Mitsubishi Electric Melservo-Jet MR-JET G-N1 Series User Manual Download

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7.2

Configuration and specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Connecting the battery backup type absolute position encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

CHAPTER 8 USING A LINEAR SERVO MOTOR

104

8.1

Functions and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

8.2

Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

8.3

Basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Linear servo control error detection function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
About MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

8.4

Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Auto tuning function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Machine analyzer function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

8.5

Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

8.6

Absolute position detection system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

CHAPTER 9 APPENDIX

132

9.1

1-phase 200 V AC class power supply input using a neutral point of
3-phase 400 V AC class power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136

Summary of Contents for Melservo-Jet MR-JET G-N1 Series

Page 1: ...MR JET User s Manual Hardware MR JET _G MR JET _G N1 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: ... this manual Convert the 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 Rotary Servo Motor Linear Servo Motor This manual is necessary primarily for installing wi...

Page 6: ...installation procedure 17 2 5 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m 18 CHAPTER 3 SIGNALS AND WIRING 19 3 1 Example power circuit connections 20 200 V class 21 3 2 Example I O signal connections 23 3 3 Explanation of power supply system 25 Explanation of signals 25 Power on procedure 26 Wiring CNP1 27 3 4 Connectors and pin assignments 30 Precautions ...

Page 7: ...on and regenerative power 62 Selection of the regenerative option 63 Servo parameter setting 65 Connection of regenerative option 65 Mounting direction 67 Dimensions 68 6 3 PS7DW 20V14B F junction terminal block recommended 72 6 4 MR Configurator2 74 Engineering tool 74 Precautions for using USB communication function and Ethernet communication function 74 6 5 Battery 75 MR BAT6V1SET B battery 75 ...

Page 8: ... replace servo amplifier without magnetic pole detection 117 8 3 Basic functions 118 Homing 118 Linear servo control error detection function 123 About MR Configurator2 125 8 4 Adjustment 126 Auto tuning function 126 Machine analyzer function 126 8 5 Characteristics 127 Overload protection characteristics 127 Power supply capacity and generated loss 128 Dynamic brake characteristics 129 Permissibl...

Page 9: ...ons Connect options Page 56 OPTIONS AND PERIPHERAL EQUIPMENT 6 Other precautions If using the absolute position detection system perform wiring and settings as necessary Page 101 ABSOLUTE POSITION DETECTION SYSTEM 7 Wiring check Check that the servo amplifier and the servo motor are wired correctly by visually inspecting them or by using a method such as the DO forced output function Page 9 Wiring...

Page 10: ...S20 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 Linear servo motor Servo amplifier MR JET _ Primary side coil Secondary side magnet 40_ 70_ LM AJP1...

Page 11: ...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 the encoder cable Using options or peripheral equipment Regenerative option Check that the built in regenerative resistor a...

Page 12: ...can be forcibly switched on off This mode is used to check the wiring Check the wiring in the servo off state when using this mode Page 23 Example I O signal connections Check that a voltage exceeding 24 V DC has not been applied to the pins of the CN3 connector Check that the plate and DOCOM of the CN3 connector have not been shorted DOCOM CN3 Servo amplifier Plate ...

Page 13: ...and 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 54 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 14: ...ures Use the product within the specified environment For the environment refer to Servo amplifier standard specifications in the User s Manual 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 manual If the product has been stored for an extended period of time contac...

Page 15: ...o MR JET 300_ have a regenerative resistor on their back The regenerative resistor generates heat of 100 C higher than the ambient temperature Install the servo amplifiers primarily taking into account heat dissipation and the installation position Installation clearances for the servo amplifier Installation of one servo amplifier Cabinet Cabinet Servo amplifier 10 mm or more 10 mm or more 10 mm o...

Page 16: ...ffective load ratio Precautions Refer to the following table for availability of close mounting 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 a perpendicular wall in the correct vertical direction Servo amplifier When 3 phase power ...

Page 17: ...ble connection When used for applications where the servo motor moves fix the cable encoder power supply brake with gentle slack from the connecting part of the connector to prevent stress from being applied to the connecting part of the servo motor connector Use the optional encoder cable within the flex life range Prevent the cable insulator from being cut by sharp chips or from touching and rub...

Page 18: ...nit replacement 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 3 Pull out the fan unit vertically ...

Page 19: ...edure 17 2 Fan unit installation procedure Insert the positioning part of the fan unit vertically align it to the positioning part of the main unit case and tighten with screws Use the same screws as those used for the fan unit before replacement ...

Page 20: ...mounted closely mounted 75 or less of the effective load ratio 2 Closely mounted without limiting the effective load ratio Input voltage Generally withstand voltage decreases as altitude increases however there is no restriction on the withstand voltage Parts with a service life Smoothing capacitor The capacitor will reach the end of its service life in 10 years of continuous operation in an air c...

Page 21: ... to the power outputs U V W or CN2 of the servo amplifier may cause a malfunction Make sure that no operation signal is being input to the servo amplifier before resetting an alarm or releasing the emergency stop Failing to do so may cause an unexpected operation If the power supply is shut off by a molded case circuit breaker or a fuse remove the cause and secure safety before switching the power...

Page 22: ...g surges may degrade the characteristics of the surge absorber varistor built into the servo amplifier and damage it In the torque mode EM2 functions the same as EM1 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 lines from the signal cables Provide adequate protection to prev...

Page 23: ...wer 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 5 Connecting the servo motor for an incorrect axis to U V W or CN2 of the servo amplifier may cause a malfunction 6 If ALM Malfunction output is disabled with a servo parameter configure a pow...

Page 24: ... in the following section Page 21 For 3 phase 200 V AC to 240 V AC power supply MC 4 L1 L2 L3 U V W 1 7 CNP1 U V W E M CN2 5 3 5 MC MC SK MCCB C P RA4 RA3 1 phase 200 V AC to 240 V AC Servo amplifier Servo motor Motor Encoder Malfunction 6 OFF ON Emergency stop switch Built in regenerative resistor Encoder cable 2 Servo motor overheat protection 8 ...

Page 25: ...f EM2 when the power supply is turned off 8 Supply 24 V DC 10 to interfaces from an external source 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 38 Digital input interface DI 1...

Page 26: ...CN3 12 4 CN3 12 13 MBR 9 INP 15 ALM DOCOM 3 CN5 2 6 DICOM 5 CN1A 12 CN1B 12 RA1 RA2 RA3 MR J3USBCBL3M 1 MR Configurator2 5 Forward rotation stroke end Reverse rotation stroke end Proximity dog Forced stop 2 3 Servo amplifier Electromagnetic brake interlock Malfunction 9 In position Power supply 7 USB cable 10 m or shorter 10 m or shorter option Personal computer Network Network 24 V DC 8 13 24 V D...

Page 27: ...MR JET 20_ do not have a regenerative resistor If using a regenerative option disconnect the lead wires of the built in regenerative resistor from P and C Then connect the regenerative option to P and C U V W Connection destination Servo motor power supply Connect the servo motor power supply inputs U V W directly to the motor Do not connect devices such as magnetic contactors between the motor an...

Page 28: ...itch off the magnetic contactor as soon as an alarm occurs Page 20 Example power circuit connections 2 When the power supply is switched on the servo amplifier will receive the servo on command after 2 5 s to 3 5 s and initial network communication Timing chart ON OFF ON OFF ON OFF ON OFF 100 ms 5 ms 100 ms 5 ms 10 ms Power supply Base circuit Servo on command from controller Servo on RD ready ALM...

Page 29: ... Use the supplied servo amplifier power connector for wiring CNP1 Connector MR JET 10_ to MR JET 100_ MR JET 200_ MR JET 300_ Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 1 2349815 2 AWG 18 to 14 3 9 mm or less 8 5 0 5 1981045 1 TE Connectivity Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer S...

Page 30: ...r Wire size Ferrule model and its manufacturer 1 Crimping tool For one wire For two wires MR JET 10_ to MR JET 100_ AWG 16 AI 1 5 8 BU Phoenix Contact A2 2 DAIDO SOLDERLESS TERMINAL MFG CRIMPFOX ZA3 Phoenix Contact DS H12 DAIDO SOLDERLESS TERMINAL MFG PZ 6 5 Nihon Weidmueller A2 DAIDO SOLDERLESS TERMINAL MFG AWG 14 A2 DAIDO SOLDERLESS TERMINAL MFG MR JET 200_ MR JET 300_ AWG 16 AI 1 5 10 BU Phoeni...

Page 31: ... Inserting wire Insert only one wire or ferrule into each wire insertion hole on each power connector Insert the open tool as follows and push it down to open the spring While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the wire insertion depth so that the wire insulator is not caught by the spring and that the conductive part of the stripped wire is no...

Page 32: ... Precautions The pin assignments of the connectors are as viewed from the cable connector wiring section 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 33: ...signals can be used on servo amplifiers with firmware version B2 or later Assignment of CN2 connector pins The following diagram is the servo amplifier as viewed from the bottom 1 When using an A B Z phase differential output type encoder set Pr PC26 0 A B Z phase input encoder connection setting selection to 2 enabled Pr PC26 0 can be used on servo amplifiers with firmware version B2 or later CN3...

Page 34: ...e forced stop state EM2 and EM1 are mutually exclusive In the torque mode EM2 functions the same as EM1 Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 2 Pr PD03 LSP DI 1 CN3 12 Pr PD04 LSN CN3 19 Pr PD05 DOG CN3 20 EM2 Setting value EM2 EM1 Deceleration method Pr PA04 3 Pr PA04 2 EM2 or EM1 is off Alarm occurrence 0 0 EM1 MBR Electromagnetic brake interloc...

Page 35: ... mechanically after positioning completes turn on PC Proportional control upon completion of positioning to suppress the unnecessary torque generated for compensation of a position mismatch If locking the shaft for a long period of time set the torque value to be the rated torque or less Do not use PC in the torque mode If PC is used in the torque mode the servo motor may operate at a speed exceed...

Page 36: ...WNG turns off in 2 5 s to 3 5 s after power on BWNG Battery warning If AL 092 Battery cable disconnection warning or AL 09F Battery warning occurs BWNG will turn on If a battery warning is not occurring BWNG will turn off in 2 5 s to 3 5 s after power on WNGSTOP Motor stop warning WNGSTOP will turn on if a warning that the motor cannot be driven occurs If a motor stop warning is not occurring WNGS...

Page 37: ...otor 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 TLC Limiting torque If the torque reaches the torque limit value when torque is generated TLC will turn on TLC will turn off in the servo off state In the torque mode TLC is off DOA Gene...

Page 38: ...DC external power supply For source interfaces connect the negative terminal of the 24 V DC external power supply DOCOM Digital output I F power supply Input 24 V DC 24 V DC 10 300 mA for I O interfaces The power supply capacity varies depending on the number of I O interface points to be used For sink interfaces connect the negative terminal of the 24 V DC external power supply For source interfa...

Page 39: ...se a single 24 V DC power supply 3 The signal cannot be used in the velocity mode and torque mode 4 The internal wiring diagram shown below should be used when connecting an A B Z phase differential output type encoder to CN2 3 2 4 7 8 MR MRR MD MDR LG E M CN2 EM2 CN3 20 LSP 2 LSN 12 DOG 19 5 CN3 3 13 9 15 DOCOM INP 3 ALM USB D GND D 2 3 5 CN5 MBR DICOM RA2 RA1 RA3 1 1 4 Approx 6 2 kΩ Approx 6 2 k...

Page 40: ... output terminal When the output transistor 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 in the servo amplifie...

Page 41: ... 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 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 TR 300 mA EM2 DICOM 10 VCES 1 0 V ICEO 100 μ...

Page 42: ...ction occurs 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 ...

Page 43: ...lowing diagram and ground it For information on how to comply with the EMC Directive refer to EMC Installation Guidelines V U U V W W CN2 L1 L2 L3 MC MCCB M E Servo motor Encoder Outer box Protective earth PE Power supply Cabinet Servo amplifier Line noise filter 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 44: ... 205 183 14 6 8 PE CN5 183 0 5 CNP1 CN2 PE C P V W U L1 L3 L2 CNP1 Approx 70 Approx 70 φ6 mounting hole Approx 40 2 M5 screw Approx 196 Approx 6 5 Approx 6 8 Approx 6 5 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 Approx 6 5 ...

Page 45: ...E C P V W U L1 L3 L2 CNP1 183 0 5 40 0 5 CNP1 CN2 Approx 6 5 φ6 mounting hole Approx 70 Approx 70 Approx 60 3 M5 screw Approx 6 5 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 Approx 6 5 Approx 6 8 Approx 196 Locking tab ...

Page 46: ...5 60 0 5 PE C P V W U L1 L3 L2 CNP1 Approx 6 5 φ6 mounting hole Cooling fan Exhaust Approx 70 Approx 70 Intake Approx 80 Approx 6 5 Approx 6 5 3 M5 screw Approx 196 Approx 6 8 Locking tab 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 47: ...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 48: ...46 4 DIMENSIONS 4 2 Connector SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 Unit mm ...

Page 49: ...alanced torque should be kept at 70 or lower of the rated torque This servo amplifier has a servo motor overload protection function The servo motor overload current is set on the basis of 115 rated current full load current of the servo amplifier The servo amplifier may malfunction regardless of the electronic thermal protection if torque exceeding 100 of the rated torque is generated too frequen...

Page 50: ...istic c 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 51: ...e rated speed the power supply capacity is smaller than the value in the table 1 The power supply capacity will vary according to the power impedance Rotary servo motor Servo amplifier Power supply capacity kVA 1 HG KNS series HG KNS13 MR JET 10_ 0 3 HG KNS23 MR JET 20_ 0 5 HG KNS43 MR JET 40_ 0 9 HG KNS73 MR JET 70_ 1 3 HG SNS series HG SNS52 MR JET 70_ 1 0 HG SNS102 MR JET 100_ 1 7 HG SNS152 MR ...

Page 52: ...es C K Heat dissipation coefficient 5 to 6 When calculating the heat dissipation area with the equation 5 1 assume that P is the sum of all losses generated in the cabinet Refer to the following for details about the heat generated by the servo amplifier Page 50 Servo amplifier generated heat A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulat...

Page 53: ...tio or less the dynamic brake can be used approximately 1000 times if the dynamic brake is used to stop 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 MR JET compatible servo motors may have a different coasting distance than previous generation servo m...

Page 54: ...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 Dyn...

Page 55: ...ffice The values of the permissible load to motor inertia ratio in the table are the values at the maximum speed of the servo motor Servo motor Waveform HG KNS13_ HG KNS23_ HG KNS43_ HG KNS73_ HG SNS52_ HG SNS102_ HG SNS152_ HG SNS202_ HG SNS302_ Servo motor Permissible load to motor inertia ratio multiplier HG KNS13_ 30 HG KNS23_ HG KNS43_ HG KNS73_ HG SNS52_ HG SNS102_ HG SNS152_ HG SNS202_ 24 H...

Page 56: ...reakage 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 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 Standar...

Page 57: ...n circuit protectors are used it is recommended that the inertia delay type which is not tripped by an inrush current be used The following shows the inrush currents reference data that will flow when 240 V AC is applied The inrush currents of the main circuit power supply will be the same even when a 1 phase 200 V AC power supply is used with MR JET 10_ to MR JET 200_ Servo amplifier Inrush curre...

Page 58: ...ervo motor differ the overall IP rating is determined by the lowest IP rating of all the components Purchase the cable and connector options indicated in this section for this servo amplifier Use a cable supplied by Mitsubishi Electric or Mitsubishi Electric System Service Co Ltd When fabricating a cable select wires in accordance with the uses For selection example NFPA 79 2018 Edition in North A...

Page 59: ...h an HG KNS HG SNS series rotary servo motor For configuration of an absolute position detection system refer to the following Page 101 ABSOLUTE POSITION DETECTION SYSTEM 4 3 6 6 2 CN2 CNP1 CN1A CN1A CN1B CN3 CN5 MR BAT6V1SET B 5 1 Controller Servo amplifier Servo amplifier Personal computer 1 Supplied with servo amplifier To servo motor power supply To servo motor encoder Battery ...

Page 60: ...J3USBCBL3M cable length 3 m a CN5 connector mini B connector 5 pins b Personal computer connector Connector A For connection with PC AT compatible personal computer 3 Connector set MR CCN1 Connector 10120 3000PE Shell kit 10320 52F0 008 3M or equivalent For MR JET _G_ 4 Junction terminal block cable MR J2HBUS__M Cable length 0 5 m 1 m 5 m a MR J2HBUS_M b PS7DW 20V14B F Toho Technology Corp Kyoto f...

Page 61: ...anations Appearance 6 Ethernet cable Page 61 Ethernet cable Category 5e or higher double shielded STP straight cable The straight cable double shielded STP is not available as an option Connection cable for CN1A CN1B connectors Cable model Cable length Flex life Application remark MR BT6V4CBL03M 1 Encoder side cable 0 3 m 2 Battery side cable 0 1 m Standard For MR BAT6V1SET B connection Figure Com...

Page 62: ...ded cable is secure against the ground plate then attach the connector shell Internal wiring diagram 1 Ensure that no more than 5 mm of the conductor protrudes from the shielded cable Screw Cable Ground plate 1 2 3 4 7 8 9 LG P5 MRR MR MDR MD BAT 1 2 4 5 3 LG P5 LBIR LBI BAT 1 2 3 4 7 8 9 10 LG P5 MRR MR MDR MD LBIR LBI 1 Shell Ground plate ...

Page 63: ...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 Startup When branching the CC Link IE Field Network Basic network using a switching hub use a switching hub with a transmission speed of 100 Mbps or more When using a switching hub without the auto negotiation function set the transmission speed to 100 Mbps ...

Page 64: ...d not rated powers 200 V class 1 Install a cooling fan when using this regenerative option Servo amplifier Regenerative power W Built in regenerative resistor MR RB032 40 Ω MR RB12 40 Ω MR RB14 26 Ω MR RB30 13 Ω MR RB34 26 Ω MR RB50 13 Ω 1 MR JET 10_ 30 MR JET 20_ 30 100 MR JET 40_ 10 30 100 MR JET 70_ 30 100 300 MR JET 100_ 30 100 300 MR JET 200_ 100 300 500 MR JET 300_ 100 300 500 ...

Page 65: ...tance 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 t...

Page 66: ...ciency varies with the servo motor speed and generated torque 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 capac...

Page 67: ...ction with the servo amplifier Disconnect the wiring between P and C and remove the built in regenerative resistor from the servo amplifier Then wire 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 If using the MR RB50 forcibly cool it with a cooling fan 1 0 m3 min or more 92 mm 92 mm 2...

Page 68: ... lead wires 2 Pull out the wires of the built in regenerative resistor from the power connector CNP1 Page 27 Wiring CNP1 3 Remove the wires of the built in regenerative resistor from the servo amplifier Carefully remove the wires to avoid snapping them 4 Remove the screws screw size M3 used to fix the built in regenerative resistor and take out the built in regenerative resistor Keep the removed b...

Page 69: ...e option is shown below Regenerative option Mounting direction MR RB032 Vertical mounting MR RB12 Vertical mounting MR RB14 Vertical mounting MR RB30 Vertical mounting MR RB50 A cooling fan is required Vertical mounting horizontal mounting MR RB34 Vertical mounting Top Bottom Top Bottom Vertical mounting Horizontal mounting ...

Page 70: ...RB12 MR RB14 Unit mm Mass 1 1 kg Terminal TE1 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 71: ...crew size 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 RB34 8 5 125 8 5 7 10 90 100 B A 318 142 150 79 30 30 101 5 82 5 82 5 G4 G3 C P Screw for mounting cooling fan 2 M4 screw Intake P C G3 G4 ...

Page 72: ...orque 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 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 73: ... Unit mm Mass 0 5 kg Terminal TE1 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 74: ...f MR J2HBUS_M cable and junction terminal block 1 Numbers in _ indicate the cable length 05 0 5 m 1 1 m 5 5 m PS7DW 20V14B F CN3 MR J2HBUS_M AERSBAN ESET Servo amplifier Junction terminal block Cable clamp LSP 1 2 DOCOM 3 4 8 7 9 SD MR J2HBUS_M 1 INP 5 6 10 DICOM LSN 11 12 MBR 13 14 18 17 19 DOG 15 16 20 EM2 ALM 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 11 12 13 14 18...

Page 75: ... PERIPHERAL EQUIPMENT 6 3 PS7DW 20V14B F junction terminal block recommended 73 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 76: ... computer to 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 and 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 is Connection ...

Page 77: ...a battery when connecting an HG KNS HG SNS series rotary servo motor to configure an absolute position detection system For configuration of an absolute position detection system refer to the following Page 101 ABSOLUTE POSITION DETECTION SYSTEM MR BAT6V1SET B battery For the specifications and the date of manufacture of the built in MR BAT6V1 battery refer to the following Page 82 MR BAT6V1 batte...

Page 78: ...identification and dimensions Unit mm Mass 62 g including the MR BAT6V1 battery Mounting screw Screw size M4 Tightening torque 1 2 N m 27 5 54 38 Fixing clip Branch cable connector Built in battery connector Rating plate Fixing hook Case Approx 57 Approx 49 ...

Page 79: ...ect as follows 1 To place the battery in a position within the wiring allowance indicated in section 2 1 allow for 100 5 mm of wire between the encoder connector and the cable retainer clip MR BT6V4CBL03M MR BAT6V1SET B CN2 100 5 mm 1 Encoder cable Servo motor Servo amplifier ...

Page 80: ...ical parts Replacing batteries 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 1 Connect the battery side connector of the battery branch cable to the branch cable connector on the battery 1 2 Remove the screw for the retainer clip from the battery clamp the encoder side cab...

Page 81: ... the encoder side connector of the battery branch cable 2 3 Unclip the encoder side cable of the battery branch cable from the retainer clip 3 4 Remove the screw for the retainer clip from the battery unclip the encoder side cable of the battery branch cable then reinstall the screw 4 5 Remove the battery side connector of the battery branch cable from the branch cable connector on the battery 5 3...

Page 82: ...the tab to unclip the case lid 3 Pull the battery leads through the hole in the lid then remove the battery and replace it with a new MR BAT6V1 battery Once the battery has been replaced pull the battery leads through the hole in the lid Insert the new MR BAT6V1 battery into the case lid so that the label is visible Tab Lid Hole Hole Battery terminal Lead wire direction Plate Plate ...

Page 83: ...Battery 81 6 4 Hook the lid to the tabs on the case then push the two parts of the case together so that tab clips into lock 5 Connect the built in battery connector to the built in battery connector of the battery Tab Lid Locking part Hooks ...

Page 84: ...CR17335A 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 Dangerou...

Page 85: ...the 600 V Grade heat resistant polyvinyl chloride insulated wire HIV wire are indicated below 1 The wire size shows applicable size of the servo amplifier connector For wires connecting to servo motors refer to Selection example of wires in the following manual Rotary Servo Motor User s Manual HG KNS HG SNS 2 Use the size of 2 mm2 for compliance with the IEC EN UL CSA standard Servo amplifier Wire...

Page 86: ...ead of a molded case circuit breaker The Motor circuit breaker Type E combination motor controller is the product combined with the motor circuit breaker the short circuit indicator unit UT TU and the line side terminal adapter UT CV3 Servo amplifier Molded case circuit breaker 1 Fuse Magnetic contactor 2 Frame rated current Voltage AC V Class Current A Voltage AC V Power factor improving reactor ...

Page 87: ...factured by Eaton Bussman MR JET 10_ NF125 SVU 15A 125 A frame 15 A 170M1408 10 A MR JET 20_ MR JET 40_ MR JET 70_ 3 phase power supply input MR JET 70_ 1 phase power supply input MR JET 100_ 3 phase power supply input NF125 SVU 15A 125 A frame 15 A 170M1409 16 A MR JET 100_ 1 phase power supply input NF125 SVU 15A 125 A frame 15 A 170M1412 32 A MR JET 200_ 3 phase power supply input MR JET 200_ 1...

Page 88: ...open 4 Maximum dimensions The dimensions vary depending on the curvature of the input output lines Servo amplifier Power factor improving AC reactor Dimensions mm Terminal size Mass kg W W1 H D 4 D1 D2 d MR JET 10_ MR JET 20_ FR HAL 0 4K 104 84 99 72 51 40 M5 M4 0 6 MR JET 40_ FR HAL 0 75K 104 84 99 74 56 44 M5 M4 0 8 MR JET 70_ FR HAL 1 5K 104 84 99 77 61 50 M5 M4 1 1 MR JET 100_ 3 phase power su...

Page 89: ...r control signal transmission and connect the external conductor of the cable to the SD terminal For grounding refer to the following Page 41 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 t...

Page 90: ...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 elec...

Page 91: ...r running them in parallel to each other Insert a line noise filter to the I O cables or a radio noise filter on the input line to reduce radiated noise from the cables Use shielded wires for the signal and power lines or put the lines in separate metal conduits 4 5 6 When power cables and signal cables are laid side by side or bundled together electromagnetic and static induction noise is transmi...

Page 92: ...ngs When using a data line filter CN1A 80 mm or shorter Data line filter Servo amplifier Top surface CN1A Servo amplifier Locate 5 mm to 10 mm away from the cabinet entrance Cable clamp fitting Outside the cabinet Inside the cabinet Top surface CN1A Servo amplifier 80 mm or shorter Data line filter Outside the cabinet Inside the cabinet Top surface ...

Page 93: ...he servo amplifier Use the following surge killer or equivalent Ex CR 50500 Okaya Electric Industries Note that a diode should be installed to a DC relay or the like Maximum voltage Not less than four times the drive voltage of the relay or the like Maximum current Not less than two times the drive current of the relay or the like Impedance Ω 10 MHz to 100 MHz 100 MHz to 500 MHz 80 150 Rated volta...

Page 94: ...ess that part against the ground plate with the cable clamp If the cable are thin bunch several cables together and clamp them in place The cable clamp comes as a set with the grounding plate Dimensions Unit mm 1 Screw hole for grounding Connect it to the ground plate of the cabinet Model A B C Accessory fittings AERSBAN DSET 100 86 30 Clamp A 2 pcs AERSBAN ESET 70 56 Clamp B 1 pc Clamp fitting L ...

Page 95: ...ines 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 noise filters...

Page 96: ... varistors refer to the manufacturer catalog Unit mm 1 For special purpose items for lead length L contact the manufacturer Power supply voltage Varistor Maximum rating Maximum limit voltage Static capacity reference value Varistorvoltage 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 TND2...

Page 97: ... servo amplifier Page 95 Example of leakage current Ig1 Ig2 per km of CV cable run in metal conduit Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Page 95 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 FR BIF H Iga Servo amplifier ...

Page 98: ...alues 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 Servo motor output kW Leakage current mA 0 1 to 1 0 1 1 5 to 2 0 2 3 0 3 Servo amplifier Leakage current mA MR JET 10_ MR JET 20_...

Page 99: ...cial light industry and industrial environments Category C3 intended for use in the second environment commercial light industry and industrial environments 2 Install the radio noise filter FR BIF on the input power lines of the servo amplifier if the power cable length is over 20 m Application environment Total length of servo motor power cable EMC filter Model Rated current A Rated voltage VAC O...

Page 100: ...s used For 1 phase 200 V AC to 240 V AC power supply 1 Connect the power supply to L1 and L3 Leave L2 open 2 When a surge protector is used MCCB 1 2 3 1 2 3 MC L1 L2 L3 4 5 6 Servo amplifier Surge protector 1 EMC filter 3 phase 200 V AC to 240 V AC MCCB 1 2 3 1 2 3 MC L1 L2 L3 4 5 6 Servo amplifier Surge protector 2 EMC filter 1 phase 1 200 V AC to 240 V AC ...

Page 101: ...254 HU FSB 20 254 HU FSB 30 254 HU Unit mm HF3010C SZB HF3020C SZB HF3030C SZB 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 Terminal block cover Protective earth PE Mounting hole Output Input Protective earth PE Mounting plate t 1 2 M4 M4 φ4 5 R2 2 5 6 220 210 66 55 78 Approx 10 5 Approx 12 5 Approx 12 5 Mounting plate t 1 0 ...

Page 102: ...rotector model Maximum continuous 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 phase 250 V AC 700 V 25 1300 V 2500 A 5000 A About 300 times Okaya Electric Industries Co Ltd LT CS32G801WS 3 phase 275 V AC 660 V 10 1400 V 5000 A 8000 A A...

Page 103: ... the number of revolutions The absolute position detection system always detects and memorize the absolute position of the machine regardless of whether the controller power is on off Therefore once homing is performed at the time of machine installation homing is not needed when power is switched on thereafter Even if a power failure or a malfunction occurs the system can be easily restored Restr...

Page 104: ...een operation MR Configurator2 System architecture 1 1 Motor side pulse unit value Acquires and displays values in the unit of the servo motor side pulses from the servo amplifier of the specified axis 2 Command pulse unit value Current position Acquires and displays the command pulse unit value from the servo amplifier for the specified axis 3 CYC 1X Acquires and displays the position within one ...

Page 105: ...tion range AL 025 Absolute position erased may occur 3 Power on ratio of 25 is the equivalent to power on for 8 hours on weekdays and 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 6000 only when the acceleration deceleration time until 6000 r min is 0 2 or longer Battery backup ti...

Page 106: ...13 Magnetic pole detection method setting Homing Reference home position 1048576 pulses unit initial value One servo motor revolution unit Homing pitch can be changed with servo parameter setting Page 113 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...

Page 107: ...thermal protectors of the LM AJ series refer to Servo motor power supply cable wiring diagrams in the following manual Linear Servo Motor User s Manual LM AJ series CN5 CN3 CN2 W V U E L1 L2 L3 1 2 MC R S T FR BSF01 MCCB CN1B CN1A MR Configurator2 Power supply Controller or servo amplifier Controller or servo amplifier Molded case circuit breaker Personal computer Magnetic contactor Line noise fil...

Page 108: ...g 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 test ope...

Page 109: ...motor matches the increasing direction of the linear encoder set Pr PC27 0 Encoder pulse count polarity selection to 0 encoder pulse increasing direction in the servo motor CCW or positive direction If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder set Pr PC27 0 to 1 encoder pulse decreasing direction in the servo motor CCW or positiv...

Page 110: ...ion in the servo motor CCW or positive direction the positive direction of the linear servo motor matches the increasing direction of the linear encoder and the linear servo motor is operated in the positive direction If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder the servo motor speed will be a negative value The servo motor speed...

Page 111: ...tial output linear encoder When connecting an A B Z phase differential output encoder set Pr PC26 0 A B Z phase input encoder connection setting selection to 2 If an A B Z phase input encoder is connected to the servo amplifier while Pr PC26 0 is set to 0 AL 016 3 will occur Settings when connecting the LM AJ series The LM AJ series is not equipped with a thermistor that can be connected to a serv...

Page 112: ...ted 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 m...

Page 113: ...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 Set ...

Page 114: ...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 Acc...

Page 115: ...he position detection 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 dete...

Page 116: ... 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 response...

Page 117: ...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 Ther...

Page 118: ...ntal 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 power on is not required Linear servo motor series LM...

Page 119: ... 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 pol...

Page 120: ...n 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 Proximity dog...

Page 121: ... 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 10 486...

Page 122: ...art homing Change the setting value of Pr PL01 2 Homing stop interval setting in accordance with the linear encoder resolution Incremental linear encoder When the linear encoder home position reference mark exists in the homing direction 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 method...

Page 123: ...ing direction with operations such as the JOG operation from the controller then start homing Caution for passing the home position reference mark An interval for turning on home position reference mark signal of the linear encoder has a certain width Specifications differ depending on the linear encoder MR JET Partner s Encoder User s Manual 0 r min 1 Homing direction Creep speed Home position sh...

Page 124: ...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 proximity dog off is the home position The linear encoder home position can be set in any position LZ Encoder Z phase pulse is out...

Page 125: ...tection 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 error ...

Page 126: ...viation error detection Page 124 Speed deviation error detection Page 124 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 selecti...

Page 127: ...ts 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 absolu...

Page 128: ...cautions 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 to mass of the linear servo motor primary side ratio is 100 times or less The acceleration deceleration thrust is 10 or hig...

Page 129: ...stics Overload protection characteristics LM H3 series LM AJ series 50 100 150 200 250 300 0 0 1 10 1 100 1000 Load ratio In operation In servo lock Operating time s 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 130: ...MR JET 70_ 1 3 50 15 1 0 LM H3P3C 36P CSS0 1 9 50 15 1 0 LM H3P3D 48P CSS0 MR JET 200_ 3 5 90 20 1 8 LM H3P7A 24P ASS0 MR JET 70_ 1 3 50 15 1 0 LM H3P7B 48P ASS0 MR JET 200_ 3 5 90 20 1 8 LM H3P7C 72P ASS0 3 8 90 20 1 8 LM AJP1B 07K JSS0 MR JET 40_ 0 9 35 15 0 7 LM AJP1D 14K JSS0 MR JET 70_ 1 3 50 15 1 0 LM AJP2B 12S JSS0 MR JET 40_ 0 9 35 15 0 7 LM AJP2D 23T JSS0 MR JET 70_ 1 3 50 15 1 0 LM AJP3B...

Page 131: ... Linear servo motor primary side Coefficient A Coefficient B LM H3P2A 07P BSS0 7 15 10 3 2 94 10 3 LM H3P3A 12P CSS0 2 81 10 3 1 47 10 3 LM H3P3B 24P CSS0 7 69 10 3 2 27 10 4 LM H3P3C 36P CSS0 7 22 10 3 1 13 10 4 LM H3P3D 48P CSS0 1 02 10 3 2 54 10 4 LM H3P7A 24P ASS0 7 69 10 3 2 14 10 4 LM H3P7B 48P ASS0 9 14 10 4 2 59 10 4 LM H3P7C 72P ASS0 7 19 10 4 1 47 10 4 LM AJP1B 07K JSS0 6 85 10 3 3 70 10...

Page 132: ...hen the dynamic brake is used Linear servo motor primary side Permissible load to motor mass ratio Multiplier LM H3 series 40 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 133: ...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 Backu...

Page 134: ...of a 3 phase 400 V AC class power supply Use a step down transformer as necessary to keep the power supply voltage between 200 V AC and 240 V AC 1 Use a step down transformer as necessary to keep the power supply voltage between 200 V AC and 240 V AC 2 For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 MC MCCB L1 L2 L3 MC MC SK RA4 CNP1 2 Servo amplifier Malfunction RA3 OFF ON ...

Page 135: ...ss power supply 133 9 Precautions Do not directly input the 3 phase 400 V AC class power supply to a 200 V class servo amplifier Doing so may cause a malfunction MC MCCB CNP1 MC MC SK RA4 Servo amplifier Malfunction RA3 OFF ON Emergency stop switch 3 phase 400 V AC class Servo motor overheat protection ...

Page 136: ...the following functions is added Output devices EMC filter Added edited Section 3 5 Section 6 12 July 2021 IB NA 0300453ENG D Information on the following function is added CC Link IE Field Network Basic Added edited Section 1 2 Section 1 3 Section 2 1 Section 3 1 Section 3 5 Section 3 6 Chapter 5 Section 6 1 Section 6 2 Section 6 5 Section 6 6 Section 6 7 Section 6 10 Section 6 12 Section 7 1 Sec...

Page 137: ...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 138: ...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 IB NA 0300453ENG D ...

Page 139: ......

Page 140: ...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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