9 Main circuit power supply 7 Forced stop 2 3 Forward rotation stroke end Electromagnetic brake interlock 13 Reverse rotation stroke end In position Proximity dog 16 Malfunction 10 24 V DC 9 Encoder A phase pulse differential line driver Encoder B phase pulse differential line dr...

Page 46: ...cuit connector that came with the servo amplifier 9 Supply 24 V DC 10 to interfaces from outside The total current capacity of these power supplies is 300 mA maximum The amperage will not exceed 300 mA when all I O signals are used Reducing the number of I O points decreases the current capacity For the amperage required for interfaces refer to the following Page 96 Digital input interface DI 1 Al...

Page 47: ...plifier 10 m or less 10 m or less 24 V DC 9 14 Main circuit power supply 7 Forced stop 2 3 Forward rotation stroke end Electromagnetic brake interlock 13 Reverse rotation stroke end In position Proximity dog 16 Malfunction 10 24 V DC 9 14 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse differential line driver Control common Perso...

Page 48: ...4 10 m or less 24 V DC 4 Positioning module 24 V DC 4 Malfunction 6 Zero speed detection Limiting torque In position Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Plate Control common 10 m or less 8 Control common Encoder Z phase pulse open collector Plate 2 m or less Upper limit setting Analog torque limit 10 V maximum torque Plate 2 m or less 10 m ...

Page 49: ... rotation stroke end normally closed contact 6 If no alarm is occurring ALM Malfunction is on normally closed contact If an alarm occurs stop programmable controller s signals with a sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies when the command pulse train input is the differential line driver type In the case of the open collecto...

Page 50: ...figurator2 9 Servo amplifier 10 m or less 24 V DC 4 14 Positioning module 24 V DC 4 14 Malfunction 6 Zero speed detection Limiting torque In position Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Plate Control common 10 m or less 8 Control common Encoder Z phase pulse open collector Plate 2 m or less Upper limit setting Analog torque limit 10 V maxim...

Page 51: ...alfunction 6 Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque Forward rotation stroke end Speed reached Reverse rotation stroke end Ready 24 V DC 4 Upper limit setting Encoder Z phase pulse differential line driver Analog speed command 10 V rated speed Encoder A phase pulse differential line driver Upper limit setting Analog torque limit 8 10 V m...

Page 52: ...hough the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 5 When starting operation turn on EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end normally closed contact 6 If no alarm is occurring ALM Malfunction is on normally ...

Page 53: ...3 5 Servo on Reset Speed selection 1 Malfunction 6 Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque Forward rotation stroke end Speed reached Reverse rotation stroke end Ready 24 V DC 4 12 Upper limit setting Encoder Z phase pulse differential line driver Analog speed command 10 V rated speed Encoder A phase pulse differential line driver Upper l...

Page 54: ...g the STO function attach the short circuit connector that came with the servo amplifier 9 To prevent an unexpected restart of the servo amplifier configure a circuit that turns off EM2 when the main circuit power supply is turned off 10 For source interfaces the positive and negative outputs of the power supply are reversed as compared with sink interfaces 46 DOCOM 48 ALM 23 ZSP 25 VLC 49 RD 4 LA...

Page 55: ... 10 Forced stop 2 3 Servo on Reset Speed selection 1 Malfunction 5 Speed selection 2 Zero speed detection Forward rotation selection Reverse rotation selection Limiting speed Ready 24 V DC 4 10 Upper limit setting Encoder Z phase pulse differential line driver Analog torque command 8 V maximum torque Encoder A phase pulse differential line driver Upper limit setting Analog speed limit 0 V to 10 V ...

Page 56: ...r A axis Electromagnetic brake interlock for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Electromagnetic brake interlock for B axis Forward rotation stroke end for B axis Electromagnetic brake interlock for C axis 13 Reverse rotation stroke end for B axis Proximity dog for B axis Forward rotation stroke end for C axis Reverse rotation stroke end for C axis Proximity dog ...

Page 57: ... I O signals are used Reducing the number of I O points decreases the current capacity For the amperage required for interfaces refer to the following Page 96 Digital input interface DI 1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 7 If no ala...

Page 58: ... end for A axis Electromagnetic brake interlock for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Electromagnetic brake interlock for B axis Forward rotation stroke end for B axis Electromagnetic brake interlock for C axis 13 Reverse rotation stroke end for B axis Proximity dog for B axis Forward rotation stroke end for C axis Reverse rotation stroke end for C axis Proximi...

Page 59: ...or disconnect P3 and P4 and connect the power factor improving DC reactor between P3 and P4 P C D Connection destination Regenerative option If using a servo amplifier built in regenerative resistor connect P and D P and D are connected from the factory If using a regenerative option disconnect P and D and connect the regenerative option between P and C L11 L21 Connection destination Control circu...

Page 60: ...plifier as this will lead to abnormal operation or malfunction N Connects to Simple converters and multifunction regeneration converters This terminal is used to connect a simple converter or a multifunction regeneration converter Page 192 MR CM simple converter Page 202 Multifunction regeneration converter FR XC H Connection destination Protective earth PE Connect a servo amplifier to the groundi...

Page 61: ... the main circuit power supply is off AL 0E9 Main circuit off warning will occur Turning on the main circuit power supply stops the warning and starts the operation properly 3 When the main circuit power supply is switched on the servo amplifier will receive the servo on command after startup and initial network communication The startup time for 1 axis servo amplifiers is 2 5 s to 3 5 s and the s...

Page 62: ...t power supply is not on the display shows the corresponding warning However the warning will disappear and the servo amplifier will operate properly if the main circuit is powered on 3 The servo amplifier receives the SON Servo on 2 5 s to 3 5 s after the main circuit power supply is powered on 4 Once RES Reset is turned on the base circuit is shut off and the servo motor shaft coasts Timing char...

Page 63: ...ier Connector MR J5 10_ to MR J5 100_ MR J5 200_ MR J5 350_ Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK K7 5 LA AWG 18 to 14 3 9 mm or less 9 J FAT OT K JST CNP2 05JFAT SAXGDK K5 0 LA CNP3 03JFAT SAXGDK K7 5 LA Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CN...

Page 64: ...GDK P15 LA AWG 18 to 8 7 6 mm or less 12 J FAT OT P JST CNP1B 03JFAT SAYGDK P15 LB CNP2 05JFAT SAXGDK H5 0 LA AWG 18 to 14 3 9 mm or less 9 J FAT OT N CNP3 03JFAT SAZGDK P15 LC AWG 18 to 8 7 6 mm or less 12 J FAT OT P Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK K7 5 LB AWG 18 to 14 3 9 mm or less 9 J FAT OT K JST CNP2...

Page 65: ... XL LB AWG 16 to 10 4 7 mm or less 11 5 J FAT OT EXL JST CNP2 05JFAT SAXGDK H5 0 LA AWG 18 to 14 3 9 mm or less 9 CNP3A CNP3B 04JFAT SAGG G KK AWG 18 to 14 3 9 mm or less 9 Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 06JFAT SAXGDK HT10 5 LA AWG 18 to 14 3 9 mm or less 9 J FAT OT XL JST CNP2 05JFAT SAXGDK HT7 5 LA CNP3 03JFAT SAXGDK...

Page 66: ...ulator is not caught by the spring and that the conductive part of the stripped wire is not exposed Release the open tool to fix the wire Pull the wire lightly to confirm that the wire is surely connected In addition confirm that the ends of the core wires do not stick out of the connector Servo amplifier Wire size Ferrule model Phoenix Contact Crimping tool Phoenix Contact For one wire For two wi...

Page 67: ...ewed from the cable connector wiring section For information on the functional safety I O signal connector CN8 refer to the following page Page 319 USING STO FUNCTION For wiring to the I O signal connector CN3 securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Screw Cable Screw Ground plate ...

Page 68: ...rotective earth grounding terminal in the servo amplifier 1 The MR J5 _G_ servo amplifier does not have the CN2L connector 2 Refer to the following for CN8 Page 322 Functional safety I O signal connector CN8 and pin assignments CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 LSP ADIN0 DOCOM DICOM LZ LSN ADIN1 EM2 TPR1 LG TPR2 MBR LBR LA LB LZR LAR ALM DOG INP 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7...

Page 69: ...r to the following for CN8 Page 322 Functional safety I O signal connector CN8 and pin assignments The device assignment of the CN3 connector pins changes depending on the control mode The device of each pin which has servo parameters stated in the related servo parameter column can be changed using the stated servo parameters 2 LG 3 MO2 1 MO1 CN6 CN3 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT CN2 MXR ...

Page 70: ... PD11 Pr PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP SA SA SA INP Pr PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr PD24 24 O INP INP SA SA SA INP Pr PD25 25 O TLC TLC TLC TLC VLC VLC VLC TLC Pr PD26 26 27 I TLA TLA TLA TLA TC TC TC TLA 28 LG LG LG LG LG LG 29 6 SDP SDP SDP SDP SDP SDP 30 LG LG LG LG LG LG 31 32 6 SDN SDN SDN SDN SDN SDN 33 O OP OP OP OP O...

Page 71: ...ssigned by default Assign the output devices with Pr PD47 as necessary This pin can be used only on the MR J5 _A_ RJ_ 4 This is available as an input device of a sink interface If using it assign the input device with Pr PD43 to Pr PD46 as necessary In addition supply of 24 V DC to the CN3 12 pin 5 This is available as an input device of a source interface If using it assign the input device with ...

Page 72: ... grounding terminal in the servo amplifier 1 This is for the MR J5W3 _G_ servo amplifier 2 Refer to the following for CN8 Page 322 Functional safety I O signal connector CN8 and pin assignments 14 LG LA A 1 15 2 16 3 17 4 18 5 19 6 20 7 21 8 22 9 23 10 24 11 25 12 26 13 LBR A LAR A LB A LA B LBR B LAR B LB B DI1 A DI2 B DI1 B DI2 A DI3 A DICOM DI3 B EM2 CALM MBR B CINP MBR A DOCOM 2 LG 4 MRR 3 MR ...

Page 73: ...R J5 _G_ RJ_ MR J5W2 _G_ Connector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 2 Pr PD03 LSP Impossible DI 1 CN3 12 Pr PD04 LSN CN3 19 Pr PD05 DOG CN3 20 EM2 Connector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 1 Pr PD39 TPR2 Possible DI 1 CN3 2 Pr PD03 LSP Impossible CN3 10 Pr PD38 TPR1 Possible C...

Page 74: ...ector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 1 Pr PD03 C axis LSP C Impossible DI 1 CN3 2 Pr PD04 C axis LSN C CN3 7 Pr PD03 A axis LSP A CN3 8 Pr PD04 A axis LSN A CN3 9 Pr PD05 A axis DOG A Possible CN3 10 EM2 Impossible CN3 15 Pr PD05 C axis DOG C Possible CN3 20 Pr PD03 B axis LSP B Impossible CN3 21 Pr PD04 B axis LSN B CN3 22 Pr PD05 B a...

Page 75: ...vo on SON DI 1 Page 76 SON Servo on Reset RES DI 1 Page 76 RES Reset External torque limit selection TL DI 1 Page 76 TL External torque limit selection Internal torque limit selection TL1 DI 1 Page 76 TL1 Internal torque limit selection Forward rotation start ST1 DI 1 Page 76 ST1 Forward rotation start ST2 Reverse rotation start Reverse rotation start ST2 DI 1 Forward rotation selection RS1 DI 1 P...

Page 76: ...switch the speed amplifier from the proportional integral type to the proportional type If a servo motor is rotated even for a pulse due to any external factor while it is at a stop it generates torque to compensate for a position mismatch If locking the servo motor shaft mechanically after positioning completes turn on PC Proportional control upon completion of positioning to suppress the unneces...

Page 77: ...mplifiers with firmware version A5 or later Input device explanation G WG DOG Proximity dog Turning off DOG will detect a proximity dog The polarity for the proximity dog can be changed with Pr PT29 0 TPR1 touch probe 1 TPR2 touch probe 2 TPR3 touch probe 3 These devices can be used only on the MR J5 _G_ RJ_ or multi axis servo amplifiers Refer to the following table for servo amplifiers on which ...

Page 78: ...shut off This device is not designed to make a stop Do not turn it on during operation TL External torque limit selection When TL is off Pr PA11 and Pr PA12 are enabled When TL is on TLA Analog torque limit is enabled MR J5 User s Manual Function TL1 Internal torque limit selection When TL1 is on Pr PC35 is enabled When TL1 is off the TL condition is enabled MR J5 User s Manual Function ST1 Forwar...

Page 79: ... enables to select four different electronic gear numerators set in the parameters CM1 and CM2 cannot be used in the absolute position detection system Input device Torque generation direction RS2 RS1 0 off 0 off Torque is not generated 0 off 1 on Forward rotation in power running mode reverse rotation in regenerative mode 1 on 0 off Reverse rotation in power running mode forward rotation in regen...

Page 80: ...03 0 is set to 1 and the absolute position detection system by DIO is selected ABSR will be assigned to the CN3 18 pin Page 290 ABSOLUTE POSITION DETECTION SYSTEM PEN command input permission signal If PEN is selected as an input device command pulse trains are accepted while PEN is on The input device is available on servo amplifiers with firmware version A5 or later MECR motor side load side dev...

Page 81: ...3 11 Pr PD09 common CALM Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 12 Pr PD07 A axis MBR A DO 1 CN3 25 Pr PD07 B axis MBR B CN3 13 Pr PD07 C axis MBR C CN3 24 Pr PD08 common CINP CN3 11 Pr PD09 common CALM Device name Symbol Model I O signal interface type Detailed explanation G A P S T Malfunction ALM DO 1 Page 80 ALM Malfunction In position INP DO 1...

Page 82: ...eaches the set speed by external force when both ST1 forward rotation start and ST2 reverse rotation start are off Electromagnetic brake interlock MBR DO 1 G WG Page 82 MBR Electromagnetic brake interlock A Page 83 MBR Electromagnetic brake interlock Limiting speed VLC DO 1 G WG Page 82 VLC Limiting speed A Page 83 VLC Limiting speed Zero speed detection ZSP DO 1 G WG Page 82 ZSP Zero speed detect...

Page 83: ...STOP will turn on if a warning that the motor cannot be driven occurs If a motor stop warning is not occurring WNGSTOP will turn off in 2 5 s to 3 5 s after power on or in 3 5 s to 4 0 s for a multi axis servo amplifier CDPS Variable gain enabled When the gain of Gain switching is enabled CDPS is on CDPS2 Variable gain enabled 2 If the gain of Gain switching 2 is enabled CDPS2 will turn on ABSV Ab...

Page 84: ...rated again to 50 r min at 3 and will turn off when the servo motor speed reaches 70 r min at 4 The range from the point when the servo motor speed has reached the on level and ZSP turns on to the point when the speed has increased again and reached the off level is called a hysteresis width The hysteresis width is 20 r min for this servo amplifier If using a linear servo motor replace r min with ...

Page 85: ...level is called a hysteresis width The hysteresis width is 20 r min for this servo amplifier If using a linear servo motor replace r min with mm s TLC Limiting torque When torque is generated TLC will turn on if the torque reaches the torque limit value set with any of Pr PA11 Pr PA12 or TLA Analog torque limit ABSB0 ABS transmission data bit 0 This is used to output ABS transmission data bit 0 If...

Page 86: ...rring ALMWNG will turn on in 2 5 s to 3 5 s after power on BW9F AL9F warning When AL 9F Battery warning occurs BW9F turns on In the absolute position detection system with a battery less ABS encoder BW9F is always off PENS Command pulse train input permitted While the command pulse train input can be received PENS is on In addition if PEN has not been assigned to the input device PENS is on The ou...

Page 87: ...t to TC the value is clamped at the maximum torque VC Analog speed command Apply 0 V DC to 10 V DC between VC and LG At 10 V the servo motor speed is the value set in Pr PC12 MR J5 User s Manual Function If a value equal to or larger than the maximum speed is input to VC the value is clamped at the maximum speed When changing the speed to the permissible speed change the setting value in Pr PA28 4...

Page 88: ...se pulse trains 200 kpulses s will be the frequency after multiplication by four Input the forward rotation pulse train between PP and DOCOM Input the reverse rotation pulse train between NP and DOCOM For open collector type source input interface The maximum input frequency is 200 kpulses s For A phase and B phase pulse trains 200 kpulses s will be the frequency after multiplication by four Input...

Page 89: ...e encoder zero point signal is output in the differential line driver type One pulse is output per servo motor revolution LZ LZR are on at the zero point position The minimum pulse width is about 400 μs For homing using this pulse set the creep speed to 100 r min or less Multi axis servo amplifiers do not support this output signal MO1 Analog monitor 1 This signal outputs the data set in the servo...

Page 90: ...r source interfaces connect the positive terminal of the 24 V DC external power supply LG Monitor common LG is a common terminal of MO1 and MO2 SD Shield Connect the external conductor of a shielded wire to SD Power supply explanation A OPC Open collector Sink interface power supply input Position control mode When inputting a pulse train in the open collector type with sink interface supply the p...

Page 91: ...2 LG 11 CN3 3 13 9 15 DOCOM INP 2 ALM USB D GND D 2 3 5 CN5 MBR MR2 MRR2 MX2 MXR2 CN2L 4 RA RA RA 3 3 2 4 7 8 LG CN6 MO1 MO2 LG 3 2 1 EM2 CN3 20 LSP 2 LSN 12 DOG 6 19 TPR1 5 10 1 5 TPR2 5 DICOM 3 Servo amplifier 24 V DC 1 Isolated Differential line driver output 35 mA or less Servo motor Encoder External encoder Encoder Analog monitor Forced stop Approx 6 2 kΩ Approx 6 2 kΩ 7 Approx 4 3 kΩ Approx ...

Page 92: ...O interface For the source I O interface refer to the following Page 100 Source I O interface 4 Refer to Parts identification in User s Manual Introduction for connecting an external encoder 5 This device can be used only on the MR J5 _G_ RJ_ 6 If the MR J5 _G_ RJ_ is used the device has the same circuit configuration as TPR1 and TPR2 In addition the touch probe function can be selected 7 Approxim...

Page 93: ...N3 P T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG 28 LG 30 LG SD RS 422 RS 485 CN2 2 4 7 8 MR MRR MX MXR LG 3 1 1 P S T 1 PP 10 PG 11 NP 35 PP2 37 NP2 38 NG 36 2 1 8 8 S 29 32 39 40 28 P S T 1 P S T 1 P S T 1 E M USB D GND D 2 3 5 CN5 MR2 MRR2 MX2 MXR2 CN2L 4 6 3 2 4 7 8 LG P S T P S T 1 RA RA 3 Servo amplifier Approx 6 2 kΩ 24 V DC 5 Approx 6 2 kΩ Approx 4 3 kΩ 24 V DC 5 Approx 1 2 kΩ Approx 100 Ω Approx...

Page 94: ...m shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 6 Refer to Parts identification in User s Manual Introduction for connecting an external encoder 7 Output devices are not assigned by default Assign the output devices with Pr PD47 as necessary 8 If the MR J5 _A_ RJ_ i...

Page 95: ...3 SIGNALS AND WIRING 3 6 Interface 93 3 Internal connection diagram WG Refer to the following for the CN8 connector Page 319 USING STO FUNCTION ...

Page 96: ...A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2A 6 19 LAR A LB A LBR A LA B LAR B LB B LBR B 14 LG CNP3A 2A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2B CNP3B 2A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2C CNP3C 2A CN6 MO1 MO2 LG 3 2 1 Servo amplifier 24 V DC 6 24 V DC 6 Approx 5 6 kΩ Approx 5 6 kΩ Differential line driver output 35 mA or less 5 Isolated A axis servo motor Encoder B axis servo motor Encoder C axis servo m...

Page 97: ... interface 3 The diagram is for 3 axis servo amplifiers 4 In the initial setting CINP AND in position is assigned to this pin The device of the pin can be changed with Pr PD08 0 5 This signal cannot be used on 3 axis servo amplifiers 6 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured ...

Page 98: ...nterfaces of the CN3 1 pin CN3 10 pin and CN3 19 pin of the MR J5 _G_ RJ_ approximately 4 3 kΩ For interfaces of the CN3 16 pin CN3 45 pin and CN3 50 pin of the MR J5 _A_ RJ_ approximately 4 3 kΩ For interfaces of the CN3 7 pin CN3 9 pin CN3 15 pin and CN3 22 pin of the MR J5W_ _G_ approximately 4 3 kΩ 2 It is 500 mA for the MR J5 _A_ The following diagram is for when the CN3 10 pin and the CN3 35...

Page 99: ...4 V from an external source 2 It is 500 mA for the MR J5 _A_ Refer to the following for the source output Page 100 Source I O interface Pulse train input interface DI 2 A Give a pulse train signal in the differential line driver type or open collector type Differential line driver type Interface 1 A photocoupler is used as the pulse train input interface Therefore this circuit may not operate prop...

Page 100: ...coder output pulse DO 2 Differential line driver type Interface Maximum output current 35 mA Output pulse OPC SD DOCOM 1 PP NP Servo amplifier Max input pulse frequency 200 kpulses s 24 V DC Approx 1 2 kΩ 2 m or less 0 9 0 1 tc tLH tc tHL tF PP NP tLH tHL 0 2 μs tc 2 μs tF 3 μs 150 Ω LA LB LZ LAR LBR LZR SD LG 100 Ω LAR LBR LZR SD LA LB LZ Servo amplifier Servo amplifier Am26LS32 or equivalent Hig...

Page 101: ...log output AO 1 1 The output voltage varies depending on the output contents SD LG OP SD LG OP Servo amplifier Servo amplifier Photocoupler 5 V to 24 V DC SD LG P15R 2 kΩ Servo amplifier Upper limit setting 2 kΩ VC etc Approx 10 kΩ 15 V DC LG MO1 MO2 Servo amplifier Output voltage 10 V 1 Maximum output current 1 mA Resolution 10 bits or its equivalent ...

Page 102: ... pin CN3 9 pin CN3 15 pin and CN3 22 pin of the MR J5W_ _G_ approximately 4 3 kΩ 2 It is 500 mA for the MR J5 _A_ Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current flows from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier 1 If the volta...

Page 103: ...fore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line Input pulse condition PG SD NP2 NG PP2 500 mA 10 1 1 VCES 1 0 V ICEO 100 μA VCES 1 0 V ICEO 100 μA Servo amplifier Max input pulse frequency 200 kpulses s Approx 20 mA Approx 1 2 kΩ Approx 20 mA Approx 1 2 kΩ 24 V DC 0 9 0 1 tc tLH tc tHL tF PP2 NP2 tLH tHL 0 2 μs tc 2 μ...

Page 104: ...curs use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard Configure an electromagnetic brake circuit that interlocks with the external emergency stop switch Before operating the servo motor confirm that the electromagnetic brake operates properly For the power supply of the electromagnetic brake use the power supply designed...

Page 105: ...W3 _G_ servo amplifier 4 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply CALM DOCOM MBR A EM2 DICOM RA1 RA2 B RA5 2 B2 U B1 EM2 RA3 RA4 MBR B MBR C B B2 U B1 CALM RA1 MBR A RA2 MBR B RA3 B B2 U B1 MBR C RA4 3 Servo amplifier 24 V DC 4 24 V DC for ...

Page 106: ...wing diagram and ground it For information on how to comply with the EMC Directive refer to EMC Installation Guidelines V U U E V W W CN2 L11 L1 L2 L3 L21 MC MCCB M Cabinet Servo amplifier Servo motor Line filter Encoder Power supply Outer box Protective earth PE To ground the servo motor connect the grounding lead wire to the servo amplifier then connect the wire from the servo amplifier to the g...

Page 107: ... Approx 168 Approx 6 2 M5 screw Locking tab Terminal assignment Screw size M4 Tightening torque 1 2 N m Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m 6 156 10 6 172 165 40 6 6 170 168 CNP2 CNP1 CNP3 156 0 5 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE CN6 CN5 CN8 CN3 CN2 CN1A CN1B CN2L CN4 φ6 mounting hole Grounding terminal Approx 80 Approx 6 App...

Page 108: ...tion diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab 6 6 10 156 90 6 6 6 78 6 172 165 195 168 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE CN2 CN2L CN6 CN5 CN8 CN3 CN1A CN1B CN4 CNP1 CNP2 CNP3 156 0 5 78 0 3 Screw size M4 Tightening torque 1 2 N m Terminal assignment Mounting hole location diagram Mou...

Page 109: ... M5 screw Approx 7 5 Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab Grounding terminal φ6 mounting hole 200 6 170 160 5 5 5 7 5 285 7 5 300 5 CNP1A CNP1B CNP2 CNP3 CN1A CN1B CN5 CN6 CN8 CN3 CN2 CN2L CN4 285 0 5 160 0 5 PE P4 P3 N CNP1B L1 L3 L2 CNP1A CNP2 CNP3 P D L21 C L11 U W V φ6 mounting hole Grounding terminal Approx 80 Exhaust Cooling fan Intake Approx 5 Approx 5 App...

Page 110: ...tion diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab 172 165 90 6 78 6 6 78 0 3 156 10 6 CNP2 CNP1 CNP3 6 168 156 0 5 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE 6 PULL 195 φ6 mounting hole Grounding terminal Approx 80 Approx 6 Approx 6 Approx 168 2 M5 screw Approx 90 Approx 6 Approx 6 Mounting hole ...

Page 111: ...on diagram Mounting screw Screw size M5 Tightening torque 3 24 N m φ6 mounting hole Grounding terminal Approx 80 Approx 40 Approx 6 Approx 6 2 M5 screw Approx 168 Approx 6 Locking tab 156 10 6 172 165 40 6 6 170 6 168 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE CNP2 CNP1 CNP3 CN5 CN6 CN8 CN3 CN2 CN1 CN2L CN4 156 0 5 Terminal assignment Screw size M4 Tightening torque 1 2 N m Mounting ho...

Page 112: ...ng hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment 6 6 10 156 90 6 6 6 78 6 172 165 195 168 CNP2 CNP1 CNP3 CN8 CN6 CN3 CN2 CN1 CN5 CN2L CN4 156 0 5 78 0 3 P4 L1 L3 P3 L2 N CNP1 CNP2 CNP3 P D L21 C L11 U W V PE Locking tab φ6 mounting hole Grounding terminal Approx 80 Exhaust Cooling fan Intake Approx 6 Approx...

Page 113: ...rew size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Intake Locking tab Approx 7 5 200 6 170 160 5 5 5 7 5 285 7 5 300 5 CNP1A CNP1B CNP2 CNP3 CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 285 0 5 160 0 5 PE P4 P3 N CNP1B L1 L3 L2 CNP1A CNP2 CNP3 P D L21 C L11 U W V φ6 mounting hole Locking tab Grounding terminal Exhaust Cooling fan Approx 80 Intake Approx 300 Appr...

Page 114: ...ing screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Approx 12 Locking tab CNP1 CNP2 CNP3 6 10 156 6 6 6 78 6 172 165 L1 L2 L3 P3 P4 N P C D L11 L21 U V W C N 4 C N 1 C N 5 C N 6 C N 8 C N 3 C N 2 C N 2 L 78 0 3 6 195 156 0 5 168 90 P4 N L2 P3 L1 L3 P D L21 C L11 U W V PE CNP1 CNP2 CNP3 3 M5 SCREW Grounding terminal Screw size M4 Tightening...

Page 115: ...Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment Locking tab Locking tab Exhaust 6 6 10 156 85 6 6 6 73 6 172 195 168 CNP1 CNP2 CNP3A CNP3B CN8 CN5 CN3 CN1A CN1B CN2B CN2A CN4 CN6 156 0 5 73 0 3 PE P4 L1 L3 L2 N CNP1 CNP2 P D L21 C L11 W V U 2 1 A B CNP3A CNP3B W V U 2 1 A B Grounding terminal φ6 moun...

Page 116: ... L3 L2 N CNP1 CNP2 P D L21 C L11 W V U 2 1 A B CNP3A CNP3B W V U 2 1 A B CNP3C W V U 2 1 A B φ6 mounting hole Grounding terminal Locking tab Locking tab Approx 80 Exhaust Cooling fan Intake Approx 75 Approx 6 Approx 168 Approx 6 Approx 6 3 M5 screw Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Screw size M4 Tightening torque 1 2 N m Terminal assignment ...

Page 117: ... Jack screw M2 6 type This connector is not available as an option Connector Shell kit Variable dimensions A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 Connector Shell kit Variable dimensions A B C D E F 10120 3000PE 10320 52A0 008 22 0 33 3 14 0 10 0 12 0 27 4 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others...

Page 118: ...an option Connector Shell kit Variable dimensions A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 Connector Shell kit Variable dimensions A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others are indicated here ...

Page 119: ... an option Connector Shell kit Variable dimensions A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 Connector Shell kit Variable dimensions A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 31 3 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others are indicated here ...

Page 120: ...118 4 DIMENSIONS 4 4 Connector SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 Unit mm ...

Page 121: ...o amplifier and servo motor power wires from overloads In this section overload protection characteristics refer to the overload protection characteristics of servo amplifiers and servo motors AL 050 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve shown below AL 051 Overload 2 occurs if the maximum current is applied continuously for several secon...

Page 122: ...pend on the servo motor Rotary servo motor Graph of overload protection characteristics HK KT HK ST HK RT 053W 13W 13UW Page 121 Characteristic a 1M3W 23W 43W 63W 7M3W 103W 153W 203W 202W 434W 634W 7M34W 1034W 1534W 2034W 2024W 23UW 43UW 7M3UW 103UW 52W 102W 172W 302W 202W 352W 524W 1024W 1724W 3024W 2024W 3524W 5024W 202AW 2024AW 103W 153W 203W 353W 1034W 1534W 2034W 3534W Page 121 Characteristic...

Page 123: ...ime s Load ratio rated current ratio of rotary servo motor In servo lock In operation 100 200 300 400 500 600 0 10 1 100 1000 0 1 Operating time s Load ratio rated current ratio of rotary servo motor In servo lock In operation 100 200 300 400 500 600 0 10 1 100 1000 0 1 Operating time s Load ratio rated current ratio of rotary servo motor In servo lock In operation ...

Page 124: ...5 40_ 0 3 HK KT13W MR J5 10_ 0 3 MR J5 20_ 0 3 MR J5 40_ 0 3 HK KT1M3W MR J5 20_ 0 5 MR J5 40_ 0 5 MR J5 60_ 0 5 HK KT13UW MR J5 10_ 0 3 MR J5 20_ 0 3 MR J5 40_ 0 3 HK KT23W MR J5 20_ 0 5 MR J5 40_ 0 5 MR J5 60_ 0 5 HK KT43W MR J5 40_ 0 9 MR J5 60_ 0 9 MR J5 70_ 0 9 HK KT63W MR J5 70_ 1 3 MR J5 100_ 1 3 MR J5 200_ 1 3 HK KT23UW MR J5 20_ 0 5 MR J5 40_ 0 5 MR J5 60_ 0 5 HK KT43UW MR J5 40_ 0 8 MR J...

Page 125: ..._ 1 1 HK KT1534W MR J5 70_ 1 5 MR J5 100_ 1 5 MR J5 200_ 1 5 HK KT2034W MR J5 100_ 1 9 MR J5 200_ 1 9 MR J5 350_ 2 HK KT2024W MR J5 100_ 1 9 MR J5 200_ 1 9 MR J5 350_ 2 1 HK ST series HK ST52W MR J5 60_ 1 MR J5 70_ 1 MR J5 100_ 1 HK ST102W MR J5 100_ 1 7 MR J5 200_ 1 7 MR J5 350_ 1 8 HK ST172W 2 MR J5 200_ 3 MR J5 350_ 3 2 HK ST202AW MR J5 200_ 3 5 MR J5 350_ 3 5 HK ST302W MR J5 350_ 4 9 HK ST202W...

Page 126: ...7 MR J5 70_ 0 7 HK ST1024W MR J5 60_ 1 3 MR J5 70_ 1 3 MR J5 100_ 1 3 HK ST1724W MR J5 100_ 1 7 MR J5 200_ 1 7 MR J5 350_ 1 8 HK ST2024AW MR J5 100_ 1 9 MR J5 200_ 1 9 MR J5 350_ 2 HK ST series HK ST3024W MR J5 200_ 2 6 MR J5 350_ 2 8 HK ST2024W MR J5 200_ 2 1 MR J5 350_ 2 2 HK ST3524W MR J5 200_ 3 2 MR J5 350_ 3 5 HK ST5024W MR J5 350_ 4 9 HK ST7024W MR J5 500_ 6 6 MR J5 700_ 6 9 Rotary servo mot...

Page 127: ... 3 MR J5W2 44G_ 0 3 MR J5W3 222G_ 0 3 MR J5W3 444G_ 0 3 HK KT1M3W MR J5W2 22G_ 0 5 MR J5W2 44G_ 0 5 MR J5W3 222G_ 0 5 MR J5W3 444G_ 0 5 HK KT13UW MR J5W2 22G_ 0 3 MR J5W2 44G_ 0 3 MR J5W3 222G_ 0 3 MR J5W3 444G_ 0 3 HK KT series HK KT23W MR J5W2 22G_ 0 5 MR J5W2 44G_ 0 5 MR J5W3 222G_ 0 5 MR J5W3 444G_ 0 5 HK KT43W MR J5W2 44G_ 0 9 MR J5W2 77G_ 0 9 MR J5W2 1010G_ 0 9 MR J5W3 444G_ 0 9 HK KT63W MR ...

Page 128: ... 9 MR J5W2 77G_ 0 9 MR J5W2 1010G_ 0 9 MR J5W3 444G_ 0 9 HK KT1034W MR J5W2 77G_ 1 1 MR J5W2 1010G_ 1 1 HK KT1534W MR J5W2 77G_ 1 5 MR J5W2 1010G_ 1 5 HK KT2034W MR J5W2 1010G_ 1 9 HK KT2024W MR J5W2 1010G_ 1 9 HK ST series HK ST52W MR J5W2 77G_ 1 MR J5W2 1010G_ 1 HK ST102W MR J5W2 1010G_ 1 7 HK ST series HK ST524W MR J5W2 44G_ 0 7 MR J5W2 77G_ 0 7 MR J5W3 444G_ 0 7 HK ST1024W MR J5W2 77G_ 1 3 MR ...

Page 129: ... 1 2 MR J5 100G A4 1 1 MR J5 200G A4 1 1 HK KT634W MR J5 100G A4 1 5 MR J5 200G A4 1 6 HK KT7M34W MR J5 100G A4 1 8 MR J5 200G A4 1 8 HK KT1034W MR J5 100G A4 2 3 MR J5 200G A4 2 3 MR J5 350G A4 2 3 HK KT1534W MR J5 200G A4 3 1 MR J5 350G A4 3 1 HK KT2034W MR J5 200G A4 4 0 MR J5 350G A4 4 0 HK KT2024W MR J5 200G A4 4 0 MR J5 350G A4 4 0 HK RT series HK RT103W MR J5 200G A4 2 2 MR J5 350G A4 2 2 H...

Page 130: ...generative option refer to the following Page 177 Regenerative option Servo amplifier Servo amplifier generated heat W 1 Area required for heat dissipation m2 At rated output At servo off MR J5 10_ 25 15 0 5 MR J5 20_ 25 15 0 5 MR J5 40_ 35 15 0 7 MR J5 60_ 40 15 0 8 MR J5 70_ 50 15 1 0 MR J5 100_ 50 15 1 0 MR J5 200_ 90 20 1 8 MR J5 350_ 130 20 2 6 MR J5 500_ 195 25 3 9 MR J5 700_ 300 25 6 0 Serv...

Page 131: ...ed heat 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 builds up effective heat dissipation will not be possible Therefore arrangement of the equ...

Page 132: ... the motor from the rated speed once every 10 minutes If using EM1 Forced stop 1 frequently in non emergency situations enable EM1 Forced stop 1 after the servo motor has come to a complete stop Servo motors for MR J5 may have the different coasting distance from that of the previous model The time constant for the electronic dynamic brake will be shorter than that of the normal dynamic brake Ther...

Page 133: ...e constant A working part generally has a friction force Therefore the actual coasting distance will be shorter than the maximum coasting distance calculated with the following equation Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 4 kg m2 JL Load moment of inertia converted into equivalent value on servo motor shaft 10 4 kg m2 τ D...

Page 134: ..._ MR J5W3 222G_ MR J5W3 444G_ HK KT1M3W MR J5 20_ MR J5 40_ MR J5 60_ MR J5W2 22G_ MR J5W2 44G_ MR J5W3 222G_ MR J5W3 444G_ HK KT13UW MR J5 10_ MR J5 20_ MR J5 40_ MR J5W2 22G_ MR J5W2 44G_ MR J5W3 222G_ MR J5W3 444G_ 0 2 4 6 8 10 12 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor sp...

Page 135: ...2 1010G_ Servo motor Servo amplifier Waveform 0 5 10 15 20 25 0 2000 4000 6000 8000 Servo motor speed r min Dynamic brake time constant τ ms 0 5 10 15 20 25 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time ...

Page 136: ... Servo amplifier Waveform 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 19 5 20 20 5 21 21 5 22 22 5 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 20 40 60 80 100 120 0 2000 4000 6000 8000 Dynamic brake time const...

Page 137: ...G_ MR J5W3 444G_ MR J5 70_ MR J5W2 77G_ MR J5W2 1010G_ Servo motor Servo amplifier Waveform 0 10 20 30 40 50 60 70 80 90 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 138: ... amplifier Waveform 0 5 10 15 20 25 30 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 29 5 30 30 5 31 31 5 32 32 5 33 33 5 34 34 5 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 139: ...G_ MR J5 200_ MR J5 350_ Servo motor Servo amplifier Waveform 0 1000 2000 3000 4000 5000 6000 7000 23 24 25 26 27 28 29 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 140: ... motor Servo amplifier Waveform 0 5 10 15 20 25 30 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 40 45 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 141: ... 38 5 39 39 5 40 40 5 41 41 5 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 14 12 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 14 12 0 2000 4000 6000 8000 Dynamic brake time...

Page 142: ...5 40_ MR J5 60_ MR J5W2 22G_ MR J5W2 44G_ MR J5W3 222G_ MR J5W3 444G_ Servo motor Servo amplifier Waveform 0 1 2 3 4 5 6 7 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 9 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 143: ...1010G_ Servo motor Servo amplifier Waveform 0 1 2 3 4 5 6 7 8 9 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 144: ...MR J5W2 1010G_ Servo motor Servo amplifier Waveform 0 5 10 15 20 25 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 145: ...lifier Waveform 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 146: ...rvo amplifier Waveform 22 22 5 23 23 5 24 24 5 25 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 32 4 32 6 32 8 33 33 2 33 6 33 8 33 4 34 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 6 5 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 147: ... 8 34 34 4 34 6 34 2 34 8 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 6 5 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 11 5 11 6 11 7 11 8 11 9 12 12 1 12 2 12 3 12 4 12 5 0 500 1000 1500 2000 Dynamic brake time constant τ ms Servo motor speed r min 0 0 5 1 1 5 2 2 5 3 3 5 0 500 1000 1500 2000 Dynamic brake time const...

Page 148: ...o amplifier Waveform 0 50 100 150 200 250 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 70 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 70 80 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 149: ...20 30 40 50 60 70 80 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 40 45 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ m...

Page 150: ...r Servo amplifier Waveform 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 151: ...ifier Waveform 0 10 20 30 40 50 60 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 0 5 10 15 20 25 30 35 40 45 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 0 5 10 15 20 25 30 35 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 152: ...J5W2 44G_ MR J5W3 444G_ MR J5 70_ MR J5W2 77G_ Servo motor Servo amplifier Waveform 0 10 20 30 40 50 60 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 153: ...tor Servo amplifier Waveform 0 10 20 30 40 50 60 70 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 154: ...0 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 18 20 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 30 31 32 33 34 35 36 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Serv...

Page 155: ... 1 2 3 4 5 6 7 8 9 0 200 400 600 800 1000 1200 1400 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 18 20 0 500 1000 1500 2000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo...

Page 156: ...500 2000 0 5 10 15 20 25 Dynamic brake time constant τ ms Servo motor speed r min 0 500 1000 1500 2000 0 5 10 15 20 25 Dynamic brake time constant τ ms Servo motor speed r min 10 10 5 11 11 5 12 12 5 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 1 2 3 4 5 6 7 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 157: ...Servo motor Servo amplifier Waveform 0 2000 4000 6000 8000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 5 10 15 20 25 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 1 2 3 4 5 6 7 8 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 158: ... 10 12 14 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 2 4 6 8 10 12 14 16 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 159: ..._ Servo motor Servo amplifier Waveform HK KT053W MR J5 60_4_ MR J5 100_4_ HK KT13W MR J5 60_4_ MR J5 100_4_ HK KT1M3W MR J5 60_4_ MR J5 100_4_ Servo motor Servo amplifier Waveform 0 2 4 6 8 10 12 0 1000 2000 3000 4000 5000 6000 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 800...

Page 160: ...MR J5 100_4_ MR J5 200_4_ Servo motor Servo amplifier Waveform 0 2000 4000 6000 8000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 9 1 3 5 7 10 0 1000 2000 3000 4000 5000 6000 7000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 161: ...lifier Waveform 0 2000 4000 6000 8000 0 1 2 3 4 5 6 7 8 9 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 1000 3000 5000 7000 0 1 2 3 4 5 6 7 8 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 1 2 3 4 5 6 7 8 9 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 162: ...aveform 0 2000 4000 6000 8000 0 5 10 15 20 25 30 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 1000 3000 5000 7000 0 2 4 6 8 10 12 14 16 18 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 2 4 6 8 10 12 14 16 18 20 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 163: ...5 10 15 20 25 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 16 18 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 16 18 20 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 164: ... 0 2 4 6 8 10 12 14 16 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 2 4 6 8 10 12 14 16 18 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 Dynamic brake time constant τ ms Servo motor sp...

Page 165: ...00 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 1000 3000 5000 7000 0 5 10 15 20 25 30 35 40 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 1000 3000 5000 7000 0 5 10 15 20 25 30 Dynamic brake time constant τ ms Servo mo...

Page 166: ...7000 0 2 4 6 8 10 12 14 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 1000 3000 5000 7000 0 1 2 3 4 5 6 7 8 9 Dynamic brake time constant τ ms Servo motor speed r min 0 2000 4000 6000 8000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 16 18 20 Dynamic brake time constant τ ms Servo m...

Page 167: ...ble load to motor inertia ratio multiplier HK KT HK KT053W 34 HK KT13W 34 HK KT13UW 10 HK KT1M3W 25 HK KT23W 23 when 6000 r min or less 28 HK KT23UW 10 HK KT43W 23 HK KT43UW 10 HK KT63W 30 HK KT7M3W 20 HK KT7M3UW 10 HK KT103W 20 HK KT103UW 20 HK KT153W 30 HK KT203W 30 HK KT202W 30 HK KT434W 30 HK KT634W 30 HK KT7M34W 20 HK KT1034W 30 HK KT1534W 30 HK KT2034W 30 HK KT2024W 30 HK ST HK ST52W 15 when...

Page 168: ...ultiplier HK KT HK KT053W 20 HK KT13W 20 HK KT1M3W 20 HK KT434W 30 HK KT634W 20 when 3000 r min or less 30 HK KT7M34W 7 when 3000 r min or less 20 HK KT1034W 7 when 3000 r min or less 30 HK KT1534W 10 when 3000 r min or less 30 HK KT2034W 10 when 3000 r min or less 30 HK KT2024W 30 HK RT HK RT1034W 18 HK RT1534W 60 HK RT2034W 29 HK RT3534W 20 Series Model Permissible load to motor inertia ratio mu...

Page 169: ...akage The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics sheath abrasion or insulation deterioration Allow for a slight deviation in these values a 1 108 5 107 1 107 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 4 7 10 20 40 70 100 200 b a b Number of bending times time Bend radius mm High flex life cable for moving parts St...

Page 170: ...fier Inrush currents A0 P Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ 17 A attenuated to approx 3 A in 20 ms 20 A to 30 A attenuated to approx 1 A in 20 ms MR J5 70_ MR J5 100_ 17 A attenuated to approx 7 A in 20 ms MR J5 200_ 24 A attenuated to approx 11 A in 20 ms MR J5 350_ 85 A attenuated to approx 10 A in 20 ms MR J5 500_ 42 ...

Page 171: ... lowest IP rating of all the components Purchase the cable and connector options indicated in this section for this servo amplifier If using cables other than the cables described in this manual comply with the standards and directives applicable to each country For example NFPA 79 in North America demands the use of a listed certified product that has a thermoset insulator and is compliant with t...

Page 172: ... CN6 CN3 CN8 CN1A CN1B CN2 CN2L CN4 CNP3 PS7DW 20V14B F MR J3 D05 5 5 CN9 CN10 1 Junction terminal block Ethernet cable 2 To servo motor power supply Setup software MR Configurator2 To servo motor encoder To load side encoder Battery MR BAT6V1SET or MR BAT6V1SET A Servo amplifier Servo amplifier Toho Technology Controller Battery case MR BT6VCASE Battery MR BAT6V1 5 pcs Network Safety logic unit 1...

Page 173: ...CNP2 CNP1 CN5 CN3 CN8 CN1A CN1B CN2B CN2A CN2C CN4 CNP3A CNP3B CNP3C 4 3 2 MR J3 D05 5 5 CN9 CN10 Ethernet cable 1 To C axis servo motor power supply To B axis servo motor power supply To A axis servo motor power supply Setup software MR Configurator2 To C axis servo motor encoder To B axis servo motor encoder To A axis servo motor encoder Servo amplifier Controller Junction terminal block Servo a...

Page 174: ...or 05JFAT SAXGDK H5 0 LA JST Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm CNP3 connector 03JFAT SAXGFK XL LA JST Applicable wire size 1 25 mm2 to 5 5 mm2 AWG 16 to 10 Insulator OD Up to 4 7 mm Supplied with 200 V class 1 axis servo amplifiers with capacities of 2 kW and 3 5 kW Open tool J FAT OT EXL JST CNP1A connector 03JFAT SAXGDK P15 LA JST Applicable wire size...

Page 175: ...1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm CNP3 connector 04JFAT SAGG G KK JST Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm Supplied with multi axis servo amplifiers of 750 W or more Open tool J FAT OT EXL JST CNP1 connector 06JFAT SAXGDKHT10 5 LA JST Applicable wire size 1 25 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm CNP2 connector 05JFAT SAXGDKHT7 ...

Page 176: ...Junction terminal block PS7DW 20V14B F is not available as an option To use the junction terminal block option MR J2HBUS_M is required For MR J5 _G_ MR J2M CN1TBL_M Cable length 0 5 m 1 m a Junction terminal block connector Connector D7950 B500FL 3M b CN1 connector Connector 10150 6000EL Shell kit 10350 3210 000 3M or equivalent For MR J5 _A_ MR TBNATBL_M Cable length 0 5 m 1 m a Junction terminal...

Page 177: ...J5CNP12 J1 CNP1 connector 06JFAT SAXGDK KC7 5 LA JST Applicable wire size 0 8 mm2 to 5 5 mm2 AWG 18 to 10 Insulator OD Up to 4 7 mm CNP2 connector 05JFAT SAXGDK KC5 0 LA JST Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD Up to 3 9 mm Used for connecting the simple converter when a 1 axis servo amplifier of 1 kW or less or a multi axis servo amplifier of 400 W or less is used Pag...

Page 178: ...k Partner Association website https www cc link org en Precautions When branching the CC Link IE TSN network using a switching hub use a switching hub Class B that is recommended by the CC Link Partner Association Although a switching hub Class A can also be used there are restrictions on the type of topology that can be used For further information refer to MELSEC iQ R Motion Module User s Manual...

Page 179: ... 40 Ω MR RB12 40 Ω MR RB14 26 Ω MR RB30 13 Ω 2 MR RB3N 9 Ω 2 MR RB31 6 7Ω 2 MR RB3Z 5 5Ω 2 3 MR RB34 26 Ω 2 MR RB50 13 Ω 1 MR RB5N 9 Ω 1 MR RB51 6 7 Ω 1 MR RB5Z 5 5 Ω 1 3 MR J5 10_ 30 MR J5 20_ 10 30 100 MR J5 40_ 10 30 100 MR J5 60_ 10 20 100 MR J5 70_ 30 100 300 MR J5 100_ 30 100 300 MR J5 200_ 100 300 500 MR J5 350_ 100 300 500 MR J5 500_ 130 300 500 MR J5 700_ 170 300 500 MR J5W2 22G_ 20 100 M...

Page 180: ...stance per servo motor revolution ΔS 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 μ Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of ...

Page 181: ...orque Because the characteristics of the electrolytic capacitor change with time allow inverse efficiency of approximately 10 higher than those shown above Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Multiply the sum total of regenerative energies by the inverse efficiency and subtract the capacitor charging from that result to calculate the energy c...

Page 182: ...e total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf Select a regenerative option based on the PR value The regenerative option is not required when the energy consumption is equal to or less than the regenerative power...

Page 183: ...istance per servo motor revolution ΔS 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 μ Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of...

Page 184: ...ervo amplifier in the regenerative mode Inverse efficiency ηm Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Efficiency varies with the speed and generated torque Because the characteristics of the electrolytic capacitor change with time allow inverse efficiency of approximately 10 higher than those shown abo...

Page 185: ...to be Es ER J ηm Es Ec If ER values are negative at all timings the regenerative option is not needed If the values of ER include positive values from the total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf The regenerat...

Page 186: ...e total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf Select a regenerative option based on the PR value The regenerative option is not required when the energy consumption is equal to or less than the regenerative power...

Page 187: ...ss Remove the wiring between P and D and install the regenerative option between P and C G3 and G4 are terminals for the thermal sensor Between G3 and G4 opens if the regenerative option overheats abnormally 1 When using the MR RB50 MR RB5N MR RB51 MR RB5Z MR RB3M 4 MR RB3G 4 MR RB5G 4 MR RB3Y 4 or MR RB5Y 4 forcibly cool it with a cooling fan 1 0 m3 min or more 92 mm 92 mm 2 If using the MR RB30 ...

Page 188: ... required Vertical mounting horizontal mounting MR RB3N Vertical mounting MR RB5N A cooling fan is required Vertical mounting horizontal mounting MR RB1H 4 Vertical mounting MR RB3M 4 A cooling fan is required Vertical mounting MR RB3G 4 A cooling fan is required Vertical mounting MR RB5G 4 A cooling fan is required Vertical mounting horizontal mounting MR RB3Y 4 Vertical mounting MR RB5Y 4 Vertic...

Page 189: ... RB032 Unit mm Mass 0 5 kg 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 6 5 6 156 168 144 12 φ6 mounting hole Approx 20 Approx 12 Approx 6 G3 G4 P C ...

Page 190: ...MR RB14 Unit mm Mass 1 1 kg 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 5 144 169 6 36 40 TE1 15 149 2 156 168 6 12 φ6 mounting hole Approx 20 Approx 6 G3 G4 P C ...

Page 191: ... 189 6 MR RB1H 4 Unit mm Mass 1 1 kg 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 6 144 173 6 36 40 TE1 15 149 2 156 168 6 φ6 mounting hole Approx 24 Approx 6 G3 G4 P C ...

Page 192: ...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 RB3Z MR RB34 MR RB3N MR RB3Y 4 23 341 MR RB3G 4 MR RB3M 4 8 5 125 8 5 7 10 90 100 B A 318 142 150 79 30 101 5 82 5 82 5 G4 G3 C P 2 3 Screw for mounting cooling fan 2 M4 screw Intake Approx 30 P C G3 G4 ...

Page 193: ...que 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 RB5N MR RB51 MR RB5Z 23 223 MR RB5G 4 MR RB5Y 4 G4 G3 C P 2 3 49 82 5 200 A B 8 120 108 12 7 350 162 5 12 5 12 5 82 5 133 162 5 Screw for mounting cooling fan 2 M3 screw opposite side 7 14 slotted hole Intake Approx 30 P C G3 G4 ...

Page 194: ... amplifier can be used together To use an external regenerative option set Pr PA02 0 1 Note that the simple converter does not have a regenerative function Also an external regenerative option cannot be connected to the simple converter Simple converter standard specifications 1 The value when a 3 phase power supply input is used Model MR CM3K Converter output Rated voltage 270 V DC to 324 V DC Ra...

Page 195: ... m or less Transportation conditions Must be transported by ground sea or air at an atmospheric pressure of 700 hPa or more Atmospheric pressure 700 hPa to 1060 hPa equivalent to the altitude of 400 m to 3000 m Vibration resistance When there is continuous vibration 10 Hz to 57 Hz displacement amplitude 0 075 mm 57 Hz to 150 Hz acceleration amplitude 9 8 m s2 Class 3M1 IEC 60721 3 3 When there is ...

Page 196: ...e at least 15 mm of clearance between the servo amplifiers 1 Do not remove dummy pins or wires attached to CNP2 connectors 2 To detach a CNP2 connector when servo amplifiers are closely mounted detach the CN3 connector of the servo amplifier on the left side before detaching the CNP2 connector 3 For the wires between the simple converter and a servo amplifier and between each servo amplifier twist...

Page 197: ... of next axis servo amplifier 3 Overheat detection connector CN10 If overheating is detected between terminals changes to OPEN 4 Protective earth PE terminal Pin No Signal name Description 1 L1 L1 phase 2 L2 L2 phase 3 L3 L3 phase Pin No Signal name Description 1 N Bus voltage reference potential 2 Unassigned 3 P4 Bus voltage plus potential 1 L1 L2 L3 N P4 T1 T2 2 3 4 1 2 3 Pin number diagram view...

Page 198: ...signed 3 TH2 Main circuit overheat protection contact 2 Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 03JFAT SAYGFK XL LB AWG 16 to 10 4 7 mm or less 11 5 mm J FAT OT EXL JST CNP2 02 16 0 JFAT SAZGFKXL LA AWG 16 to 10 4 7 mm or less 11 5 mm CN10 02 3 2 JFAT SAYDFK K7 5 AWG 18 to 14 3 9 mm or less 9 mm 1 2 3 Pin number diagram viewed ...

Page 199: ...L2 L3 CN10 TH1 TH2 CNP2 N P4 CNP1 θ 4 RA2 CN3 DOCOM ALM 7 RA1 9 9 DICOM EM2 MC SK MC RA1 RA2 3 RA3 Simple converter Malfunction 24 V DC 24 V DC OFF ON Emergency stop switch 3 phase 200 V AC to 240 V AC To next axis servo amplifier Main circuit power supply 6 24 V DC 100 V AC compatible Servo amplifier To next axis servo amplifier Servo motor overheat protection 10 ...

Page 200: ...g an I O module or equivalent equipment Alternatively connect an alarm output contact relay for each servo amplifier in sequence on the coil side of the magnetic contactor to shut off the magnetic contactor In addition stop commands from the controller simultaneously with the main circuit power supply shutting off 8 Install an overcurrent protection device molded case circuit breaker fuse etc to p...

Page 201: ...156 10 6 CNP2 CNP1 CN10 172 165 40 6 135 6 PE L1 L2 L3 N P4 T1 T2 168 2 M5 screw Unit mm Mounting hole location diagram φ6 mounting hole Approx 80 Approx 6 Approx 168 Approx 6 Approx 6 Approx 40 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m ...

Page 202: ... the following and the EMC Installation Guidelines Page 253 EMC filter recommended Model Molded case circuit breaker Fuse Magnetic contactor 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 CM3K 30 A frame 30A 30 A frame 30A 240 T 40 300 S T21 Model Capacity Molded case circuit breaker Semiconductor f...

Page 203: ...F H When using the radio noise filter FR BIF H as an EMC measure for the servo amplifier connected to the simple converter install the radio noise filter on the primary input side of the simple converter Line noise filter FR BSF01 FR BLF When using a line noise filter FR BSF01 FR BLF as an EMC measure for the servo amplifier connected to the simple converter install the line noise filter on the pr...

Page 204: ...ettings When using the FR XC H set the parameters as follows Pr PA02 0 1 01 Pr PA02 4 0 Pr PA04 2 0 Pr PA04 3 0 Capacity selection Selection conditions The multifunction regeneration converter FR XC H can be used with 200 V class servo amplifiers with capacities of 100 W to 7 kW and 400 V class servo amplifiers with capacities of 600 W to 3 5 kW Use the following conditions to select a multifuncti...

Page 205: ...onnect to the servo amplifiers listed below Multifunction regeneration converter Dedicated stand alone reactor FR XC 7 5K FR XCL 7 5K FR XC 11K FR XCL 11K FR XC 15K FR XCL 15K FR XC 22K FR XCL 22K FR XC 30K FR XCL 30K FR XC 37K FR XCL 37K FR XC 55K FR XCL 55K FR XC H7 5K FR XCL H7 5K FR XC H11K FR XCL H11K FR XC H15K FR XCL H15K FR XC H22K FR XCL H22K FR XC H30K FR XCL H30K FR XC H37K FR XCL H37K ...

Page 206: ...pacity kW 5 kW 3 5 kW 7 kW 7 kW 22 5 kW FR XC 30K or more The effective value of the total servo motor output power kW FR XC 30K or more Maximum value of the total servo motor output power kW 40 kW FR XC 30K or more Therefore the multifunction regeneration converter selected should be the FR XC 30K 15 kW 15 kW 15 kW 0 1 s 0 1 s 5 kW 0 1 s 40 kW 0 5 s 0 7 s 0 6 s 0 2 s 0 3 s 0 1 s 0 1 s 0 2 s 0 1 s...

Page 207: ...using a dedicated power supply for the control circuit 9 Do not connect anything to the P4 terminal of the FR XC 10 Install a fuse on each wire between the FR XC and servo amplifier 11 Wire the built in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less factory wired 12 The inputs outputs main circuit of the FR XC and servo amplifier contain high frequency components...

Page 208: ...mpers when using a dedicated power supply for the control circuit 9 Do not connect anything to the P4 terminal of the FR XC H 10 Install a fuse on each wire between the FR XC H and servo amplifier 11 Wire the built in regenerative resistor when using servo amplifiers with a capacity of 7 kW or less factory wired 12 The inputs outputs main circuits of the FR XC H and servo amplifier contain harmoni...

Page 209: ...5 AWG 10 5 5 AWG 10 7 8 AWG 8 5 5 AWG 10 11 14 AWG 6 8 AWG 8 15 22 AWG 4 8 AWG 8 18 5 38 AWG 2 8 AWG 8 22 50 AWG 1 0 14 AWG 6 27 5 50 AWG 1 0 22 AWG 4 30 60 AWG 2 0 22 AWG 4 37 80 AWG 3 0 38 AWG 2 45 100 AWG 4 0 38 AWG 2 55 100 AWG 4 0 50 AWG 1 0 Multifunction regeneration converter Wire size mm2 Rated capacity of multifunction regeneration converter Total capacity of connected servo amplifiers 2 ...

Page 210: ...kW Servo amplifier 5 kW Servo amplifier 3 5 kW Servo amplifier 2 kW First unit 38 mm2 assuming that the total capacity of servo amplifiers is 18 5 kW since 7 kW 5 kW 3 5 kW 2 kW 17 5 kW Second unit 14 mm2 assuming that the total capacity of servo amplifiers is 11 kW since 5 kW 3 5 kW 2 kW 10 5 kW R2 L12 S2 L22 T2 L32 R L1 S L2 T L3 P N FR XC H55K P4 N 8 mm2 P4 N P4 N P4 N 8 mm2 5 5 mm2 3 5 mm2 3 5...

Page 211: ...ss Fuse rating A Model 1 Fuse rating A Model 1 0 1 20 6 900CPGR10 38 0020 0 2 20 6 900CPGR10 38 0020 0 4 25 6 900CPGR10 38 0025 0 6 25 6 900CPGR10 38 0025 20 6 900CPGR10 38 0020 0 75 30 6 900CPGR10 38 0030 1 32 6 900CPGR10 38 0032 20 6 900CPGR10 38 0020 2 63 6 9URD30TTF 0063 25 6 900CPGR10 38 0025 3 5 80 6 9URD30TTF 0080 63 6 9URD30TTF0063 5 160 6 9URD30TTF 0160 7 200 6 9URD30TTF 0200 Item FR XC _...

Page 212: ...te the cable length 05 0 5 m 1 1 m 5 5 m 2 This signal can be used only on the MR J5 _G_ RJ_ PS7DW 20V14B F CN3 MR J2HBUS_M AERSBAN ESET Servo amplifier Junction terminal block Cable clamp LSP 1 2 DOCOM MO1 3 4 LZ 8 LB 7 9 SD MR J2HBUS_M 1 INP 5 6 10 DICOM LA LG LSN 11 12 MBR MO2 13 14 LZR 18 LBR 17 19 DOG 15 16 20 EM2 ALM LAR 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10...

Page 213: ...PERIPHERAL EQUIPMENT 6 5 PS7DW 20V14B F junction terminal block recommended G 211 6 Dimensions of junction terminal block Unit mm M3 6L M3 5L 36 5 27 8 18 8 7 62 44 11 54 63 φ4 5 4 5 5 4 60 50 9 3 27 TB E φ6 1 42 6 2 ...

Page 214: ...D DICOM LG DOCOM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Position control mode SON P15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD LA VC LB LZ ST2 SA SA SP2 LG LG EMG LSN ALM SD DICOM LG DOCOM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 ...

Page 215: ...PTIONS AND PERIPHERAL EQUIPMENT 6 6 MR TB50 junction terminal block A 213 6 Junction terminal block cable MR J2M CN1TBL_M Model explanations 05 1 0 5 1 M M M R C N T L J B 1 2 _ Model Symbol Cable length m ...

Page 216: ...s on the CN3 connector of a servo amplifier The terminal symbol S is for the shield Ground the junction terminal block cable using the S terminal of the junction terminal block Specifications Item MR TB26A Rating AC DC 32 V 0 5 A Usable wires Stranded wire 0 08 mm2 to 1 5 mm2 AWG 28 to 14 Solid wire φ0 32 mm to 1 2 mm Wire insulator OD φ3 4 mm or less Tool 210 619 WAGO or equivalent 210 119SB WAGO...

Page 217: ...AL EQUIPMENT 6 7 MR TB26A junction terminal block WG 215 6 Dimensions Unit mm 1 Values in parentheses are the sizes when installed with a 35 mm DIN rail 23 6 14 1 14 1 26 6 26 27 55 57 Approx 35 1 Approx 7 5 1 Approx 31 1 1 ...

Page 218: ... the servo amplifier with the following procedure 1 Disconnect the power plug of the personal computer from the AC power socket 2 Check that the power plug has been disconnected from the AC power socket then connect the computer to the servo amplifier 3 Connect the power plug of the personal computer to the AC power socket When using a personal computer with battery The computer can be used as it ...

Page 219: ...each standard Selection requirements for the wire size are as follows Construction requirements Single wire set in midair Wiring length 30 m or less The following shows the wires used for wiring Use the wires given in this section or equivalent wires N C P L1 L2 L3 L11 L21 U V W M 1 Main circuit power supply lead Servo amplifier Power supply 2 Control circuit power supply lead 4 Servo motor power ...

Page 220: ...on example is the same as that for the AC power supply input Selection example of crimp terminals Precautions Crimp terminals are used only for ground wiring Servo amplifier Wire mm2 1 L1 L2 L3 2 L11 L21 3 P C 4 U V W E 2 MR J5 10_ 2 AWG 14 a 1 25 to 2 AWG 16 to 14 1 2 AWG 14 AWG 18 to 14 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ 3 phase power supply input AWG 18 to 10 MR J5 20...

Page 221: ...acteristics equal to or higher than Mitsubishi Electric general purpose products Servo amplifier Molded case circuit breaker 1 3 Fuse Magnetic contactor 2 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 J5 10_ 30 to 125 A frame 5 A 30 to 125 A frame 5 A 240 T 10 300 S T10 MR J5 20_ 30 to 125 A frame ...

Page 222: ... CV3 Motor circuit breakers Type E combination motor controllers cannot be used with 400 V class servo amplifiers 1 The values of the SCCR vary depending on the combination with the servo amplifier 2 1 phase input is not supported Servo amplifier Rated input voltage AC V Input phase 2 Motor circuit breaker Type E combination motor controller SCCR kA 1 Model Rated voltage AC V Rated current A heate...

Page 223: ...lso be used instead of a molded case circuit breaker Use the motor circuit breaker Type E combination motor controller with the line side terminal adapter UT CV3 and the short circuit indicator unit UT TU Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker 1 3 4 Fuse Magnetic contactor 2 Frame rated curr...

Page 224: ...omply with the IEC EN UL CSA standards refer to the MR J5 Safety Instructions and Precautions for AC Servos IB NA 0300391 for selection of molded case circuit breakers and fuses 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 J5 10_ 30 A frame 5 A 240 1 300 1 250 MR J5 20_ MR J5 40_ MR J5 60_...

Page 225: ... or less Servo amplifier Molded 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 J5 10_ 30 A frame 5 A 30 A frame 5 A 240 T 10 400 DUD N30 MR J5 20_ 30 A frame 5 A 30 A frame 5 A MR J5 40_ 30 A frame 10 A 30 A frame 5 A 15 MR J5 60_ 30 A frame 15 A 30 A...

Page 226: ...rvo motors Total continuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker 2 Fuse Magnetic contactor 1 Frame rated current Voltage AC V Class Current A Voltage AC V 300 W or less 30 A frame 5 A 240 T 15 400 DUD N30 Over 300 W 600 W or less 150 N or less 100 W or less 30 A frame 10 A 20 Over 600 W 1 kW or less Over 150 N 300 N or less Over 100 W 252 W ...

Page 227: ...100_ SD T12 MR J5 200_ MR J5 350_ SD T21 MR J5 500_ SD T35 MR J5 700_ SD T50 MR J5 60_4_ to MR J5 200_4_ SD T12 MR J5 350_4_ SD T21 Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Magnetic contactor 300 W or less SD T11 From over 300 W to 600 W 150 N or less 100 W or less From over 600 W to 1 kW From over 150 N to 300 N From ov...

Page 228: ...ndards The permissible current for the wire insulated conductor varies depending on the usage conditions ambient temperature number of wires bundled and so on If the selection result is a wire that is too thick to be wired to the servo amplifier multiple servo amplifiers cannot be connected to one molded case circuit breaker Reduce the number of servo amplifiers until the wire size is acceptable f...

Page 229: ... and maximum wire sizes for the MR J5 series 3 phase rated input currents inrush currents and maximum wire sizes for servo amplifiers Wire size 60 C 140 F 75 C 167 F AWG Actual cross sectional area mm2 Nominal cross sectional area mm2 A A 14 2 1 2 15 15 12 3 3 3 5 20 20 10 5 3 5 5 30 30 8 8 4 8 40 50 6 13 3 14 55 65 4 21 2 22 70 85 2 33 6 38 95 115 1 42 4 110 130 Model Input current A Inrush curre...

Page 230: ...for molded case circuit breakers MCCB 1 For molded case circuit breakers that support the current values enclosed in brackets in the rated current column contact your local sales office List of rated currents for magnetic contactors MC Model Rated voltage AC V Rated current A 1 NF125 SVU 480 15 20 30 40 50 60 70 75 80 90 100 125 MS T series Frame T10 T12 T20 T21 T25 N35 N50 N65 N80 N125 AC3 class ...

Page 231: ...t MR J5W2 22G_ 3 phase power supply input MR J5 60_ 1 phase power supply input NF125 SVU 15A 125 A frame 15 A 170M1409 16 A MR J5 70_ 1 phase power supply input MR J5 100_ 3 phase power supply input MR J5W2 22G_ 1 phase power supply input MR J5W2 44G_ 3 phase power supply input MR J5W3 222G_ 3 phase power supply input MR J5 100_ 1 phase power supply input NF125 SVU 15A 125 A frame 15 A 170M1412 32...

Page 232: ...lifier 75 C Stranded wire AWG L1 L2 L3 L11 L21 P C U V W E 1 MR J5 10_ 14 14 14 14 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ 3 phase power supply input MR J5 200_ 1 phase power supply input 12 MR J5 350_ 12 MR J5 500_ 10 8 MR J5 700_ 8 MR J5W2 22G_ 14 14 MR J5W2 44G_ MR J5W2 1010G_ MR J5W2 77G_ MR J5W3 222G_ MR J5W3 444G_ Servo amplifier 75 C Stranded wire AWG L1 L2 L3 L11 L21 ...

Page 233: ...he 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 circuit bar between P3 and P4 3 Maximum dimensions The dimensions vary depending on the curvature of the input output lines 4 Selection requirements for the wire size are as follows Wire type 600 V Grade heat resistant polyvinyl chloride insulated wire HI...

Page 234: ...ulated wire HIV wire Construction requirements Single wire 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 J5 200_ FR HEL 3 7K 77 55 92 82 66 57 37 M4 M4 1 5 2 AWG 14 MR J5 350_ FR HEL 7 5K 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 MR J5 500_ FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J5 700_ FR...

Page 235: ...600 V Grade heat resistant polyvinyl chloride insulated wire HIV wire Construction requirements 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 J5 60_4_ FR HEL H1 5K 66 50 100 80 74 54 37 M4 M3 5 1 0 2 AWG 14 MR J5 100_4_ 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 D1 1 P ...

Page 236: ...rade heat resistant polyvinyl chloride insulated wire HIV wire Construction requirements 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 J5 200_4_ FR HEL H3 7K 86 55 120 95 89 69 45 M4 M4 2 3 2 AWG 14 MR J5 350_4_ FR HEL H7 5K 96 60 128 105 100 80 50 M5 M4 3 5 2 AWG 14 W1 W 2 5 D2 D1 1 H 2 5 P P1 2 P3 ...

Page 237: ...rent It decreases the power supply capacity The input power factor is improved to about 80 Restrictions When using power factor improving AC reactors for two servo amplifiers or more connect a power factor improving AC reactor to each servo amplifier If one unit of power factor improving reactor is used for multiple servo amplifiers the power factor cannot be improved sufficiently unless all servo...

Page 238: ... 40_ FR HAL 0 75K 104 84 99 74 56 44 M5 M4 0 8 MR J5 60_ MR J5 70_ FR HAL 1 5K 104 84 99 77 61 50 M5 M4 1 1 MR J5 100_ 3 phase power supply input FR HAL 2 2K 115 4 40 115 77 71 57 M6 M4 1 5 MR J5 100_ 1 phase power supply input MR J5 200_ 3 phase power supply input FR HAL 3 7K 115 4 40 115 83 81 67 M6 M4 2 2 MR J5 200_ 1 phase power supply input FR HAL 5 5K 115 4 40 115 83 81 67 M6 M4 2 3 R X Z S ...

Page 239: ...6 7 0 Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Power factor improving AC reactor 450 W or less 150 N or less 100 W or less FR HAL 0 75K From over 450 W to 600 W From over 150 N to 240 N From over 100 W to 377 W FR HAL 1 5K From over 600 W to 1 kW From over 240 N to 300 N From over 377 W to 545 W FR HAL 2 2K From over 1 k...

Page 240: ... 120 115 59 59 6 45 M4 M3 5 1 5 MR J5 100_4_ FR HAL H2 2K 135 120 115 59 59 6 45 M4 M3 5 1 5 MR J5 200_4_ 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 J5 350_4_ FR HAL H7 5K 160 145 142 91 91 75 M4 M4 5 0 W 0 5 W1 R X Z S Y T H 5 D1 D2 Y Z S T MC MCCB FR HAL H X R L1 L2 L3 4 d mounting ho...

Page 241: ...or control signal transmission and connect the external conductor of the cable to the SD terminal For grounding refer to the following Page 104 Grounding Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays that make a large amount of noise near the servo amplifier and...

Page 242: ... located near the main circuit cables and those transmitted through the power supply cables Noise generated by servo amplifier Noise radiated directly from servo amplifier Route 1 Noises transmitted in the air Noise radiated from the power cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction noise Routes 4 and 5 Static induction noise Route 6 Noise transmitted through ele...

Page 243: ...d side by side or bundled together magnetic induction noise and static induction noise are transmitted through the signal cables and malfunctions may occur The following techniques are required Provide maximum clearance between easily affected devices and the servo amplifier Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier Avoid bundling pow...

Page 244: ...m or less from the servo amplifier When connecting the network cable from outside the cabinet connect it to the ground plate at a place 5 mm to 10 mm away from the cabinet entrance To reinforce noise reduction techniques installing a data line filter TDK ZCAT1730 0730 to the network cable is recommended Install the data line filter to a place 80 mm or less from the servo amplifier Inside the cabin...

Page 245: ...RM563218 by SEIWA ELECTRIC are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below These impedances are reference values and not guaranteed values Unit mm Impedance Ω 10 MHz to 100 MHz 100 MHz to 500 MHz 80 150 Inside the cabinet Outside the cabinet Servo amplifier Cable clamp fitting Locate 5 mm to 10 mm away from the cab...

Page 246: ...hen the shielded wire is connected directly to the ground plate as shown below Install the ground plate near the servo amplifier for the encoder cable Peel part of the cable insulator to expose the external conductor and press that part against the ground 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 Unit mm ...

Page 247: ...able type has no shield on the outermost circumference Therefore to ground the motor cable with a cable clamp use a motor cable dual cable type 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 11 24 0 3 7 35 C A 17 5 6 35 22 6 B 0 3 30 10 24 0 3 0 0 2 Grounding plate Clamp fitting 2 φ5 hole Mounting hole L or less M4 scre...

Page 248: ...er supply 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 through the line noise 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 line noise filters to have the required number of passes as shown in Example 2 Place the line no...

Page 249: ...ecial 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 μs A 2 ms J W pF V 200 V class TND20V 431K 275 350 10000 1 time 7000 2 times 195 1 0 100 710 13...

Page 250: ...rger than those of the motor which runs on AC power Select an earth leakage current breaker according to the following formula and ground the servo amplifier servo motor etc securely To minimize leakage currents make the input and output wires as short as possible and keep a distance of 30 cm or longer between the wires and ground MR J5 _G_ or MR J5 _A_ Rated sensitivity current 10 Ig1 Ign Iga K I...

Page 251: ...the servo amplifier to the servo motor Page 250 Example of leakage current Ig1 Ig2 per km of CV cable run in metal conduit Ign Leakage current when a filter is connected to the input side 4 4 mA per one FR BIF H Iga Servo amplifier leakage current Page 250 Servo amplifier leakage current example Iga Igm Servo motor leakage current Page 250 Servo motor leakage current example Igm Earth leakage curr...

Page 252: ...3 to 3 5 0 3 4 2 to 5 0 5 6 to 7 0 7 Servo amplifier Leakage current mA MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ 0 16 MR J5 200_ MR J5 350_ 0 22 MR J5 500_ MR J5 700_ 2 MR J5W2 22G_ MR J5W2 44G_ 0 1 MR J5W2 77G_ MR J5W2 1010G_ MR J5W3 222G_ MR J5W3 444G_ 0 15 MR J5 60_4_ MR J5 100_4_ MR J5 200_4_ MR J5 350_4_ 0 38 120 100 80 60 40 20 0 2 5 5 14 3 5 8 38 100 22 30 60 150 80 Leak...

Page 253: ...gm 0 1 mA Insert these values in formula 6 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 for the NV SP SW CP CW HW series Servo amplifier Rated sensitivity current of earth leakage current breaker mA MR J5 10_ to MR J5 3...

Page 254: ...0 0 15 1 0 1 0 1 0 1 0 1 0 1 0 1 Ig 8 5 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 8 5 mA or more Use an earth leakage current breaker having Ig of 15 mA for the NV SP SW CP CW HW series 2 mm2 5 m NV Ig1 Iga MR J5W3 222G Ig2 Igm M Ig2 Igm M HK KT23 HK KT23 Ig2 Igm M HK KT23 2 mm2 5 m Cable A axis servo motor Cable Servo...

Page 255: ...rial and industrial environments Category C3 Second environment commercial light industrial and industrial environments Application environment Total length of servo motor power cable EMC filter Model Rated current A Rated voltage VAC Operating temperature C Mass kg Manufacturer IEC EN 61800 3 Category C2 C3 1 50 m or less FSB 10 254 HU 10 250 40 to 85 1 8 COSEL Co Ltd FSB 20 254 HU 20 FSB 30 254 ...

Page 256: ... 2 When a surge protector is used For 3 phase 380 V AC to 480 V AC power supply 1 When a surge protector is used MCCB 1 2 3 1 2 3 4 5 6 MC L1 L2 L3 L11 L21 Servo amplifier Surge protector 1 EMC filter 200 V AC to 240 V AC 3 phase MCCB 1 2 3 1 2 3 4 5 6 MC L1 L2 L3 L11 L21 Servo amplifier Surge protector 2 EMC filter 1 phase 1 200 V AC to 240 V AC MCCB 1 2 3 1 2 3 4 5 6 MC L1 L2 L3 L11 L21 Servo am...

Page 257: ...5 FSB 20 355 Unit mm FSB 40 324 HU Unit mm 3 M4 3 M4 2 φ5 5 9 7 5 5 5 5 2 11 5 2 5 240 19 87 5 55 66 208 230 100 4 1 Terminal block cover Protective earth PE Mounting hole Output Input Protective earth PE Mounting plate M4 M4 3 90 1 80 21 5 4 290 1 17 1 0 5 1 5 125 1 4 11 5 259 275 2 φ5 5 7 M4 3 M5 2 φ5 5 3 M5 114 1 2 1 2 3 4 5 6 M4 Protective earth Input Protective earth Mounting hole Terminal co...

Page 258: ... filter recommended HF3010C SZB HF3020C SZB HF3030C SZB Unit mm HF3030C SZL HF3060C SZL Unit mm φ4 5 R2 2 5 6 220 4 210 2 66 4 55 2 78 4 Approx 10 5 Approx 12 5 Approx 12 5 φ4 5 66 4 55 2 78 4 220 4 210 2 R2 2 5 6 Approx 10 5 Approx 12 5 Approx 12 5 ...

Page 259: ...inuous operating voltage 50 60 Hz DC operating start voltage Voltage protection level Nominal discharge current 8 20 μs Maximum discharge current 8 20 μs Impulse current life 8 20 μs 1000 A Manufacturer RSPD 250 U4 3 AC 250 V 700 V 25 1300 V 2500 A 5000 A About 300 times Okaya Electric Industries Co Ltd RSPD 500 U4 3 AC 500 V 1300 V 25 2000 V 2500 A 5000 A About 300 times Okaya Electric Industries...

Page 260: ...The delay time can be set with the MR J3 D05 The purpose of this function is as follows This function is available when the MR J3 D05 and an MR J5 series servo amplifier are combined 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 2016 9 2 5 4 2 Emergency Stop In every operation mode this must take precede...

Page 261: ...dition certification regarding safety standards over the whole system is required The servo motor stops with a dynamic brake or by coasting in any of the following cases when the SS1 delay time is shorter than the servo motor deceleration time when the forced stop function has a problem or when STO EMG is enabled during servo motor rotation For proper installation wiring and adjustment thoroughly ...

Page 262: ...try region SDI1A SDI2A SDI1B SDI2B STO1A STO2A SDO1A SDO2A SRESA SRESA TOF1A TOF2A STO1A STO2A TOFA 0V 24V TIMER1 TIMER2 SW1 SW2 SDO1A SDO2A DC DC power supply Safety logic A axis circuit B axis circuit SDI SRES STO A axis shut off 1 and 2 Energization closed Shut off open Release closed Normal open Normal closed Shut off open A axis shut off release B axis shut off release B axis shut off 1 and 2...

Page 263: ...s x 2 systems SDO_ Source sink supported 3 Output method Photocoupler insulation open collector type Permissible current 40 mA or less per point inrush current 100 mA or less per point Delay setting time A axis Select from 0 s 1 4 s 2 8 s 5 6 s 9 8 s and 30 8 s B axis Select from 0 s 1 4 s 2 8 s 9 8 s and 30 8 s Accuracy 2 Safety sub function STO SS1 IEC EN 61800 5 2 EMG STOP EMG OFF IEC EN 60204 ...

Page 264: ...iguration example The connection destinations of the STO switch and STO release switch are shown in the following figure MR D05UDL_M STO cable cannot be used MR J3 D05 FG MCCB CN9 CN10 CN8 L1 L2 L3 U V W CN3 STO switch STO release switch Magnetic contactor Power supply Servo motor STO cable MR D05UDL3M B EM2 Forced stop 2 Servo amplifier ...

Page 265: ... 7 8 CN3 CN8 SDO1A 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 SW1 1 FG 4 5 3 6 7 8 CN3 CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 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 S1 24 V 0 V STOA S3 STOB MC M MC M CN8A CN8B RES...

Page 266: ...rive system Outputs the same signal as B axis STO1 STO state base circuit shut off Between STO2B and STO2B becomes open STO release state driving Between STO2B and STO2B becomes closed O B axis STO state TOF2B TOF1B 7 8 Inputs the STO state of the B axis drive system STO state base circuit shut off Open between TOF2B and TOF1B STO release state driving Close between TOF2B and TOF1B I Device name S...

Page 267: ...he A axis drive system DI 1 B axis shut off release SRESB SRESB 2A 2B Releases the STO state base circuit shut off of the B axis drive system Turning the state between SRESB and SRESB from on connected to off released releases the STO state base circuit shut off of the B axis drive system DI 1 A axis SDO2 SDO2A SDO2A 6A 6B Outputs STO2 to the A axis drive system Outputs the same signal as A axis S...

Page 268: ... is turned on the current flows to the collector terminal A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or less maximum current 50 mA or less inrush current 100 mA or less A maximum of 2 6 V voltage drop occurs internally 1 If the voltage drop maximum of 2 6 V interferes wit...

Page 269: ...2 recommended wire UL 1007 recommended and process it so that its stripped length is 7 0 mm 0 3 mm Before using be sure to check the length of the stripped section with a gage or other tool If the stripped wire is bent frayed or wound too thick correct it by lightly twisting the wire or manipulating it as necessary and check the length of the stripped section before using it In addition do not use...

Page 270: ... relation to the terminal block 3 Insert the tool until it touches the surface of the terminal block The tool becomes perpendicular to the terminal block at this point 4 Insert the wire until it reaches the stop When doing so slightly twist the core wire so that it does not fray It is easier to insert the wire by inserting it diagonally while twisting the tool a little 5 Pull out the tool ...

Page 271: ...ly connected 4 To remove the wire as when connecting the wire push the spring down with a screwdriver and pull the wire out Inserting the connector Ensure the connector is straight then insert it into the socket until you hear and feel it click into place When removing the connector press down the locking part completely then pull out the connector If the connector is pulled out while the locking ...

Page 272: ...or more from the connector end surface Prevent the wire from being pulled excessively after the connecter is inserted in the servo amplifier Wiring FG Usable wire range Solid wire φ0 4 mm to 1 2 mm AWG 26 to 16 Stranded wire 0 2 mm2 to 1 25 mm2 AWG 24 to 16 wire strand diameter 0 18 mm or more A A 1 5 or more Bottom face Lead wire ...

Page 273: ...itor LED Off Shut off release is off The switch contact is open On Shut off release is on The switch contact is closed A axis B axis SDI1 Shut off 1 monitor LED Off Shut off 1 is off The switch contact is closed On Shut off 1 is on The switch contact is open SDI2 Shut off 2 monitor LED Off Shut off 2 is off The switch contact is closed On Shut off 2 is on The switch contact is open TOF STO status ...

Page 274: ...Replace the 24 V DC power supply 2 The wiring between the MR J3 D05 and the 24 V DC power supply is disconnected or is in contact with other wiring Check the wiring 3 The MR J3 D05 has malfunctioned Replace the MR J3 D05 The FAULT LED is on The FAULT 3 digit 7 segment LED for A axis or B axis remains on and does not turn off 1 Delay time setting mismatch Check the settings of the rotary switches 2...

Page 275: ...Approx 192 Approx 5 Approx 5 Approx 80 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 24V 0V 8A 8B TOFA TOFB CN8A CN8B CN9 CN10 Pin assignment Mounting screw...

Page 276: ...ntation Leave clearance between the MR J3 D05 and the cabinet or other equipment MR J3 D05 MR J3 D05 MR J3 D05 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 longer Cabinet Cabinet Other device ...

Page 277: ...e used No Product name Model Description 1 Connector Supplied with the MR J3 D05 CN9 connector 1 1871940 4 TE Connectivity CN10 connector 1 1871940 8 TE Connectivity 2 STO cable MR D05UDL3M B Cable length 3 m Connector set 2069250 1 TE Connectivity CN9 CN10 MR J3 D05 2 2 CN8 1 CN8 MR J3 D05 attachment connector Servo amplifier Servo amplifier ...

Page 278: ...vo amplifier into a cabinet enables you to tighten the installation screw with the screwdriver held horizontally Compatible models MR J5 10_ to MR J5 350_ MR J5W2 22G_ to MR J5W2 1010G_ MR J5W3 222G_ and MR J5W3 444G_ MR CM3K MR J5 60_4_ to MR J5 350_4_ Dimensions Unit mm Plating Trivalent chrome plated View when installed 2 3 2 3 2 3 11 5 0 2 3 7 12 7 26 5 15 5 5 5 10 φ6 hole Approx 6 ...

Page 279: ...nsure that the attachment is installed perfectly straight so that it does not protrude beyond the side of the module If the attachment is not straight the hole in the bracket may not alight with the screw hole The attachment may come loose if it is installed at an angle and then forcibly moved into position Loosen the screw before adjusting the position of the attachment 1 Cabinet mounting attachm...

Page 280: ...xamples of the MR J5 10A servo amplifiers Unit mm Packed articles Quantity Cabinet mounting attachment 10 Flat head screw M4 10 Servo amplifier Variable dimensions A B C MR J5_10_ 6 182 3 6 MR J5_20_ MR J5_40_ MR J5_60_ MR J5_70_ 12 12 MR J5_100_ MR J5_200_ 6 6 MR J5_350_ MR J5W2_22_ MR J5W2_44_ MR J5W2_77_ MR J5W2_1010_ MR J5W3_222_ MR J5W3_444_ MR J5_60_4_ 12 183 12 MR J5_100_4_ MR J5_200_4_ 6 6...

Page 281: ...6 OPTIONS AND PERIPHERAL EQUIPMENT 6 18 J5 CHP07 10P cabinet mounting attachment 279 6 156 6 A 14 3 14 3 10 B C φ6 mounting hole ...

Page 282: ...tachment Installation hole dimensions MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ MR CM3K Unit mm MR J5 70_ MR J5 100_ Unit mm 171 0 5 0 2 M5 screw Approx 6 Approx 6 Approx 40 Approx 6 Approx 183 42 0 3 171 0 5 0 Approx 6 Approx 6 Approx 183 3 M5 screw Approx 6 Approx 12 Approx 60 ...

Page 283: ...ent 281 6 MR J5 200_ MR J5 350_ MR J5 200_4_ MR J5 350_4_ Unit mm MR J5W2 22G_ MR J5W2 44G_ MR J5 60_4_ MR J5 100_4_ Unit mm 171 0 5 0 78 0 3 Approx 6 Approx 6 3 M5 screw Approx 183 Approx 6 Approx 6 Approx 90 171 0 5 0 Approx 6 Approx 6 Approx 183 Approx 6 Approx 60 2 M5 screw ...

Page 284: ...10P cabinet mounting attachment MR J5W2 77G_ MR J5W2 1010G_ Unit mm MR J5W3 222G_ MR J5W3 444G_ Unit mm 171 0 5 0 73 0 3 Approx 6 Approx 6 3 M5 screw Approx 183 Approx 6 Approx 85 171 0 5 0 63 0 5 Approx 6 Approx 6 3 M5 screw Approx 183 Approx 6 Approx 75 ...

Page 285: ...ions Ensure that the cable does not apply excessive stress to the attachment Compatible models MR J5 10_ to MR J5 350_ MR J5 60_4_ to 350_4_ Restrictions The grounding terminal attachment cannot be installed when the MR BAT6V1SET or MR BAT6V1SET A batteries are used Remove the cable clamp before removing the CN2L connector Appearance and dimensions Appearance Without cable clamp With cable clamp M...

Page 286: ...grounding terminal attachment Dimensions Unit mm View when installed 1 The recommended screw tightening torque is 1 5 0 1 N m PE 40 10 5 5 19 5 31 9 109 3 12 6 22 5 φ6 mounting hole 1 1 Protective earth PE Motor power cable clamp Main circuit cable clamp ...

Page 287: ...uchi Industry Co Ltd can also be used Installation dimensions Exterior dimensions at installation MR J5 10_ MR J5 20_ MR J5 40_ Unit mm Packed articles Quantity Grounding terminal attachment 1 Cable clamp manufactured by Takeuchi Industry Co Ltd ALC 7 bundle diameter φ6 5 mm to 7 5 mm 2 Flat head screw M4 4 32 6 40 10 156 6 172 6 40 6 PE CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 CNP1 CNP2 CNP3 135 19 3 41 ...

Page 288: ...ONS AND PERIPHERAL EQUIPMENT 6 19 J5 CHP08 grounding terminal attachment MR J5 60_ Unit mm 170 19 3 76 109 3 168 165 32 6 40 10 156 6 172 6 40 6 PE CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 CNP1 CNP2 CNP3 φ6 mounting hole ...

Page 289: ...L EQUIPMENT 6 19 J5 CHP08 grounding terminal attachment 287 6 MR J5 70_ MR J5 100_ Unit mm 165 32 6 40 10 156 6 172 12 60 12 42 6 9 5 PE CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 CNP1 CNP2 CNP3 6 185 19 3 91 109 3 168 φ6 mounting hole ...

Page 290: ...t mm MR J5 60_4_ MR J5 100_4_ Unit mm 10 156 6 6 90 CNP1 CNP2 CNP3 6 78 6 6 40 9 5 165 32 6 172 CN1 CN5 CN6 CN8 CN3 CN2 CN2L CN4 195 19 3 109 3 168 101 φ6 mounting hole 165 PE 10 156 6 172 12 60 32 6 40 12 42 6 9 5 6 CNP1 CNP2 CNP3 CN2 CN2L CN4 CN3 CN5 CN6 CN1A CN1B CN8 195 19 3 101 109 3 168 φ6 mounting hole ...

Page 291: ...UIPMENT 6 19 J5 CHP08 grounding terminal attachment 289 6 MR J5 200_4_ MR J5 350_4_ Unit mm 165 10 156 6 6 90 6 78 6 6 40 17 2 32 6 172 CNP1 CNP2 CNP3 CN2 CN2L CN4 CN3 CN5 CN6 CN1A CN1B CN8 195 19 3 109 3 168 101 φ6 mounting hole ...

Page 292: ... positioning and the like in combination with a controller other than a Mitsubishi Electric motion module Restrictions A The absolute position detection system cannot be configured in the following conditions When an incremental type encoder is being used Speed control mode and torque control mode Infinite long positioning and the like stroke less coordinate system Changing electronic gear after h...

Page 293: ...tion detection system to 1 enabled absolute position detection system Servo parameter setting A Set Pr PA03 Absolute position detection system to 1 enabled absolute position detection system by DIO Homing After the absolute position detection system is enabled AL 025 Absolute position erased occurs at the initial startup Then ABSV Absolute position undetermined turns on Refer to CONTROL MODE in th...

Page 294: ...ys values in the unit of the servo motor machine side pulses from the servo amplifier of the specified axis 2 Command pulse unit value Acquires and displays the command pulse unit value from the servo amplifier for the specified axis 3 CYC G WG Acquires and displays the position within one revolution in the unit of the servo motor machine side pulses from the servo amplifier of the specified axis ...

Page 295: ...her position mismatch may occur 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 manufactured by Mitsubishi Electric 8000 only when the acceleration deceleration time until 8000 r min is 0 2 s or longer LSO 1XO Controller Servo amplifier Home position data Command position Current posit...

Page 296: ...nd power 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 Direct drive motor manufactured by Mitsubishi Electric 500 only when acceleration deceleration time until 500 r min is 0 1 s or longer Battery backup time 2 Direct drive motor manufactured by Mitsubishi Electric Approximately 5000 h...

Page 297: ... 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 Direct drive motor manufactured by Mitsubishi Electric 500 only when acceleration deceleration time until 500 r min is 0 1 s or longer Battery backup time 2 Direct drive motor manufactured by Mitsubishi Electric Approximately 10000 hours 2 ...

Page 298: ...COM 15 SON 42 EM2 17 ABSM 18 ABSR 22 ABSB0 23 ABSB1 25 ABST DICOM DOCOM 47 21 DICOM 49 RD 1 P15R 33 OP 41 47 10 PP 11 PG 35 NP 36 NG 1 P15R 27 TLA 28 LG SD CN3 RA2 Servo amplifier Forward rotation stroke end 1 Reverse rotation stroke end External torque limit selection Reset Forced stop 2 Output Servo on Electromagnetic brake output ABS transfer mode ABS request ABS transmission data bit 0 Input R...

Page 299: ...2 CN3 23 and CN3 25 pins change as indicated in this table DI 1 P Position control ABS request ABSR 18 1 Turn on ABSR to request the absolute position data during ABS transfer mode DI 1 ABS transmission data bit 0 ABSB0 22 Indicates the lower bit of the absolute position data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode When there is a signal ABSB0 is...

Page 300: ...dy setting of the programmable controller turns on The ABS data display window in MR Configurator2 and programmable controller side ABS position data registers show the same value at the home position address of 0 If a warning such as AL 0E5 ABS time out warning or a programmable controller transfer error occurs refer to the following page and take corrective action Page 312 Absolute position data...

Page 301: ...mer ABST ABS transmission data ready off Current position data The data is read in units of two bits and the read data is shifted by two bits to the right and written as the lowest bits This step is repeated until 32 bit data is configured 16 times Reading 2 bits Shift and add ABSR ABS request off ABST ABS transmission data ready on ABSR ABS request on Repeated for 6 bits Sum check data Transmissi...

Page 302: ...ceived If a warning occurs ABSM transfer can be received 2 If ABSM is turned off during the ABSM transfer mode the ABS transfer mode is interrupted and AL 0E5 ABS time out warning occurs 3 If SON is turned off RES is turned on or EM2 is turned off during the ABS transfer mode AL 0E5 occurs The output signal functions of ABST ABSB0 and ABSB1 are switched by the following conditions 4 ABSM transfer ...

Page 303: ...3 In response to ABSR the servo outputs the lower 2 bits of ABS and turns off ABST 4 The programmable controllers recognizes that the ABST has turned off ABS 2 bits data have been outputted reads the lower 2 bits of ABST and turns off ABSR 5 The servo turns on ABST to respond to the next request Step 3 to 6 are repeated until 32 bit data and the 6 bit checksum have been transmitted 6 After receivi...

Page 304: ...f the received absolute position data using the sequence program and compare it with the checksum code sent from the servo The following shows how to calculate the checksum The checksum will add every ABS 2 bit data inputted to the total The checksum is 6 bit data Example Absolute value data 10 FFFFFFF6h Therefore the checksum of 10 is 2Dh 1111 1111 1111 0110 10 FFFF FFF6 10b 01b 11b 11b 11b 11b 1...

Page 305: ...5 s after ABST is turned on this will be treated as a transmission error and Al 0E5 ABS time out warning occurs ABS request on time time out check applied to 32 bit absolute position data in 2 bit units checksum If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off this will be treated as a transmission error and AL 0E5 occurs OFF ON OFF ON OFF ON 5 s ABS...

Page 306: ...e ABS transfer If the ABS transfer mode is turned on and after the transfer starts if the ABSM is turned off before the 19th ABS transmission data ready this will be treated as a transmission error and AL 0E5 occurs OFF ON OFF ON OFF ON 5 s 1 2 3 4 18 19 1 2 3 4 18 19 ABSM ABS transfer mode Does not turn OFF ABSR ABS request ABST ABS transmission data ready Alarm AL 0E5 ABS time out warning No ala...

Page 307: ...required then turn on SON again If the absolute position data transmission is not completed normally even after retry perform the ABS checksum error and error processing When a checksum error occurs the start command should be interlocked with ABST to disable the positioning operation The following shows an example of three retries are performed OFF ON OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18...

Page 308: ...alarm factor cancel the alarm and then turn on ABSM During reset ABSM is received OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms OFF ON OFF ON OFF ON SON Servo on RES Reset ABSM ABS transfer mode During ABS transfer ABSR ABS request ABST ABS transmission data ready ABSB0 ABS transmission data bit 0 ABSB1 ABS transmission data bit 1 Absolute position data Base circuit ALM Malfunction RD Ready Operation ...

Page 309: ...o amplifier simultaneously send the latched current position to the controller side and the servo amplifier sets this data as the position command value However since the base circuit is off during a forced stop the status does not switch to servo lock Therefore if the servo motor is rotated by external force or the like after ABSM is turned on this travel distance is accumulated in the servo ampl...

Page 310: ...owever the base circuit and RD turn on after the forced stop is canceled OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms OFF ON OFF ON SON Servo on RES Reset ABSM ABS transfer mode During ABS transfer ABSR ABS request ABST ABS transmission data ready ABSB0 ABS transmission data bit 0 ABSB1 ABS transmission data bit 1 Absolute position data Base circuit RD Ready Operation possible ...

Page 311: ...mory as the home position absolute position data CR should be turned on after checking that INP has turned on If this condition is not satisfied AL 096 Home position setting warning occurs If homing is performed correctly the alarm is automatically canceled The number of homing times is limited to 100000 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON Servo motor Proximity dog DOG Proximity dog INP In p...

Page 312: ...o on should be turned on after checking that INP has turned on If this condition is not satisfied AL 096 Home position setting warning occurs If homing is performed correctly the alarm is automatically canceled The number of homing times is limited to 100000 Homing can be performed during the servo off OFF ON OFF ON OFF ON OFF ON OFF ON Manual feeding with JOG operation or others Servo motor INP I...

Page 313: ...llers continue outputting the command pulse Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller position mismatch will occur if the operation is continued When the servo amplifier has detected the stroke end release stroke end detection by JOG operation and the like urn on SON again or cycle the power By cycling the power the ab...

Page 314: ... time out 2 After the ABS transfer mode signal turns on check the time it takes to turn off ABS transfer time If the ABS transfer time is longer than 5 s this will be treated as a transmission error and as such perform ABS communication error Perform the ABS communication error if AL 0E5 occurs in the servo amplifier due to an ABS transfer mode completion time time out OFF ON OFF ON OFF ON 1 s ABS...

Page 315: ... servo amplifier is detected If the ABS request time is longer than 1 s this will be treated as an error in ABSR or ABST and as such perform ABS communication error Perform the ABS communication error if AL 0E5 occurs in the servo amplifier due to ABS request off time time out OFF ON OFF ON OFF ON 1 s ABSM ABS transfer mode ABSR ABS request Does not turn OFF ABST ABS transmission data ready Alarm ...

Page 316: ...the absolute position information from the servo amplifier to the controller using the serial communication Serial communication command The following shows the commands to read absolute position data using the serial communication function When reading the data ensure that the station No of the servo amplifier is correct Sending the data No from the master station to the slave station servo ampli...

Page 317: ...ller needs to read the current position data in the servo amplifier If this operation is not performed position mismatch may occur Perform time out monitoring on the controller side Servo amplifier Controller SON on RD on Absolute position data command transmission Command 0 2 data No 9 1 Absolute position data acquisition Monitoring timer Absolute position data return Current position acquisition...

Page 318: ...res the absolute position data Then give a command pulse to the servo amplifier If a command pulse is given before the controller acquires the absolute position data position mismatch may occur Communication errors If a communication error occurs between the controller and servo amplifier the servo amplifier transmits a corresponding error code The descriptions of the error codes are the same as t...

Page 319: ... RD triggers the position command When power is switched on in a forced stop status ON 100 ms OFF ON OFF ON OFF ON OFF ON OFF 5 ms SON Servo on RES Reset Base circuit ALM Malfunction RD Ready Absolute position data command transmission Absolute position data reception Current position change Absolute position data Current position Pulse train command Acquire the absolute position data within this ...

Page 320: ...g servo on 100 ms ON OFF ON OFF ON OFF 5 ms SON Servo on ON Disabled EM2 Forced stop 2 OFF Enabled Base circuit RD Ready Absolute position data command transmission Absolute position data reception Current position change Absolute position data Current position Pulse train command Acquire the absolute position data within this period ...

Page 321: ...and fully to prevent injury to persons or damage to property Only qualified personnel are authorized to install startup repair or adjust 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 user s manual The staff responsible for th...

Page 322: ...l not rotate due to external or other forces Safety is not assured until safety related components of the system are completely installed or adjusted When replacing this servo amplifier confirm that the new servo amplifier is exactly the same model as that being replaced After the replacement check the performance of the functions before using the system Perform all risk assessments to the machine...

Page 323: ...bishi Electric Drive Safety function MR J5 User s Manual Troubleshooting CN8 M Base power supply for upper arm Shut off signal STO1 Shut off Monitor signal TOFB1 Base power supply for lower arm Power module Shut off signal STO2 Shut off Monitor signal TOFB2 Servo motor ON OFF ON OFF ON OFF ON OFF 0 r min 8 ms Servo motor speed EM2 Forced stop 2 Magnetic contactor Base circuit Energy supply to the ...

Page 324: ...d stop deceleration by turning off EM2 Forced stop 2 DI 1 STO2 CN8 5 Input the STO status of STO2 STO state base circuit shut off Open between STO2 and STOCOM STO release state in driving Close between STO2 and STOCOM Before turning off STO2 stop the servo motor in the servo off state or with forced stop deceleration by turning off EM2 Forced stop 2 DI 1 TOFCOM CN8 8 Common terminal for the TOFB1 ...

Page 325: ...from outside to 1 ms or less How to pull out the STO cable The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier With the clip 1 of the STO cable plug pressed in the direction of the arrow hold the plug 2 and pull out Input signal Status STO1 STO2 Between TOFB1 and TOFCOM STO1 state Between TOFB2 and TOFCOM STO2 state Between TOFB1 and TOFB2 STO state STO ...

Page 326: ...If STO is turned off during operation the servo motor stops with the dynamic brake stop stop category 0 Precautions for compliance with stop category 0 IEC EN 60204 1 Before turning off STO STO1 and STO2 make the servo off state or turn off EM1 Forced stop 1 If servo parameter STO timing error selection is set to 1 Not detected wiring to EM1 can be omitted Configure an external sequence that has t...

Page 327: ...safety relay unit The safety level depends 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 Pr PF18 in the following user s manual MR J5 G MR J5W G User s Manual Parameters MR J5 A User s Manual Parameters 2 When using the STO function turn off STO1 and STO2 at the same time Also before turnin...

Page 328: ...SDO1A 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 SW1 1 FG 4 5 3 6 7 8 CN3 CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 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 S1 24 V 0 V RESA 2 STOA S3 RESB 2 STOB MC M MC M S4 S2 CN8A C...

Page 329: ...er via MR J3 D05 STOB is connected to the servo amplifier via MR J3 D05 0 r min A axis shutdown 1 and 2 B axis shutdown 1 and 2 Stop Operation Energizing close Shut off open EM2 input STO shut off Normal close Shut off open Servo motor drivable Servo motor speed Servo amplifier Shut off delay STO status STO1 STO2 ...

Page 330: ...rror detection time to achieve safety level SIL3 1 To enable Emergency switching off for the shut off by the STO function of the servo amplifier change S1 to EMG The stop category at this time is 0 Page 324 Precautions for compliance with stop category 1 IEC EN 60204 1 24 V 0 V S2 K3 24V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 K3 CN8 KM1 CN3 EM1 EM2 STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM ...

Page 331: ...tion and connect them with external devices Page 322 Functional safety I O signal connector CN8 and pin assignments Sink I O interface Digital input interface DI 1 This is an input circuit in which the photocoupler cathode side is the input terminal Transmit signals from a sink open collector type transistor output relay switch etc VCES 1 0 V ICEO 100 μA STO1 STO2 STOCOM TR Servo amplifier For tra...

Page 332: ... A maximum of 5 2 V voltage drop occurs in the servo amplifier When outputting each of two STO states by using each TOFB 1 If the voltage drop a maximum of 2 6 V interferes with the relay operation apply high voltage a maximum of 26 4 V from an external source When outputting two STO states by using one TOFB 1 If the voltage drop a maximum of 5 2 V interferes with the relay operation apply high vo...

Page 333: ...V voltage drop occurs in the servo amplifier When outputting each of two STO states by using each TOFB 1 If the voltage drop a maximum of 2 6 V interferes with the relay operation apply high voltage a maximum of 26 4 V from an external source When outputting two STO states by using one TOFB 1 If the voltage drop a maximum of 5 2 V interferes with the relay operation apply high voltage a maximum of...

Page 334: ...it Control circuit power supply 24 V DC Electromagnetic brake Encoder Control Output signal 1 Self diagnosis Parameter Safety sub function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function Safety sub function processing part 1 CC Link IE TSN network Controller or CC Link IE TSN network equipment CC Link IE ...

Page 335: ... power supply 24 V DC Electromagnetic brake Control Output signal 1 Self diagnosis Parameter Safety sub function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function Safety sub function processing part 1 CC Link IE TSN network CC Link IE TSN network CC Link IE TSN network equipment Parameter Settings MELSEC iQ...

Page 336: ..._G_ RJ Safety sub function control by input device CN5 MR Configurator2 CN6 CN8 CN3 CN2 W V U CN2L CN1B CN1A Personal computer Analog monitor Junction terminal block Servo motor Controller or servo amplifier Controller or servo amplifier Safety light curtain Emergency stop switch Safety signal Safety programmable controller ...

Page 337: ... function control by network CN5 MR Configurator2 CN6 CN8 CN3 CN2 W V U CN2L CN1B CN1A Personal computer Analog monitor Junction terminal block Servo motor CC Link IE TSN network CC Link IE TSN network Safety light curtain Emergency stop switch Safety signal Safety signal ...

Page 338: ...g off SDIA Open between SDIA and SDICOM Turning on SDIA Close between SDIA and SDICOM DI 1 SDIB CN8 5 Input the status of SDIB Turning off SDIB Open between SDIB and SDICOM Turning on SDIB Close between SDIB and SDICOM DI 1 SDOCOM CN8 8 Common terminal for the SDOA and SDOB output signals DO 1 SDOA CN8 6 The signal that outputs the status assigned to SDOA SDOA turned on Closes between SDOA and SDO...

Page 339: ...signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply Output signal For source output interface For sink output interface 1 Separate the external output wiring into two routes SDOA and SDOB 2 Supply interfaces with 24 V DC 10 from external sources If all the I O points have been used there must be a total curre...

Page 340: ...tor type transistor output relay switch etc Sink input This is an input circuit in which the photocoupler cathode side is the input terminal Transmit signals from a sink open collector type transistor output relay switch etc SDICOM SDIA SDIB 24 V IN 0 V IN Approx 4 4 kΩ Approx 4 4 kΩ 24 V DC Control output 1 Control output 2 External device 24 V DC 5 mA 24 V DC 5 mA SDICOM SDIA SDIB 24 V IN 0 V IN...

Page 341: ...m so that the electromagnetic brake activates when SBCS SBC output turns off There is no need to use the MBR Electromagnetic brake interlock of the servo amplifier For information on the operation sequence when the SBC function is used refer to SBC function in the following manual MR J5 User s Manual Function 1 Configure a circuit which interlocks with an emergency stop switch to shut off 2 Do not...

Page 342: ...e to the section of the cable after the grounding point Strip part of the shielded cable then ground the exposed portion of the cable on a large surface of the cabinet A metal cable clamp can also be used to ground the cable shown below Mask the painted internal wall of the cabinet that touches the cable clamp Exposed shield Grounding the shield Ground the both ends of the CN8 cable with the cable...

Page 343: ...or pins from the safety controller The safety level Category 4 PL e SIL 3 can be achieved with input signal diagnostics A1 24 V A2 0 V 24 V 0 V FLEXB US FLEXB US 24 V 0 V X1 X2 A1 24 V Q1 Q2 Q3 A2 0 V WS0 CPU0 WS0 XTIO SDOCOM CN8 CN8 SDOA SDOB SDICOM SDIA SDIB S1 CN1A CN8 KM1 QX_ COM I1 I2 I3 I4 Safety controller MELSEC WS series Safety I O module WS0 XTIO CPU module WSO CPU0 Application Applicati...

Page 344: ...n that allows execution of safety sub functions via CC Link IE TSN Network Wiring can be reduced using this method CN1A CN1B KM1 P1 P2 P1 P2 X0 X1 T0 T1 R6SFM RD78G RJ71GN11 T2 NZ2GNSS2 16DTE NZ2GNSS2 8D S1 MELSEC iQ R series safety CPU Safety sub function Control circuit Servo motor KM1 Magnetic contactor S1 Safety switch CC Link IE TSN network ...

Page 345: ...nce home position 1048576 pulses unit initial value One servo motor revolution unit Homing pitch can be changed with servo parameter setting Page 352 Magnetic pole detection method setting Absolute position detection system Absolute position encoder battery Not required Differs depending on the servo motor The following alarms and warnings are not detected AL 025 Absolute position erased AL 092 Ba...

Page 346: ...orrectly Incorrect connection triggers AL 016 4 This is for the MR J5 _A RJ_ servo amplifier The MR J5 _A_ servo amplifier does not have the CN2L connector 1 C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L MCCB R S T P C L11 L21 P3 P4 W V U L1 L2 L3 MC FR BSF01 FR HEL CN5 MR Configurator2 CN6 CN8 CN3 CN2 CN2L 4 SCALE THM 2 3 Power supply Molded case circuit b...

Page 347: ...ector 1 C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L MCCB R S T P C L11 L21 P3 P4 W V U L1 L2 L3 MC FR BSF01 FR HEL CN5 MR Configurator2 CN6 CN8 CN3 CN2 CN2L 2 Power supply Molded case circuit breaker Personal computer Magnetic contactor Analog monitor Safety relay Line noise filter Junction terminal block Power factor improving DC reactor Regenerative opt...

Page 348: ...Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction 1 What is the type of the linear encoder Incremental linear encoder Absolute position linear encoder Linear encoder resolution setting 1 Perform the magnetic pole detection 1 Change the setting to disable the magnetic pole detection Positioning operation check in te...

Page 349: ... Pr PC27 0 Encoder pulse count polarity selection to 0 encoder pulse increasing direction in the servo motor CCW or positive direction If the count direction of the linear servo motor and liner encoder do not match set Pr PC27 0 to 1 encoder pulse decreasing direction in the servo motor CCW or positive direction Servo parameter Description PC27 0 Encoder pulse count polarity selection 0 Encoder pu...

Page 350: ...olution setting Set the ratio to the linear encoder resolution with Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator Precautions The setting values of these servo parameters are enabled after the power is cycled or the software is reset If incorrect values are set for Pr PL02 and Pr PL03 the linear servo motor may not operate properly or...

Page 351: ...accepted or an alarm may occur If the linear encoder is installed incorrectly an alarm may occur If the linear encoder resolution setting Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator or the setting value of Pr PL09 is incorrect an alarm may occur For the machine whose friction becomes 30 or more of the continuous thrust the direct dr...

Page 352: ...etection is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the soft...

Page 353: ... of Pr PL17 0 decreased by two as the final setting value Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Decrease the value of Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude by five Not acceptable Is the travel distance during the magnetic pole detection acceptable 3 Increase the value of Pr PL17 ...

Page 354: ...tion method is not completed properly For an absolute position linear encoder set Pr PL01 0 Servo motor magnetic pole detection selection to 1 magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 magnetic pole detection disabled Setting of magnetic pole detection voltage level by position detection method For ...

Page 355: ... value and make sure that the accuracy of the magnetic pole detection is as required Setting example In this example set the final setting value of Pr PL09 Magnetic pole detection Voltage level to 49 setting value at the alarm occurrence 70 0 7 Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method set the re...

Page 356: ...e magnetic pole detection again The magnetic pole detection improves in accuracy when performed with no load For incremental encoder For the incremental linear encoder the magnetic pole detection is required every time the power is turned on or the software is reset By turning on the servo on command from the controller after the power on the magnetic pole detection is automatically carried out Th...

Page 357: ...F LM U2 LM K2 LM AJ Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 20 Linear servo motor series LM H3 LM F LM U2 LM K2 LM AJ Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 20 LSN 1 LSP 1 Servo on position Magnetic pole det...

Page 358: ... the magnetic pole detection Page 354 For incremental encoder 2 After the completion of the magnetic pole detection change Pr PL01 0 Servo motor magnetic pole detection selection to 0 magnetic pole detection disabled When Pr PL01 0 Servo motor magnetic pole detection selection is set to 0 magnetic pole detection disabled after the magnetic pole detection the magnetic pole detection after each powe...

Page 359: ...ervo amplifier before replacement 1 Open the project in MR Configurator2 and select the model 2 Check that the personal computer is connected with the servo amplifier and select Diagnosis and then Linear diagnosis 3 Click Magnetic Pole Information to open the magnetic pole information window 4 Click Read in the magnetic pole information window 5 Note down the values shown in data 1 of the magnetic...

Page 360: ...etting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction 1 What is the type of the linear encoder Incremental linear encoder Absolute value linear encoder Linear encoder resolution setting 1 Perform the magnetic pole detection 1 Change the setting to disable the magnetic pole detection Positioning operation check in test o...

Page 361: ... set Pr PC45 0 Encoder pulse count polarity selection to 0 encoder pulse increasing direction in the servo motor CCW or positive direction If the count directions of linear servo motor and linear encoder do not match set Pr PC45 0 to 1 encoder pulse decreasing direction in the servo motor CCW or positive direction Servo parameter Description PC45 0 Encoder pulse count polarity selection 0 Encoder ...

Page 362: ...he ratio to the linear encoder resolution with Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator Precautions The setting values of these servo parameters are enabled after the power is cycled or the software is reset If incorrect values are set for Pr PL02 and Pr PL03 the linear servo motor may not operate properly or AL 027 or AL 042 may...

Page 363: ...pted or an alarm may occur If the linear encoder is installed incorrectly an alarm may occur If the linear encoder resolution setting Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator or the setting value of Pr PL09 is incorrect an alarm may occur For the machine whose friction becomes 30 or more of the continuous thrust the direct drive ...

Page 364: ...al value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the software Set approximately 70 of the value s...

Page 365: ...l or negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is the value of Pr PL17 0 Response selection the final value Has an abnormal sound or vibration occurred during the magnetic pole detection Set the value of Pr PL17 0 decreased by two as the final setting value H...

Page 366: ... an absolute position linear encoder set Pr PL01 0 Servo motor magnetic pole detection selection to 1 magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 magnetic pole detection disabled Servo parameter Description PL08 2 Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled Ini...

Page 367: ...Set the value to approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole ...

Page 368: ...al value 0 Setting of identification signal amplitude by minute position detection method If AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 or AL 0E1 Overload warning 1 occurs at the magnetic pole detection by the minute position detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude Basically Pr PL18 does n...

Page 369: ...n selection for executing magnetic pole detection Timing chart 1 The magnetic pole detection time indicates the operation time when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on Linear servo motor movement when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on 1 When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is turned o...

Page 370: ...er the magnetic pole detection the magnetic pole detection at each power on is not required How to replace servo amplifier without magnetic pole detection Refer to the following Page 357 How to replace servo amplifier without magnetic pole detection Linear servo motor series LM H3 LM F LM U2 LM K2 LM AJ Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pi...

Page 371: ...ome position reference mark of the linear encoder is necessary in the homing direction To execute homing securely in the following example move the linear servo motor to LSN with an operation such as the JOG operation then start homing LSN LSP Returnable area Homing is possible when homing is started from this area Non returnable area Homing is not possible when homing is started from this area Do...

Page 372: ...20 1048576 pulses 4 222 4194304 pulses 5 224 16777216 pulses 6 226 67108864 pulses 7 230 1073741824 pulses Initial value 3 220 1048576 pulses Pr PL01 2 Stop interval pulse Linear encoder resolution 0 001 μm 0 005 μm 0 01 μm 0 02 μm 0 05 μm 0 8192 0 008 0 041 0 082 0 164 0 410 1 131072 0 131 0 655 1 311 2 621 6 554 2 262144 0 262 1 311 2 621 5 243 13 107 Recommended value 3 1048576 1 049 5 243 10 4...

Page 373: ...er 1048576 pulses based on the linear encoder home position absolute position data 0 The stop intervals at homing can be changed with Pr PL01 2 Homing stop interval setting For the specifications of the stop intervals at homing refer to the following Page 370 Incremental linear encoder The specifications are the same as the ones when an incremental encoder is used ...

Page 374: ...n The position obtained by moving the home position shift distance from the linear encoder home position reference mark is set as the home position Ex Homing methods 33 and 34 The following figure shows the operation of Homing method 34 The operation of Homing method 33 is opposite to that of Homing method 34 1 Home position shift distance can be changed with Pr PT07 Home position shift distance W...

Page 375: ...ith Pr PT07 Home position shift distance When the servo motor returns at the stroke end 1 This cannot be used with the software limit 0 r min 1 Homing direction Creep speed Home position shift distance Servo motor speed Creep speed Machine position Home position Linear encoder home position 0 r min Stroke end 1 Homing direction Homing start position Forward rotation Servo motor speed Reverse rotat...

Page 376: ... Example When the Z phase is recognized at startup The position where LZ Encoder Z phase pulse is turned on depends on the direction of home position passing In cases where each homing is required to be completed at the same position such as dog type homing start homing with the same direction Point to note for linear encoder without home position reference mark For the linear encoder without home...

Page 377: ...inear encoder have different reference home positions at homing For the incremental linear encoder a home position reference mark of the linear encoder is necessary in the homing direction To execute homing securely in the following example move the linear servo motor to LSN with an operation such as the JOG operation then start homing ON OFF 1048576 pulses 1 0 mm s Homing direction Homing speed C...

Page 378: ...220 1048576 pulses 4 222 4194304 pulses 5 224 16777216 pulses 6 226 67108864 pulses 7 230 1073741824 pulses Initial value 3 220 1048576 pulses Pr PL01 2 Stop interval pulse Linear encoder resolution 0 001 μm 0 005 μm 0 01 μm 0 02 μm 0 05 μm 0 8192 0 008 0 041 0 082 0 164 0 410 1 131072 0 131 0 655 1 311 2 621 6 554 2 262144 0 262 1 311 2 621 5 243 13 107 Recommended value 3 1048576 1 049 5 243 10 ...

Page 379: ...s per 1048576 pulses based on the linear encoder home position absolute position data 0 The stop intervals at homing can be changed with Pr PL01 2 Homing stop interval setting For the specifications of the stop intervals at homing refer to the following Page 370 Homing setting method The specifications are the same as the ones when an incremental encoder is used ...

Page 380: ...shift distance can be changed with Pr PT07 When the linear encoder home position does not exist in the homing direction If the homing is performed from the position where the linear encoder home position does not exist in the homing direction an error may occur If an error occurs change the homing method or move the linear servo motor to the stroke end on the opposite side of the homing direction ...

Page 381: ... phase pulse of the servo amplifier is not outputted Check the specifications of the controller for whether LZ Encoder Z phase pulse is necessary or not for homing Absolute position linear encoder When using an absolute position linear encoder the data set type homing can also be carried out For proximity dog type homing For a proximity dog type homing the nearest reference home position after pro...

Page 382: ... the position control counter is cleared and the current position is stored in the non volatile memory backup memory as home position data 1 This can be changed with Pr PL01 ON OFF 1048576 pulses 1 0 mm s Linear servo motor speed CR Clear Reference home position Linear servo motor position Home position Linear encoder home position ...

Page 383: ...r detection function selection Refer to the following table Initial value 3 Position deviation error detection Set Pr PL04 0 AL 042 Servo control error detection function selection to 1 to enable the position deviation error detection If the difference between the model feedback position 1 and the feedback position 2 in the figure is equal to or more than the value of Pr PL05 Position deviation er...

Page 384: ...ation error detection Page 382 Speed deviation error detection Page 382 Thrust deviation error detection Pr PL04 0 AL 042 Servo control error detection function selection Initial value 3 Linear servo control error controller reset condition selection Select the reset condition of the linear servo control error When Pr PL04 3 AL 042 Servo control error detection controller reset condition selection...

Page 385: ...ents differ depending on the linear encoder type ID The ID No of the linear encoder is displayed Data 1 For an incremental type linear encoder the counter from powering on is displayed For an absolute position type linear encoder absolute position data is displayed Data 2 For the incremental type linear encoder the distance number of pulses from the reference mark Z phase is displayed For the abso...

Page 386: ...unctions 10 Magnetic Pole Information The magnetic pole information can be displayed and set 11 Parameter Setting Electronic gear The servo parameters for the electronic gear Pr PA06 and Pr PA07 can be displayed and set Symbol Name Explanation Unit ...

Page 387: ...ing function refer to Auto tuning mode 1 and Auto tuning mode 2 in the following manual MR J5 User s Manual Adjustment Precautions for the auto tuning function If the following conditions are not satisfied the auto tuning mode 1 may not operate properly Time to reach 2000 mm s is the acceleration deceleration time constant of 5 s or less The linear servo motor speed is 50 mm s or higher The load t...

Page 388: ...istics Overload protection characteristics LM H3 series LM K2 series LM U2 series 50 100 150 200 250 300 0 0 1 10 1 100 1000 Operating time s Load ratio In operation In servo lock 0 0 1 10 1 100 1000 100 200 300 400 Load ratio In operation In servo lock Operating time s ...

Page 389: ... 10 LM F series natural cooling LM F series liquid cooling 100 200 300 400 500 600 0 0 1 10 1 100 1000 Load ratio In operation In servo lock Operating time s 50 100 150 200 250 300 0 0 1 10 1 100 1000 Load ratio In operation In servo lock Operating time s ...

Page 390: ...388 10 USING A LINEAR SERVO MOTOR 10 6 Characteristics LM AJ series 0 0 1 10 1 100 1000 100 200 300 400 50 150 250 350 Load ratio In operation In servo lock Operating time s ...

Page 391: ...0 8 LM U2PBF 22M 1SS0 MR J5 70_ 1 3 50 15 1 0 LM U2P2B 40M 2SS0 MR J5 200_ 3 5 90 20 1 8 LM U2P2C 60M 2SS0 MR J5 350_ 5 5 130 20 2 6 LM U2P2D 80M 2SS0 MR J5 500_ 7 5 195 25 3 9 LM FP2B 06M 1SS0 MR J5 200_ 3 5 90 20 1 8 LM FP2D 12M 1SS0 MR J5 500_ 7 5 195 25 3 9 LM FP2F 18M 1SS0 MR J5 700_ 10 300 25 6 0 LM FP4B 12M 1SS0 MR J5 500_ 7 5 195 25 3 9 LM FP4D 24M 1SS0 MR J5 700_ 10 300 25 6 0 LM K2P1A 01...

Page 392: ...late the power supply capacity for one servo amplifier from the following tables Power supply capacity for one servo amplifier at rated output 1 The power supply capacity will vary according to the power impedance This value is applicable when the power factor improving reactor is not used Servo amplifier power supply capacity for one linear servo motor Servo amplifier Power supply capacity kVA 1 ...

Page 393: ...generated heat W 1 At servo off C At rated output MR J5W2 22G_ 20 Sum of the total amount of heat generated by the servo amplifier for all linear servo motors to be connected B and the amount of heat generated by the servo amplifier at servo off C MR J5W2 44G_ 20 MR J5W2 77G_ 20 MR J5W2 1010G_ 20 MR J5W3 222G_ 25 MR J5W3 444G_ 25 Linear servo motor Servo amplifier generated heat W B LM H3P2A 07P B...

Page 394: ...0 10 5 LM U2PAF 15M 0SS0 1 87 10 2 5 93 10 5 LM U2PBB 07M 1SS0 3 13 10 2 1 04 10 4 LM U2PBD 15M 1SS0 1 56 10 2 5 18 10 5 LM U2PBF 22M 1SS0 4 58 10 2 1 33 10 5 LM U2P2B 40M 2SS0 1 47 10 3 1 27 10 5 LM U2P2C 60M 2SS0 1 07 10 3 7 66 10 6 LM U2P2D 80M 2SS0 9 14 10 4 5 38 10 6 LM FP2B 06M 1SS0 8 96 10 4 1 19 10 3 LM FP2D 12M 1SS0 5 55 10 4 4 81 10 4 LM FP2F 18M 1SS0 4 41 10 4 2 69 10 4 LM FP4B 12M 1SS0...

Page 395: ...e is used Linear servo motor primary side Permissible load to motor mass ratio Multiplier LM H3 series 40 LM U2 series 100 LM F series LM K2 series 50 LM AJP1B 07K JSS0 15 LM AJP1D 14K JSS0 30 LM AJP2B 12S JSS0 25 LM AJP2D 23T JSS0 30 LM AJP3B 17N JSS0 35 LM AJP3D 35R JSS0 35 LM AJP4B 22M JSS0 35 LM AJP4D 45N JSS0 35 ...

Page 396: ... linear encoder Perform magnetic pole detection in the incremental system and disable magnetic pole detection after detection Enable the absolute position detection system with Pr PA03 Absolute position detection system Alarm detection AL 025 Absolute position erased AL 092 Battery cable disconnection warning AL 09F Battery warning and AL 0E3 Absolute position counter warning are not detected Back...

Page 397: ... Servo motor magnetic pole alignment 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 be disabled with Pr PL01 Page 401 Magnetic pole detection method setting Absolute position detection system Absolute position encoder battery Re...

Page 398: ...position detection system 4 This is for the MR J5 _A RJ_ servo amplifier The CN2L connector is not used for the direct drive servo system 1 R S T C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L CN5 P C L11 L21 P3 P4 MR Configurator2 CN6 CN8 CN3 CN2 W V U L1 L2 L3 MC CN2L 4 FR BSF01 FR HEL MCCB Power supply Molded case circuit breaker Magnetic contactor Analog...

Page 399: ...olute position detection system Incremental system Absolute position detection system Set Pr PA03 0 Absolute position detection system selection to 1 Cancel AL 025 Absolute position erased 4 Can the Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric be turned on manually Perform the magnetic pole detection 1 Turn on the Z phase pulse of the direct drive motor by using the ...

Page 400: ... has advantages and disadvantages Refer to the following for the characteristics of each method Page 349 Outline of magnetic pole detection Select a magnetic pole detection method suitable for the usage In the initial value the position detection method is selected Precautions on magnetic pole detection For the magnetic pole detection the direct drive motor automatically starts to move simultaneou...

Page 401: ...tion is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the software...

Page 402: ... 0 decreased by two as the final setting value Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Decrease the value of Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude by five Not acceptable Is the travel distance during the magnetic pole detection acceptable 3 Increase the value of Pr PL17 0 by one Ac...

Page 403: ...ting Set the magnetic pole detection method by using Pr PL08 0 Magnetic pole detection method selection In the following cases set the magnetic pole detection method to the minute position detection method When a shortened travel distance at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed properly For an absolute position d...

Page 404: ...approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole detection again w...

Page 405: ... pole detection by the position detection method and then perform the auto tuning to set an estimated value PL17 0 Response selection Initial value 0 Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Initial value 0 Setting value Responsiveness 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Load to motor mass ratio load to motor inertia ratio 0 10 times or less 1 10 multiplie...

Page 406: ...ion detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude Basically Pr PL18 does not need to be changed from the initial value Operation at magnetic pole detection Precautions After the magnetic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 ...

Page 407: ...erse rotation stroke end is turned off during the magnetic pole detection the magnetic pole detection is carried on to the opposite direction When both LSP and LSN are off AL 027 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 performed as follows ON OFF ON OFF ON OFF 100 ms Servo on c...

Page 408: ...e Pr PL01 0 Servo motor magnetic pole detection selection to 0 magnetic pole detection disabled To omit magnetic pole detection at each power on after magnetic pole detection turn on the Z phase pulse of the direct drive motor in the JOG operation and set Pr PL01 0 to 0 magnetic pole detection disabled 11 3 Startup A When using a direct drive motor set Pr PA01 1 Operation mode selection to 6 Direc...

Page 409: ...bsolute position erased 5 Can the Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric be turned on manually Perform the magnetic pole detection 6 Transfer of absolute position data Cancel AL 093 ABS data transfer warning 7 Turn on the Z phase pulse of the direct drive motor by using the JOG operation of the controller 1 2 Manually turn on the Z phase pulse of the direct dri...

Page 410: ... pole detection of vertical axis with direct drive motors refer to the following Direct Drive Motor User s Manual Outline of magnetic pole detection Before the positioning operation of the direct drive motor perform the magnetic pole detection When starting up the equipment use the test operation mode positioning operation of MR Configurator2 The magnetic pole detection includes the position detec...

Page 411: ...alue Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occurred Increase the value of Pr PL09 by five Have AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 and AL 0E1 Overload warning 1 occurred Cycle the power of the servo amplifier or reset the software Set approximately 70 of the value set f...

Page 412: ...everse rotation CW with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is the value of Pr PL17 0 Response selection the final value Has an abnormal sound or vibration occurred during the magnetic pole detection Set the value of Pr PL17 0 decreased by two as the final setting value Have AL 032 O...

Page 413: ... an absolute position detection system set Pr PL01 0 Servo motor magnetic pole detection selection to 1 Magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 magnetic pole detection disabled Servo parameter Description PL08 2 Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled I...

Page 414: ... Set the value to approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole...

Page 415: ...detection by the position detection method and then perform the auto tuning to set an estimated value PL17 0 Response selection Initial value 0 Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Initial value 0 Setting value Responsiveness 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Load to motor mass ratio load to motor inertia ratio 0 10 times or less 1 10 multiplier 2 20...

Page 416: ...on detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal amplitude Basically Pr PL18 does not need to be changed from the initial value Operation at magnetic pole detection Precautions After the magnetic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 T...

Page 417: ...se rotation stroke end is turned off during the magnetic pole detection the magnetic pole detection is carried on to the opposite direction When both LSP and LSN are off AL 027 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 performed as follows ON OFF ON OFF ON OFF 100 ms Servo ON com...

Page 418: ...ation from the controller after the magnetic pole detection 1 Execute the magnetic pole detection Refer to the following Page 404 Operation at magnetic pole detection 2 After the completion of the magnetic pole detection change Pr PL01 0 Servo motor magnetic pole detection selection to 0 magnetic pole detection disabled To omit magnetic pole detection at each power on after magnetic pole detection...

Page 419: ... 0 The detection level can be changed with Pr PL05 Pr PL06 and Pr PL07 Precautions For the servo control error detection function the position and speed deviation error detections are enabled by default Pr PL04 0 AL 042 Servo control error detection function selection 3 Servo control error detection selection function Select the servo control error detection function Pr PL04 0 AL 042 Servo control...

Page 420: ... PL04 0 to 4 to enable torque deviation error detection If the difference between the command torque 5 and the feedback torque 6 in the figure is equal to or more than the value of Pr PL07 Torque thrust deviation error detection level 1 to 1000 AL 042 3 Servo control error by torque thrust deviation will occur and the direct drive motor will stop The initial value of this detection level is 100 Ch...

Page 421: ... and AL 042 3 Servo control error based on torque thrust deviation can be canceled by resetting the controller When Pr PL04 3 is 0 reset disabled reset by powering off on or software reset enabled AL 042 1 AL 042 2 and AL 042 3 can be canceled only by cycling the servo amplifier power or resetting the software Servo parameter Description PL04 3 AL 042 Servo control error detection controller reset...

Page 422: ... characteristics TM RFM002C20 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM040J10 Page 421 Characteristic a TM RFM048G20 TM RFM072G20 TM RFM120J10 Page 421 Characteristic b TM RFM240J10 Page 422 Characteristic c TM RG2M002C30 TM RU2M002C30 TM RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 Page 422 Characteristic d ...

Page 423: ...ristics 421 11 Characteristic a Characteristic b 1000 100 10 1 0 1 0 50 150 200 250 300 100 Load ratio In operation In servo lock Operating time s 1000 100 10 1 0 1 0 50 150 200 250 300 100 Load ratio In operation In servo lock Operating time s ...

Page 424: ...cteristics Characteristic c Characteristic d 10000 1000 100 10 1 0 50 150 200 250 300 100 Load ratio In operation In servo lock Operating time s 0 50 100 150 200 250 300 350 1000 100 10 1 0 1 Load ratio In operation In servo lock Operating time s ...

Page 425: ...0 5 TM RU2M004E30 TM RG2M004E30 MR J5 40_ 0 7 35 15 0 7 TM RU2M004E30 TM RG2M009G30 0 9 35 15 0 7 TM RU2M009G30 TM RFM002C20 MR J5 20_ 0 25 25 15 0 5 TM RFM004C20 MR J5 40_ 0 38 35 15 0 7 TM RFM006C20 MR J5 60_ 0 53 40 15 0 8 TM RFM006E20 0 46 40 15 0 8 TM RFM012E20 MR J5 70_ 0 81 50 15 1 0 TM RFM018E20 MR J5 100_ 1 3 50 15 1 0 TM RFM012G20 MR J5 70_ 0 71 50 15 1 0 TM RFM048G20 MR J5 350_ 2 7 130 ...

Page 426: ...d heat will not change Calculation method of power supply capacity Calculate the power supply capacity for one servo amplifier from the following tables Power supply capacity for one servo amplifier at rated output 1 The power supply capacity will vary according to the power impedance This value is applicable when the power factor improving reactor is not used Servo amplifier power supply capacity...

Page 427: ...rvo amplifier for one direct drive motor 1 The value inside applies when the torque is increased Servo amplifier Servo amplifier generated heat W 1 At servo off C At rated output MR J5W2 22G_ 20 Sum of the total amount of heat generated by the servo amplifier for all direct drive motors to be connected B and the amount of heat generated by the servo amplifier at servo off C MR J5W2 44G_ 20 MR J5W2...

Page 428: ...n 0 5 15 20 25 30 10 100 200 300 002 006 400 004 500 Time constant τ ms Speed 0 r min 0 10 40 50 60 70 30 20 100 200 300 018 006 012 400 500 Time constant τ ms Speed 0 r min 0 10 30 40 50 60 072 048 20 012 100 200 300 400 500 Time constant τ ms Speed r min 0 0 60 120 040 240 50 100 150 200 70 80 50 40 30 20 10 Time constant τ ms Speed ...

Page 429: ...M RG2M004E30 TM RU2M004E30 TM RG2M009G30 TM RU2M009G30 r min 0 25 30 20 15 10 5 0 100 200 300 400 500 600 Time constant τ ms Speed r min 0 5 15 20 25 30 10 0 100 200 300 400 500 600 Time constant τ ms Speed r min 0 60 70 80 50 40 30 20 10 0 100 200 300 400 500 600 Time constant τ ms Speed ...

Page 430: ...7 Absolute position detection system A When the system is used with absolute position detection system by DIO Pr PA03 0 Absolute position detection system selection set to 1 Enabled with the following conditions the initial servo on after power on triggers the magnetic pole detection and AL 093 ABS data transfer warning will occur The magnetic pole detection is enabled at initial servo on Pr PL01 ...

Page 431: ...ition erased occurs A battery cannot be replaced using the battery connection cable MR J3BTCBL03M If the encoder cable is disconnected AL 025 Absolute position erased occurs Timing chart at power on under the condition of performing magnetic pole detection 1 Page 299 Absolute position data transfer protocol 2 When the magnetic pole detection is performed AL 093 ABS data transfer warning occurs OFF...

Page 432: ...tteries differ depending on servo amplifiers Select a proper battery Applications of the batteries Combination of battery and servo amplifier MR BAT6V1SET battery For the specifications and the year and month of manufacture of the built in MR BAT6V1 battery refer to the following Page 443 MR BAT6V1 battery Parts identification and dimensions Unit mm Mass 55 g including the MR BAT6V1 battery Model ...

Page 433: ...ight of the servo amplifier turns off Checking the voltage between P and N using the tester etc is recommended The servo amplifier may be damaged by static electricity Take the following precautions Ensure that the work bench and your body are grounded Do not directly touch conductive areas such as the connector pins and electrical parts Replacing batteries with the control circuit power supply of...

Page 434: ...t the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery Install a battery and insert the plug into the CN4 connector While pressing the lock release lever pull out the connector While pressing the lock release lever slide the battery case toward you ...

Page 435: ...1SET reaches the end of its service life replace the built in MR BAT6V1 battery 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 Cover Locking part MR BAT6V1 Projection ...

Page 436: ...in MR BAT6V1 battery refer to the following Page 443 MR BAT6V1 battery Parts identification and dimensions Unit mm Mass 55 g including the MR BAT6V1 battery Battery connection Connect as follows 27 4 51 37 5 Connector for servo amplifier Case CN4 CN2 MR BAT6V1SET A Direct drive motor Absolute position storage unit Servo amplifier Encoder cable ...

Page 437: ...uch conductive areas such as the connector pins and electrical parts Replacing batteries with the control circuit power supply off will erase the absolute position data Before replacing batteries check that the new battery is within battery life Battery installation and removal procedure Fitting method Servo amplifiers with a battery holder on the bottom cannot have wiring for grounding when batte...

Page 438: ...V1SET A reaches the end of its service life replace the built in MR BAT6V1 battery 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 439: ... batteries No batteries are included in the battery case Prepare MR BAT6V1 batteries separately Number of connectable servo motors One MR BT6VCASE can hold the absolute position data of up to four axes of direct drive motors Direct drive motors in the incremental system are included as the axis numbers Linear servo motors are not counted as the axis numbers Dimensions Unit mm Mass 0 18 kg 120 0 5 ...

Page 440: ...on When using 1 axis servo amplifier When using up to 4 axis servo amplifiers CN4 CN10 MR BT6VCASE MR BT6V1CBL_M Servo amplifier CN4 CN10 MR BT6VCASE MR BT6V1CBL_M MR BT6V2CBL_M MR BT6V2CBL_M CN4 CN4 Servo amplifier First Servo amplifier Second Servo amplifier Last ...

Page 441: ...the battery with the control circuit power supply on triggers AL 09F 1 Low battery However the absolute position data will not be erased Assembly of the battery unit Replace all the batteries with new ones at the same time at battery replacement Install five MR BAT6V1 batteries to the MR BT6VCASE battery case Things to be prepared Product name Model Quantity Remark Battery case MR BT6VCASE 1 MR BT...

Page 442: ... 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 head screwdriver 2 Remove the cover Screw Cover CON2 CON3 CON1 CON4 CON5 BAT1 BAT2 BAT3 BAT4 BAT5 Parts identification ...

Page 443: ...direction the connector will break Place the MR BAT6V1 lead wire in 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 the wire as shown in the figure to store the wire in the duct Connect the lead wire to the connector Be careful not to get the lead wire caught...

Page 444: ...ions 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 Precautions Pulling out the connector of the MR BT6V1CBL and MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of th...

Page 445: ...pack 2CR17335A CR17335A 2 pcs connected in series Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 to 55 Lithium content g 1 2 Mercury content Less than 1 ppm Dangerous goods class Not subject to the dangerous goods Class 9 For details refer to Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Da...

Page 446: ...n remark 0 3 m 1 m MR BT6V1CBL_M 03 1 Standard For connecting to 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 PAP 02V O Cont...

Page 447: ... four wire type communication method cannot be used When HK series rotary servo motors are used for drive and load side encoders four wire type encoder cables cannot be used Select a load side encoder of which the number of load side encoder pulses per servo motor revolution satisfies the following conditions 4096 212 Number of load side encoder pulses per servo motor revolution 67108864 226 Load ...

Page 448: ...o motor side information and load side information Advantage The gain during operation can be increased and thus the settling time can be shorten by switching the information type to control the position as follows the servo motor side information during operation and the load side information during stops When the servo motor stops it stops with the accuracy at the load side Fully closed loop con...

Page 449: ...i closed loop control when the servo motor is operating When Pr PE08 is set to 4500 fully closed loop control is always enabled FBD FBN CDV CMX S Servo motor side feedback pulses load side resolution unit Servo motor side Droop pulses Servo motor side Cumulative feedback pulses Load side encoder droop pulses Load side encoder cumulative feedback pulses Fully closed loop dual feedback filter Pr PE0...

Page 450: ...control 1 Set ω dual feedback filter band with Pr PE08 Fully closed loop dual feedback filter 1 At servo motor stop 1 to ω Fully closed loop control During operation ω or higher 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 Frequency rad s Operation status Control st...

Page 451: ... CN2L connector use two wire type encoder cables Note that four wire type serial interface compatible encoders and A B Z phase pulse train interface compatible encoders cannot be used Load side encoder Pr PA01 1_Operation mode selection 0 Standard control mode 4 Linear servo motor control mode 6 Direct drive motor control mode Linear encoder AL 037 2 Rotary servo motor manufactured by Mitsubishi E...

Page 452: ...ted In that case batteries are unnecessary CN2 Servo amplifier Controller Position command control signal Table Linear encoder compatible with two wire type serial interface 1 Load side encoder signal Servo motor encoder signal Linear encoder head Servo motor CN2 CN2L Servo amplifier Controller Position command control signal Table Linear encoder compatible with A B Z phase pulse train interface l...

Page 453: ...th CN2L 1 When using an HK KT servo motor an absolute position detection system can be supported without using batteries 1 2 Servo motor Two wire type rotary encoder Driving part Load side encoder signal Servo motor encoder signal Controller Position command control signal Servo amplifier 1 A B Z phase differential output encoder two wire type or four wire type rotary encoder or synchronous encode...

Page 454: ...nding on the load side encoder Encoder cable configuration diagram for linear encoders For encoder cables for linear encoders refer to the following manual MR J5 Partner s Encoder User s Manual The encoder cable to be used differs depending on the load side encoder Servo amplifier without CN2L Servo amplifier with CN2L A linear encoder can be connected without using an MR J4FCCBL03M branch cable I...

Page 455: ... 3 Use the servo motor in the range not exceeding the maximum servo motor speed described in Standard specifications list in the Rotary Servo Motor User s Manual HK series Servo amplifier with CN2L A linear encoder can be connected without using an MR J4FCCBL03M branch cable In addition a four wire type linear encoder can also be used 1 When the motor type of the servo motor is HK KT_W a maximum o...

Page 456: ...0 Absolute position detection system selection has been set to 1 Enabled AL 037 2 Parameter combination error occurs This setting is enabled when 1 fully closed loop control mode is selected in Pr PA01 5 Fully closed loop operation mode selection Pr PA01 4 Fully closed loop operation mode selection Pr PE01 0 Fully closed loop function selection Semi closed loop control fully closed loop control sw...

Page 457: ...phase input interface encoder is used Load side encoder communication method selection A The communication method differs depending on the load side encoder type For details on each load side encoder communication method refer to External encoder connector in the User s Manual Introduction and Compatible linear encoder list in the MR J5 Partner s Encoder User s Manual Select a cable to be connecte...

Page 458: ...7 0 Encoder pulse count polarity selection During the positioning operation AL 042 Fully closed loop control error may occur Servo parameter Set the polarity of the load side encoder that is connected to the CN2L connector so that the CCW direction of the servo motor matches the increasing direction of the load side encoder feedback Pr PC27 0_Encoder pulse count polarity selection 0 Load side enco...

Page 459: ...5 0 Encoder pulse count polarity selection During the positioning operation AL 042 Fully closed loop control error may occur Servo parameter Set the polarity of the load side encoder that is connected to the CN2L connector so that the CCW direction of the servo motor matches the increasing direction of the load side encoder feedback Pr PC45 0_Encoder pulse count polarity selection 0 Load side enco...

Page 460: ...ide encoder pulses The relation is as follows Select a load side encoder of which 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 Example settings of a ball screw direct connection with a linear encoder resolution of 0 05 μm Conditions Servo motor resolution 67108864 ...

Page 461: ...es rev Servo motor side pulley diameter 30 mm Rotary encoder side pulley diameter 20 mm Rotary encoder resolution 67108864 pulses rev If the pulley ratio or reduction ratio is not one to one calculate the electronic gear by taking that into consideration d2 20 mm d1 30 mm Servo motor Rotary encoder Driving part Pulley diameter Pulley diameter Pr PE04 Pr PE05 67108864 30 67108864 20 1 1 3 2 ...

Page 462: ...below When the setting value for the dual feedback filter is increased the settling time becomes shorter However the vibration of the servo motor will be larger because the servo motor becomes susceptible to the vibrations of the load side encoder For the dual feedback filter set a value that is equal to or smaller than a half of the setting value for PG2 To shorten the settling time Increase the ...

Page 463: ...orrectly 3 Checking the load side encoder feedback direction setting the polarity of the load side encoder Move the device load side encoder manually in servo off status to confirm that the directions of the cumulative feedback pulses of the servo motor encoder after taking the gear into consideration and the load side cumulative feedback pulses are matched If the directions are mismatched reverse...

Page 464: ...phase must be passed through when a rotary encoder is used during a period from a home position return start until the dog signal turns off For the linear encoder a home position reference mark of the linear encoder is necessary in the homing direction In addition place the proximity dog position one half of the rotation or more before the reference mark Precautions To execute homing securely in t...

Page 465: ...ning on home position reference mark signal of the linear encoder has a certain width Specifications differ depending on the linear encoder Example When the Z phase is recognized at startup The position where the signal turns on depends on the direction in which the home position is passed through In a case where homing is always required to be completed at the same position such as dog type homin...

Page 466: ...oller then perform homing Rotary encoder of a serial communication servo motor If using the rotary encoder of a serial communication servo motor as the load side encoder the home position is at the load side Z phase position ON OFF 0 r min Linear encoder home position Home position Homing speed Creep speed Homing direction Proximity dog signal Servo motor speed Reference home position Machine posi...

Page 467: ... Pr PE03 0 Fully closed loop control error Detection function selection to 1 speed deviation error detection to enable the speed deviation error detection When the difference between the servo motor side feedback speed 1 and the load side feedback speed 3 is equal to or more than the value of Pr PE06 Fully closed loop control Speed deviation error detection level 1 r min to permissible speed AL 04...

Page 468: ...on method selection is set as follows Refer to the following for the error detection method Page 465 Speed deviation error detection Page 466 Position deviation error detection Pr PE03 0 Fully closed loop control error detection function Fully closed loop control error Reset selection Select the reset condition of fully closed loop control errors Pr PE03 3 Fully closed loop control error Reset sel...

Page 469: ... starts from 0 Click Clear to reset the value to 0 In reverse rotation the value is negative pulse e Load side encoder droop pulses Droop pulses of the deviation counter between a load side position and a command are displayed In reverse rotation the value is negative pulse f Servo motor side cumulative feedback pulses before gear The feedback pulses from the servo motor encoder are counted and di...

Page 470: ...pulse electronic gear 1 Denominator for servo motor encoder pulses can be displayed and set Page 458 Setting the feedback pulse electronic gear l Parameter Setting Dual F B filter With this servo parameter the band for Pr PE08 Fully closed loop dual feedback filter can be displayed and set m Parameter Setting Fully closed loop function G WG The servo parameters for the fully closed loop control ca...

Page 471: ... the following manual MR J5 Partner s Encoder User s Manual 1 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M 2 Plug 36110 3000FD Shell kit 36310 F200 008 3M LG 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 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 BAT SEL 9 10 5 THM1 ...

Page 472: ...rect drive motor for the load side encoder the Z phase must be passed through before homing Switching between semi closed loop control and fully closed loop control cannot be performed Set Pr PE01 0 Fully closed loop function selection to 0 Always enabled If Pr PE01 0 Fully closed loop function selection is set to 1 switching by fully closed loop selection command from the controller and by input ...

Page 473: ...12 USING A FULLY CLOSED LOOP SYSTEM 12 7 Absolute position detection system 471 12 MEMO ...

Page 474: ...n 6 1 Section 6 4 Section 6 10 Section 6 18 Section 6 19 Chapter 9 November 2020 SH NA 030298ENG E Items related to the following functions and models are added 400 V class servo amplifier MR RB3Z MR RB3Y 4 MR RB3M 4 MR RB3G 4 MR RB5Z MR RB5G 4 MR RB5Y 4 general purpose output A general purpose output B general purpose output C absolute position detection system via communication Added edited Sect...

Page 475: ...ou acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of pro...

Page 476: ...trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies SH NA 030298ENG E ...

Page 477: ......

Page 478: ...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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