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Mitsubishi Electric MELSERVO-JN Series, Instruction Manual

The Mitsubishi Electric MELSERVO-JN Series is a cutting-edge automation solution that offers precision control and high-speed performance. To ensure efficient use, we provide a comprehensive Instruction Manual that can be downloaded for free from our website. Empower yourself with this invaluable resource to unlock the full potential of your MELSERVO-JN Series.

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8 -  28 

8. TROUBLESHOOTING 

 

Alarm No.: A.E9 

Name: Main circuit off warning 

The servo motor stops. 

Warning contents 

Servo-on (SON) was switched on when the main circuit power is off. 
The bus voltage decreased while the servo motor speed operates at 50r/min or slower. 

Detailed 

display 

Detailed 

Name 

Cause 

Checking method 

Result 

Action 

E9.1 

Servo-on 
(SON) ON 
when the 
main circuit 
is OFF. 

1)  Main circuit power supply 

is off. 

Check if the main 
circuit power supply is 
input. 

Not input. 

Switch on the main circuit 
power. 

 

   

Input. 

Check 2). 

 

2)  Main circuit power supply 

connector is disconnected. 

Check the main circuit 
power supply 
connector. 

The connector is 
disconnected. 

Connect properly. 

 

 

No problem. 

Check 3). 

 

 

3)  Main circuit power supply 

voltage is low. 

Check if the main 
circuit power supply 
voltage is the following 
or less. 
MR-JN- A:140VAC 
MR-JN- A1:70VAC 

MR-JN- A:140VAC 
or less 
MR-JN- A1:70VAC 
or less 

Raise the main circuit 
power supply voltage. 

 

 

 

MR-JN- A:Above 
140VAC 
MR-JN- A1:Above 
70VAC 

Check 4). 

 

 

4)  Servo amplifier for 1-

phase 200VAC input is 
used for 100VAC power 
supply circuit. 

Check the model of 
servo amplifier. 

The model of servo 
amplifier is "MR-JN-

A". 

Replace the servo 
amplifier whose model is 
"MR-JN- A1". 

 

 

 

The model of servo 
amplifier is "MR-JN-

A1". 

Check 5). 

 

 

5)  Faulty servo amplifier for 

1-phase 100VAC input is 
used. 

Check if the charge 
lamp is turned on. 

The charge lamp is 
not turned on. 

Replace the servo 
amplifier. 

 

 

6)  Bus voltage dropped. 

Check the value of 
status display Pn (bus 
voltage). 

The value of the 
status display Pn 
(bus voltage) is "1" 
(overvoltage) or "2" 
(low voltage). 

Revise the wiring. 
Check the power supply 
capacity. 

E9.2 

Bus voltage 
drop at low-
speed 
rotation 

1)  When the set value of 

parameter No. PC29 
(function selection C-5) is  
"   1   ", the bus voltage 
decreased while the servo 
motor operates at 50r/min 
or slower. 

Check the value of 
status display Pn (bus 
voltage). 

The value is "1" 
(undervoltage). 

Check the power supply 
capacity. 
Increase the acceleration 
time constant. 

 

Summary of Contents for MELSERVO-JN Series

Page 1: ...otice MODEL MODEL CODE General Purpose AC Servo MODEL Servo Amplifier MR JN A General Purpose Interface Servo Amplifier JN Series HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 JN Series MR JN A Instruction Manual D D MODEL Servo Motor HF KN HF KP G1 G5 G7 HG KR G1 G5 G7 INSTRUCTION MANUAL ...

Page 2: ...ere injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight injury to personnel or may cause physical damage Note that the CAUTION level may lead to a serious consequence according to conditions Please follow the instructions of both levels because they are important to personnel safety What must not be done and what must be done are indicated ...

Page 3: ...upply L1 L2 of the servo amplifier in order to configure a circuit that shuts off the power supply by the magnetic contactor If a magnetic contactor is not connected a continuous flow of a large current may cause a fire when the servo amplifier malfunctions When using a regenerative resistor configure a circuit that shuts off the power if abnormality is found Otherwise the regenerative resistor ma...

Page 4: ...ng 15 to 70 non freezing Ambient humidity Operation 5 RH to 90 RH non condensing 10 RH to 80 RH non condensing Storage 10 RH to 90 RH non condensing Ambience Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280 ft Vibration resistance 5 9 m s2 10 to 55Hz directions of X Y and Z axes HF KN Series X Y 49m s2 HF KP Series Note HG KR series No...

Page 5: ...cause unexpected operation Connect the servo amplifier power output U V W to the servo motor power input U V W directly Do not install a magnetic contactor etc between the servo amplifier and the servo motor U Servo motor M V W U V W U Servo motor M V W U V W Servo amplifier Servo amplifier Do not connect AC power supply directly to the servo motor Otherwise a fault may occur Install a surge absor...

Page 6: ... and mechanical structure e g where a ball screw and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION Ensure safety by confirming the power off etc before performing corrective actions Otherwise it may cause an accident When it is assumed that a hazardous conditio...

Page 7: ... turn the servo motor output shaft to confirm that nothing is wrong with the servo motor For the servo motor with an electromagnetic brake turn ON the power supply of the electromagnetic brake first Then release the electromagnetic brake before hand turn When the equipment has been stored for an extended period of time contact your local sales office 7 Maintenance inspection and parts replacement ...

Page 8: ...eter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the converter unit servo amplifier drive unit and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Write to the EEP ROM due to device changes Write to the EEP ROM due to point table changes Write to the EEP ROM d...

Page 9: ...C Installation Guidelines IB NA 67310 About the wires used for wiring Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40 104 U S customary units U S customary units are not shown in 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 To...

Page 10: ...e lead of the built in regenerative resistor is connected between P and C terminals on the servo amplifier power supply connectors CNP1 of the MR JN 20A 1 40A When taking the servo amplifier out from the shipping box do not hold the lead of the built in regenerative resistor Unpack the product and check the rating plate to see if the servo motor and servo amplifier are as you ordered 1 Servo ampli...

Page 11: ...he upper lower Executes the one touch tuning 1 One touch tuning function refer to section 6 1 Gain and filter adjustment of the servo is easily made by the AUTO button located on the front panel of the servo amplifier 2 Status display diagnosis and parameter setting refer to chapter 5 The servo amplifier status display cumulative feedback pulses servo motor speed and others diagnosis servo operati...

Page 12: ... Operation confirmation before actual operation One touch tuning Actual operation Stop Refer to 1 in this section Check the surrounding environment cable routing and impurity such as wire offcuts or metallic dust of the servo amplifier and the servo motor Refer to 2 a in this section Refer to 3 in this section Refer to 4 in this section Refer to 2 a in this section Refer to 5 in this section Refer...

Page 13: ...ld not be connected to the servo motor power supply terminals U V W The connected servo amplifier and servo motor will be damaged M U V W U V W L1 L2 Servo amplifier Servo motor The earth terminal of the servo motor should be connected to the PE terminal of the servo amplifier Servo amplifier Servo motor M When regenerative option is used The built in regenerative resistor and its wirings should b...

Page 14: ...eck during the energization Input signal wiring confirmation On off status of the input signals of CN1 connector can be checked using the external I O signal display By using this function input signal wiring can be checked Refer to section 5 8 Output signal wiring confirmation Output signals of CN1 connector can be turned on off forcibly using the DO output By using this function output signal wi...

Page 15: ...ervo amplifier of 200 to 400W built in regenerative resistor is used 02 MR RB032 03 MR RB12 0 Parameter No PA02 PA05 Number of command input pulses per servo motor revolution refer to section 4 1 6 Set the number of command input pulses necessary to rotate the servo motor one turn When 100 10000 pulse rev initial value is set to parameter No PA05 the servo motor rotates one turn by inputting 1000 ...

Page 16: ...command input pulse form Parameter No PA13 Setting 00 01 Pulse train input filter selection Pulse train form Forward rotation command Reverse rotation command Signed pulse train A phase pulse train B phase pulse train Forward rotation pulse train Reverse rotation pulse train Signed pulse train A phase pulse train B phase pulse train 02 10 12 11 Positive logic NP PP PP L H NP PP NP NP PP L H PP NP ...

Page 17: ...st operation mode JOG operation at the slowest speed and check whether the servo motor rotates correctly Operation by commands from the controller Servo motor and machine are connected b Confirm that the servo motor rotates correctly at the slowest speed under the commands from the controller Make sure that the servo motor rotates in the following procedure 1 Switch on the forced stop EM1 and serv...

Page 18: ... be performed if the servo motor is not operating Press the AUTO button for 3 s or longer while the servo motor is rotating The display changes to and the mode shifts to the one touch tuning mode Press the UP or the DOWN button while is displayed to select the response mode Refer to 1 in section 6 1 2 Start the one touch tuning by pressing the AUTO button The progress of the one touch tuning is di...

Page 19: ...nternal speed control mode The servo motor stops immediately and the shaft is locked The servo motor can rotate in an opposite direction e Simultaneous ON or simultaneous OFF of forward rotation start ST1 and reverse rotation start ST2 In internal speed control mode The servo motor decelerates to a stop In positioning mode The servo motor decelerates to a stop after JOG operation f Simultaneous ON...

Page 20: ...ection 5 8 Wiring mistake The polarity of the digital output circuit diode is not correct Section 3 8 2 2 Switch on servo on SON Alarm occurs Remove cause Section 8 2 Servo motor shaft is free Check the followings 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal display refer to section 5 8 to see if the servo on SON is ON 1 Servo on SON is not ...

Page 21: ... 5 8 Check the internal speed limits 0 to 7 parameters No PC05 to PC08 and PC31 to PC34 Set value is 0 Section 4 3 2 Check the forward torque limit parameter No PA11 or reverse torque limit parameter No PA12 Set value is 0 Section 4 1 10 6 Switch on forward rotation start ST1 or reverse rotation start ST2 In the positioning mode Servo motor does not rotate Check the ON OFF status of the input sign...

Page 22: ... are the following relationships 1 Q P output pulse counter cumulative command pulses 2 When using the electronic gear P CMX parameter No PA06 CDV parameter No PA07 Servo motor encoder resolution FBP parameter No PA05 Note C cumulative command pulses electronic gear cumulative feedback pulses Note When 0 is set to the FBP parameter No PA05 the FBP becomes the servo motor encoder resolution 3 C Δ M...

Page 23: ...check for any problems before making this function valid POINT For details of the tough drive function refer to section 7 1 The tough drive function continues the operation not to stop a machine in such situations when normally an alarm is activated Three types of tough drive function can be selected in parameter No PA04 Instantaneous power failure tough drive function selection Set tough drive fu...

Page 24: ...overload alarm occurs to avoid the alarm 2 Vibration tough drive function This function suppresses the machine resonance caused by aging distortion or individual difference of the machine 3 Instantaneous power failure tough drive function This function avoids the instantaneous power failure during operation ...

Page 25: ...ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 28 3 6 4 Position speed control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 31 3 6 5 Internal speed internal torque control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 32 3 6 6 Internal torque position control change modeꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 33 3 7 Ala...

Page 26: ...ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 19 4 2 2 Detail list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 21 4 2 3 Position smoothingꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 29 4 3 Extension setting parameters No PC ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

Page 27: ...ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 12 6 3 4 Response level setting in auto tuning mode 1 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 13 6 4 2 gain adjustment modeꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 14 6 5 Manual modeꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

Page 28: ...ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11 25 11 4 MR Configurator MR Configurator2 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11 27 11 4 1 About engineering softwareꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11 27 11 4 2 Precautions for using USB communication functionꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11 28 11 5 Selection...

Page 29: ...tic brake characteristicsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12 30 12 6 4 Servo motor with a reduction gear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12 31 12 6 5 Connector installationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12 36 12 7 HG KR series servo motorꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

Page 30: ...c return function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13 66 13 7 Parametersꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13 67 13 7 1 Basic setting parameters No PA ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13 68 13 7 2 Gain filter parameters No PB ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...

Page 31: ... 22 MEMO ...

Page 32: ... alarm is activated The MELSERVO JN series servo motor is equipped with an incremental encoder which has the resolution of 131072 pulses rev to ensure the positioning with a high accuracy 1 Position control mode Up to 1Mpps high speed pulse train is used to control the speed and the direction of a servo motor and execute precision positioning of 131072 pulses rev resolution The position smoothing ...

Page 33: ... parameters This is the most appropriate to configure a simple positioning system or to simplify a system 7 point tables can be used b Program method The positioning operation is performed by creating the positioning data the target position the servo motor speed the acceleration deceleration time constant etc as a program and by executing the program This is the most appropriate to configure a si...

Page 34: ...rrent control Virtual motor Virtual encoder CN2 U V W U V W M Dynamic brake USB USB Personal computer Regenerative option CN1 Current detector Current detection Overcurrent protection Voltage detection Base amplifier B L1 L2 MCCB Note 2 Main circuit power supply MC RA B1 B2 Fuse Relay Diode stack Servo amplifier Note 1 Model position Model speed Model torque 0V Note 2 Control circuit power supply ...

Page 35: ...te 2 Control circuit power supply Circuit protector Point table Model adaptive control 1 Position data Servo motor speed Acceleration time constant Deceleration time constant Dwell Auxiliary function No 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 4 500 2000 60 70 1000 1 5 1000 2000 80 80 0 0 6 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 Current control Speed control Position ...

Page 36: ...e detection Base amplifier B L1 L2 MCCB Note 2 Main circuit power supply MC RA B1 B2 Fuse Relay Diode stack Servo amplifier Note 1 24V 0V Note 2 Control circuit power supply Circuit protector Model adaptive control SPN 1000 STA 200 STB 300 MOV 500 SPN 1000 MOVA 1000 MOVA 0 Program Current control Speed control Position control Position command creation STOP Regene rative TR Electro magnetic brake ...

Page 37: ...ative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Structure Natural cooling open IP rating IP20 Close mounting When mounting the servo amplifiers closely operate them at the ambient temperature...

Page 38: ...g language Manual operation mode JOG JOG operation is performed in accordance with parameter set speed command by contact input Manual pulse generator Manual feed is made by manual pulse generator Command pulse multiplication 1 10 or 100 is selected using parameter Home position return mode Dog type Home position return is made starting with Z phase pulse after passage of proximity dog Home positi...

Page 39: ...High resolution encoder The servo motor is equipped with high resolution encoder of 131072 pulses rev P S T CP CL Gain changing function Gains can be changed using an input device or gain changing conditions servo motor speed etc P S CP CL Section 7 3 Advanced vibration suppression control This function suppresses vibration of an arm end or residual vibration P CP CL Section 7 2 4 Adaptive filter ...

Page 40: ...or with software version C4 or later P S T CP CL Section 5 10 CP CL Section 13 10 MR Configurator Parameter setting test operation status display etc can be performed using a personal computer P S T CP CL Section 11 4 Section 13 8 to 13 10 Tough drive function This function continues the operation not to stop a machine in such situation when normally an alarm is activated Three types of the tough ...

Page 41: ... to 9 X 10 Y 11 Z 12 For September 2009 the serial number is like SERIAL 99 2 Model The following explains the description of models Not all the combination of symbols exists Series Rated output Rated output kW 10 0 1 20 0 2 40 0 4 General purpose interface Rating plate Serial number Power supply Power supply None 1 phase 200 to 230VAC 1 1 phase 100 to 120VAC Symbol Symbol 1 6 Combination with ser...

Page 42: ...Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Used to connect the servo motor encoder Rating plate Section 3 1 Section 3 3 Main circuit power supply connector CNP1 Connect the input power supply built in regenerative resistor regenerative option servo motor earth One touch tuning button AUTO Press this button t...

Page 43: ...Servo motor Junction terminal block MR Configurator Personal computer Line noise filter FR BSF01 Note Main circuit power supply Magnetic contactor MC Molded case circuit breaker MCCB R S Power factor improving AC reactor FR HAL L2 L1 Regenerative option P C Servo amplifier U V W Circuit protector 0V Note Control circuit power supply 24V Note Refer to section 1 3 for the power supply specification ...

Page 44: ... matters like screws or combustible matters like oil from entering the servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mits...

Page 45: ... so may cause malfunction to the equipment A regenerative resistor is mounted on the back of this servo amplifier The regenerative resistor causes a temperature rise of 100 relative to the ambient temperature Fully examine heat dissipation and installation position before installing the servo amplifier 1 Installation of one servo amplifier 10mm or more Top Bottom 10mm or more Control box Wiring al...

Page 46: ... 30mm or more 30mm or more 40mm or more Control box Mounting closely Leaving clearance 40mm or more Top Bottom 3 Others When using heat generating equipment such as the regenerative option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 2 Keep out foreign mate...

Page 47: ...n 10 4 for the flexing life 2 4 Inspection items WARNING Before starting maintenance and or inspection turn off the power and wait for 15 minutes or more until the charge lamp turns off Otherwise an electric shock may occur In addition always confirm from the front of the servo amplifier whether the charge lamp is off or not Due to risk of electric shock only qualified personnel should attempt ins...

Page 48: ...r of power on and number of forced stop times 100 000 times 1 Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years when operated continuously in an air conditioned environment ambient temperature of 40 C or less 2 Relay...

Page 49: ...2 6 2 INSTALLATION MEMO ...

Page 50: ...e the equipment correctly and securely Otherwise the servo motor may operate unexpected resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not outp...

Page 51: ... a magnetic contactor MC is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions Use the trouble ALM to switch power off Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire Before unplugging the CNP1 connector from the servo amplifier disconnect the lead of the built in regenerative resistor ...

Page 52: ...istor DOCOM DOCOM Note 1 The built in regenerative resistor is provided for MR JN 20A 1 and MR JN 40A Factory wired When using the regenerative option refer to section 11 2 2 For encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 3 For sink I O interface For source I O interface refer to section 3 8 3 4 Refer to section 3 10 5 Configure the circui...

Page 53: ...tic brake interlock Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Note 15 Encoder Z phase pulse differential line driver Forward rotation stroke end Reverse rotation stroke end Note 3 5 Note 5 Note 10 11 Note 9 MR Configurator Servo on Reset 10m max Note 1 USB cable option CN3 Personal computer Servo amplifier 10m max 2m max Note 8 Pro...

Page 54: ... on in normal alarm free condition Normally closed contact When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command input pulses in the open collector system The wirings can be extended up to 10m when us...

Page 55: ...orrect direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 200mA current for interfaces from the outside 200mA is the value applicable when all I O signals are used The current capacity can be decreased by ...

Page 56: ...main circuit power connector CNP1 to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 200mA current for interfaces from the o...

Page 57: ...U V and W to the servo motor power supply input U V and W directly Do not let a magnetic contactor etc intervene Otherwise it may cause a malfunction Protective earth PE Connect to the earth terminal of the servo motor and to the protective earth PE of the control box to perform grounding 3 3 2 Power on sequence 1 Power on procedure 1 Always wire the power supply as shown in above section 3 1 usin...

Page 58: ...M1 is turned off at a forced stop When EM1 is turned off the dynamic brake is operated to stop the servo motor immediately At this time the display shows the servo forced stop warning E6 1 During the normal operation do not use the forced stop EM1 to alternate stop and run The service life of the servo amplifier may be shortened Also the servo motor rotates simultaneously with the reset of the for...

Page 59: ...d servo amplifier power supply connectors for wiring of CNP1 and CNP2 1 Servo amplifier power supply connectors CNP2 CNP1 Servo amplifier Connector for CNP1 FKC2 5 9 ST 5 08 Phoenix Contact Connector for CNP2 FKCT 2 5 2 ST 5 08 Phoenix Contact CNP1 CNP2 Applicable cable example Wire size 0 2 to 2 5mm2 AWG24 to AWG12 Cable finish OD to 4mm ...

Page 60: ...acent pole Do not solder the core as it may cause a contact fault 2 Putting the wires together using a ferrule Use a ferrule as follows Cable size Ferrule type Crimping tool Manufacturer mm2 AWG For one wire For two wires 1 25 1 5 16 AI 1 5 10 BK AI TWIN 2 1 5 10 BK CRIMPFOX ZA 3 Phoenix Contact 2 2 5 14 AI 2 5 10 BK Cut off the exceeding wire from the tip of the ferrule leaving 0 5mm or less 0 5m...

Page 61: ... a tool such as a small flat blade screwdriver Tools such as a small flat blade screwdriver Twisted wire Button b Putting the wires together using a ferrule Insert the wire as the uneven side of the crimped ferrule collar faces the button side Ferrule for two wires Ferrule for one wire or solid wire Use a ferrule for two wires when inserting two wires into one hole ...

Page 62: ...ances and connector layouts of the other servo amplifiers MODE SET AUTO CN3 CNP2 CNP1 CN1 CN2 The frames of the CN1 connector are connected to the PE earth terminal in the servo amplifier CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 RES 4 SON 6 LSP 5 CR 19 LZ 18 LBR 20 LZR 21 OP 7 LSN 8 EM1 10 INP 9 ALM 23 PP 22 PG 24 NG 25 NP 11 RD 12 MBR 26 13 DOCOM 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 CN2 MDR MD T...

Page 63: ...SN ST2 ST2 ST2 RS1 RS1 RS1 LSN PD11 PD12 8 I EM1 EM1 EM1 EM1 EM1 EM1 PD13 PD14 9 O ALM ALM ALM ALM ALM ALM PD15 10 O INP INP SA SA SA INP PD16 11 O RD RD RD RD RD RD PD17 12 O MBR MBR MBR MBR MBR MBR PD18 13 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 14 LG LG LG LG LG LG 15 O LA LA LA LA LA LA 16 O LAR LAR LAR LAR LAR LAR 17 O LB LB LB LB LB LB 18 O LBR LBR LBR LBR LBR LBR 19 O LZ LZ LZ LZ LZ LZ 20 O LZR...

Page 64: ...TTR During tough drive TL1 Internal torque limit selection CDPS During variable gain selection LSP Forward rotation stroke end OP Encoder Z phase pulse open collector LSN Reverse rotation stroke end LZ Encoder Z phase pulse differential line driver SP1 Speed selection 1 LZR SP2 Speed selection 2 LA Encoder A phase pulse differential line driver SP3 Speed selection 3 LAR LOP Control change LB Encod...

Page 65: ...meter No PD01 to 4 to switch this signal on keep terminals connected automatically in the servo amplifier DI 1 Reset RES CN1 3 When RES is turned on for 50ms or longer an alarm can be reset Some alarms cannot be deactivated by the reset RES Refer to section 8 1 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 1 is set in parameter No PD20 This...

Page 66: ...ation start ST1 Used to start the servo motor in any of the following directions DI 1 Note Input device Servo motor starting direction ST2 ST1 0 0 Stop servo lock 0 1 CCW 1 0 CW Reverse rotation start ST2 1 1 Stop servo lock Note 0 off 1 on If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to parameter No PC02 setting and servo lock...

Page 67: ...ff 1 on Proportion control PC When PC is turned on the type of the speed loop switches from the proportional integral type to the proportional type If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop switching on the proporti...

Page 68: ... the internal torque position control change mode Note LOP Control mode 0 Internal torque 1 Position Note 0 off 1 on b Output devices Device Symbol Connec tor pin No Functions Applications I O division Control mode P S T Trouble ALM CN1 9 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit When there is no alarm ALM turns on approximately 1s...

Page 69: ...50r min OFF level 70r min 0r min Zero speed ZSP 1 3 2 4 Forward rotation direction Reverse rotation direction Parameter No PC10 ZSP turns on 1 when the servo motor is decelerated to 50r min and ZSP turns off 2 when the servo motor is accelerated to 70r min again ZSP turns on 3 when the servo motor is decelerated again to 50r min and turns off 4 when the servo motor speed has reached 70r min The ra...

Page 70: ...tputs pulses per servo motor revolution set in parameter No PA15 in the differential line driver type In CCW rotation of the servo motor the encoder B phase pulse lags the encoder A phase pulse by a phase angle of 2 The relationships between rotation direction and phase difference of the A and B phase pulses can be changed using parameter No PC13 DO 2 Encoder B phase pulse Differential line driver...

Page 71: ... section 4 1 11 for details b Connections and waveforms 1 Open collector system Connect as shown below Approx 1 2k SD Servo amplifier OPC PP NP DOCOM 24VDC Note Approx 1 2k Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line The explanation assumes that the input wa...

Page 72: ...and reverse rotation pulse trains parameter No PA13 has been set to 10 The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver Reverse rotation command PP PG NP NG Reverse rotation pulse train Forward rotation pulse train Forward rotation command 2 In position INP INP turns on when the number of droop pulses in the deviation counter falls within the preset ...

Page 73: ...que 0 100 Torque limit value in parameter No PA12 100 Forward rotation CCW direction Reverse rotation CW direction b Torque limit value selection As shown below the internal torque limit selection TL1 can be used for selecting the torque limit between the forward torque limit parameter No PA11 or the reverse torque limit parameter No PA12 and the internal torque limit 2 parameter No PC14 However i...

Page 74: ...otation start ST2 combination Note 1 Input device Note 2 Rotation direction Forward rotation CCW Reverse rotation CW ST2 ST1 0 0 Stop Servo lock 0 1 Forward rotation CCW 1 0 Reverse rotation CW 1 1 Stop Servo lock Note 1 0 off 1 on 2 If the torque limit is canceled during servo lock the servo motor may suddenly rotate according to position deviation in respect to the command position Connect the w...

Page 75: ... command value SP1 0 Internal speed command 0 parameter No PC05 1 Internal speed command 1 parameter No PC06 Note 0 off 1 on By making the speed selection 2 SP2 and the speed selection 3 SP3 usable by setting of parameter No PD02 to PD14 the speed command values for the internal speed commands 0 to 7 can be selected Note Input device Speed command value SP3 SP2 SP1 0 0 0 Internal speed command 0 p...

Page 76: ...tor speed has nearly reached the speed set to the internal speed command ON OFF ON OFF Forward rotation reverse rotation start ST1 ST2 Set speed selection Servo motor speed Speed reached SA Internal speed command 1 Internal speed command 2 3 Torque limit As in section 3 6 1 4 ...

Page 77: ...que is not generated 0 1 CCW reverse rotation in driving mode forward rotation in regenerative mode 1 0 CW forward rotation in driving mode reverse rotation in regenerative mode 1 1 Torque is not generated Note 0 off 1 on Generally make connection as shown below RS2 DOCOM DICOM Servo amplifier RS1 24VDC Note Note For sink I O interface For source I O interface refer to section 3 8 3 The following ...

Page 78: ...rse rotation selection RS2 combination Note Input device Speed limit direction Forward rotation CCW Reverse rotation CW RS1 RS2 1 0 Forward rotation CCW 0 1 Reverse rotation CW Note 0 off 1 on Connect the wirings as follows when setting the internal speed limit to the eighth speed SP2 SP3 DOCOM DICOM Servo amplifier SP1 24VDC Note 2 RS2 RS1 Note 1 Note 1 For sink I O interface For source I O inter...

Page 79: ...limit 0 to 7 can be selected Note Input device Speed limit value SP3 SP2 SP1 0 0 0 Internal speed limit 0 parameter No PC05 0 0 1 Internal speed limit 1 parameter No PC06 0 1 0 Internal speed limit 2 parameter No PC07 0 1 1 Internal speed limit 3 parameter No PC08 1 0 0 Internal speed limit 4 parameter No PC31 1 0 1 Internal speed limit 5 parameter No PC32 1 1 0 Internal speed limit 6 parameter No...

Page 80: ...de after the servo motor has stopped When the control mode is switched to the internal speed control mode from the position control mode droop pulses are cleared Even if the speed is decreased to the zero speed or below after switching LOP the control mode cannot be switched A change timing chart is shown below Position control mode Internal speed control mode Position control mode Zero speed leve...

Page 81: ...y time A change timing chart is shown below Internal speed control mode Note Internal torque command parameter No PC12 Servo motor speed Control change LOP ON OFF Internal speed control mode Internal torque control mode Note When the start ST1 ST2 is switched off as soon as the mode is changed to internal speed control the servo motor comes to a stop according to the deceleration time constant 2 S...

Page 82: ... mode after the servo motor has stopped When the control mode is switched to the internal torque control mode from the position control mode droop pulses are cleared Even if the speed is decreased to the zero speed or below after switching LOP the control mode cannot be switched A change timing chart is shown below Zero speed ZSP Control change LOP OFF ON OFF ON Position control mode Position cont...

Page 83: ... ON OFF ON OFF ON OFF ON OFF ON OFF Brake operation Note 1 Shut off the main circuit power as soon as an alarm occurs 2 Changes depending on the operating status 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 32 overload 1 50 or overload 2 51 alarm after its occurrence without removing its cause the servo ampl...

Page 84: ...r output 35mA or less Open collector output Encoder Servo motor Note 1 Note 1 Note 3 Note 1 P Position control mode S Internal speed control mode T Internal torque control mode CP Positioning mode Point table method CL Positioning mode Program method 2 This diagram is for the open collector pulse train input When inputting the differential line driver pulse train in the position control mode make ...

Page 85: ...O 100 A TR 24VDC 10 200mA Approx 5 6k 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40mA or less maximum current 50mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the servo amplifier The following figure is for the s...

Page 86: ...fore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line 2 Input pulse condition 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 2 s tc 2 s tF 3 s PP NP b Differential line driver type 1 Interface SD PG NG PP NP Max input pulse frequency 1Mpps Servo amplifier Am26LS31 or equivalent 10m or less Approx 100 VOH 2 5V VOL 0 5V Note Note Pulse train input in...

Page 87: ...DO 2 a Open collector system Interface Max output current 35mA Photocoupler Servo amplifier OP LG SD Servo amplifier OP LG SD 5 to 24VDC b Differential line driver type 1 Interface Max output current 35mA High speed photocoupler Servo amplifier Servo amplifier LA LB LZ LAR LBR LZR SD LG 150 LAR LBR LZR SD 100 LA LB LZ Am26LS32 or equivalent ...

Page 88: ...of source type Perform wiring according to the following interfaces 1 Digital input interface DI 1 SON etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 200mA Approx 5 6k 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the servo amplifier Servo amplifier DOCOM Load Note 24 VDC 10 200 mA If polarity of diode is reversed servo amplifier will fail ALM ...

Page 89: ...onductor of the cable to the ground plate as shown in this section and fix it to the connector shell Sheath External conductor Strip the sheath Core External conductor Sheath Pull back the external conductor to cover the sheath 1 For CN1 connector 3M connector Screw Screw Ground plate Cable 2 For CN2 connector 3M or Molex connector Screw Cable Ground plate ...

Page 90: ... interface and control circuit power supplies for the electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake Otherwise a fault may occur POINT Refer to section 11 1 for the selection of the encoder cable This section indicates the connection of the servo motor power supply U V W Use of the optional cable or the connector set is recommended for connecti...

Page 91: ... MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP1 AWG 19 red AWG 19 white AWG 19 black AWG 19 green yellow U V W U V W Servo motor Servo amplifier M Extension cable 50m or less 2m or less Note b Relay connector for motor power supply cable Note a Relay connector for extension cable Note Use of the following connectors is recommended...

Page 92: ...OINT Refer to chapter 12 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Switch off the servo on SON after the servo motor has stopped Refer to 3 in section 12 1 3 for the selection of the surge absorbers for the electromagnetic brake Note the following when the servo motor with an electromagnetic brake is used 1 Always assign the electrom...

Page 93: ...Activate OFF Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay For the release delay time of electromagnetic brake refer to section 12 5 3 12 6 3 3 Give a position command after the electromagnetic brake is release...

Page 94: ...d 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 4 Both main and control circuit power supplies off Main circuit Control circuit 10ms Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake 10 to 60ms Note 1 Electromagnetic brake operation delay time Electromagnetic brake interlock MBR ON Base circuit Servo motor speed Trouble ALM power supply OF...

Page 95: ...11 4 Wiring diagrams HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor 1 When cable length is 10m or less B1 B2 U Note 3 Electromagnetic brake interlock MBR AWG20 AWG20 MR BKS1CBL M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H Note 1 Trouble ALM Servo motor 10m or less Note 5 RA Note 2 B 24VDC power supply for electromagnetic brake Note 1 Connect a surge absorber as close to the...

Page 96: ...or electromagnetic brake Note 1 Note 4 Electromagnetic brake interlock MBR Trouble ALM 50m or less Note 1 Connect a surge absorber as close to the servo motor as possible 2 Use of the following connectors is recommended when ingress protection IP65 is necessary CM10 CR2P DDK b Relay connector for motor brake cable a Relay connector for extension cable Relay connector Description IP65 IP65 CM10 SP2...

Page 97: ...itching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Servo amplifier L1 L2 Line filter CN2 Outer box Encoder M U V W Protective earth PE Programmable logiccontroller Note Main circuit power supply CN1 W V U Ensure to connect it to PE termin...

Page 98: ...ollowing groups on a function basis Parameter group Main description Basic setting parameters No PA Make basic setting with these parameters when using this servo amplifier in the position control mode Gain filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC Use these parameters mainly when using this servo amplifier in the internal ...

Page 99: ...ection 000h PA05 FBP Number of command input pulses per revolution 100 100 pulse rev PA06 CMX Electronic gear numerator Command input pulse multiplying factor numerator 1 PA07 CDV Electronic gear denominator Command input pulse multiplying factor denominator 1 PA08 ATU Auto tuning mode 001h PA09 RSP Auto tuning response 6 PA10 INP In position range 100 Refer to section 4 1 9 PA11 TLP Forward torqu...

Page 100: ...owing table indicates the parameters which are enabled for reference and writing by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 setting Setting operation Basic setting parameters No PA Gain Filter parameters No PB Extension setting parameters No PC I O setting parameters No PD Positioning setting parameters No PE 000h Reference Writing 00...

Page 101: ...program method 0 Parameter No PA01 One touch tuning function selection 0 Valid 1 Invalid If 1 is set the one touch tuning is ignored Selection of control mode 4 1 4 Selection of regenerative option Parameter Initial value Setting range Unit Control mode No Symbol Name Position Internal speed Internal torque PA02 REG Regenerative option 000h Refer to the text POINT This parameter is made valid when...

Page 102: ...ection Set the tough drive function for overload The overload tough drive function is valid only in the position control mode or positioning mode Parameter No PA04 The details on the overload tough drive function can be set in parameter No PC26 detailed setting of overload tough drive Vibration tough drive function selection Set the function for vibration suppression Instantaneous power failure to...

Page 103: ...al value is set to parameter No PA05 the servo motor rotates one turn by inputting 10000 pulses of the command pulse to the servo amplifier When 0 is set to parameter No PA05 the servo motor rotates one turn by inputting the command pulse of servo motor resolution to the servo amplifier Parameter No PA05 setting Description 0 Servo motor resolution pulse rev 100 to 500 Number of command input puls...

Page 104: ...ear with servo off state to prevent unexpected operation due to improper setting 1 Concept of electronic gear The machine can be moved at any multiplication factor to input pulses Command input pulses Deviation counter Value converted to the number of command input pulses per revolution FBP Servo motor Encoder M CDV CMX FBP conversion Note Parameter No PA06 PA07 Parameter No PA05 Note This process...

Page 105: ... in increments of 0 01 per pulse Machine specifications Table 360 rev Reduction ratio 1 n P1 P2 625 12544 P1 Pulley diameter on servo motor side P2 Pulley diameter on load side Command input pulses per revolution 36000 pulse rev Number of command input pulses per revolution of servo motor 36000 pulse rev Table Timing belt 625 12544 CMX CDV Δθ0 ꞏ 36000 Δθ 0 01 ꞏ 36000 625 12544 ꞏ 360 12544 625 4 1 ...

Page 106: ...r Feedback pulse Servo amplifier For example if 100 1000 pulse rev is set to parameter No PA05 the pulse command required to rotate the servo motor is as follows Servo motor speed r min Required pulse command 2000 10000 2000 60 333333 pulse s 3000 10000 3000 60 500000 pulse s Use the electronic gear of the servo amplifier to rotate the servo motor under the maximum output pulse command of the QD75...

Page 107: ... pulse frequency kpulse s Note 200k 1M 200k 1M Number of pulses per servo motor revolution as viewed from QD75 pulse rev 4000 20000 6000 30000 Electronic gear Minimum command unit 1pulse AP 1 1 1 1 AL 1 1 1 1 AM 1 1 1 1 Minimum command unit 0 1 m AP 4000 20000 6000 30000 AL 1000 0 m 1000 0 m 1000 0 m 1000 0 m AM 10 10 10 10 Note Command pulse frequency at rated speed POINT In addition to the setti...

Page 108: ...fer to section 6 3 for details 1 Auto tuning mode parameter No PA08 Select the tuning mode Tuning mode setting 3 1 Setting 0 Manual mode Manually set parameter No Note Tuning mode 2 gain adjustment mode Auto tuning mode 1 Parameter No PA08 0 0 Estimated load to motor inertia moment ratio Valid Valid Invalid PA09 PB07 PB06 PB07 PB08 PB09 PB10 Automatically set parameter No Note PB06 PB08 PB09 PB10 ...

Page 109: ...ame Position Internal speed Internal torque PA10 INP In position range 100 0 to 65535 Note Set the range where in position INP is output in the command unit before calculation of the electronic gear When 1 is set to the parameter No PC24 the range can be changed to the servo motor encoder pulse unit Servo motor droop pulse In position range pulse Command pulse Command pulse Droop pulse In position...

Page 110: ...ters 1 Forward torque limit parameter No PA11 Set this parameter on the assumption that the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode Set this parameter to 0 to generate no torque 2 Reverse torque limit parameter No PA12 Set this parameter on the assumption that the maximum torque is 100 Set this parameter w...

Page 111: ...t forms for which positive or negative logic can be chosen Arrow or in the table indicates the timing of importing a pulse train A and B phase pulse trains are imported after being multiplied by 4 Signed pulse train Forward rotation pulse train Reverse rotation pulse train Selection of command input pulse form Parameter No PA13 Setting 00 01 Pulse train input filter selection Pulse train form Forw...

Page 112: ... POL Rotation direction selection 0 0 1 POINT This parameter is made valid when power is switched off then on after setting Select servo motor rotation direction relative to the input pulse train Parameter No PA14 setting Servo motor rotation direction When forward rotation pulse is input When reverse rotation pulse is input 0 CCW CW 1 CW CCW Forward rotation CCW Reverse rotation CW ...

Page 113: ...s You can use parameter No PC13 to choose the output pulse setting or output division ratio setting The number of A B phase pulses actually output is 1 4 of the preset number of pulses The maximum output frequency is 4 6Mpps after multiplied by 4 Use this parameter within this range 1 For output pulse designation Set parameter No PC13 to 0 initial value Set the number of pulses per servo motor rev...

Page 114: ... below A B phase output pulses 131072 8 ꞏ 1 4 4096 pulse Servo motor Encoder A phase B phase output pulses Feedback pulses M ENR 1 Set division ratio by parameter No PA15 3 When outputting pulse same as command pulses Set parameter No PC13 to 2 The feedback pulses from the encoder can be output after being converted to the same value as the command pulse CDV CMX Servo motor Encoder A phase B phase...

Page 115: ...is recognized as 1 Example When using the HF KN series servo motor When parameter No PA15 is set to 5600 and PA16 to 4096 the A B phase pulses actually outputted are as follows A phase B phase output pulses Resolution per servo motor revolution ꞏ parameter No 15 parameter No 16 ꞏ 1 4 131072 ꞏ 5600 4096 ꞏ 1 4 44800 pulse Servo motor Encoder A phase B phase output pulses Feedback pulses M ENR2 ENR E...

Page 116: ...80 PB12 OVA Overshoot amount compensation Applied 0 PB13 NH1 Machine resonance suppression filter 1 4500 Hz PB14 NHQ1 Notch shape selection 1 000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting Applied 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting Appli...

Page 117: ... suppression control resonance frequency setting Applied 100 0 Hz PB35 For manufacturer setting 0 PB36 0 PB37 100 PB38 NH3 Machine resonance suppression filter 3 4500 Hz PB39 NHQ3 Notch shape selection 3 000h PB40 For manufacturer setting 111h PB41 20 PB42 000h PB43 000h PB44 000h PB45 000h PB46 000h PB47 000h PB48 000h PB49 000h PB50 000h ...

Page 118: ... or not Setting this parameter to 2 manual mode enables users to manually adjust the machine resonance suppression filter 1 parameter No PB13 and notch shape selection 1 parameter No PB14 When this parameter is set to 0 the initial values are set for both the machine resonance suppression filter 1 and the notch shape selection 1 Response of mechanical system Machine resonance point Notch depth Not...

Page 119: ...control parameter No PB20 after positioning operation is performed the predetermined number of times Droop pulse Command Machine end position Droop pulse Command Machine end position Automatic adjustment Vibration suppression control tuning mode 0 0 Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF Note 1 Vibration suppression control...

Page 120: ...en the linear acceleration deceleration is selected do not execute control switching Doing so will cause the servo motor to make a sudden stop during the control switching Example When a command is given from a synchronous encoder synchronous operation can be started smoothly if started during line operation Synchronous encoder Start Servo motor Servo amplifier ON OFF With time constant setting Wi...

Page 121: ...on and or noise When auto tuning mode 1 and 2 gain adjustment mode are set the result of auto tuning is automatically set in this parameter 37 1 to 1000 rad s PB09 VG2 Speed loop gain Set the gain of the speed loop Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When ...

Page 122: ...ne touch tuning automatically changes this parameter When parameter No PB01 is set to 0 the setting of this parameter is ignored 000h Refer to name and function column PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid Executing one touch tuning automat...

Page 123: ...Applied Set the resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting parameter No PB02 vibration suppression control tuning mode to 1 automatically changes this parameter When parameter No PB02 is set to 2 this parameter can be set manually 100 0 0 1 to 100 0 Hz PB21 For manufacturer setting 0 PB22 Do not change this ...

Page 124: ...hange in response to the conditions set in parameters No PB26 and PB27 Refer to section 7 3 1 0 to 100 ms PB29 GD2B Gain changing load to motor inertia moment ratio Applied Used to set the load to motor inertia moment ratio when gain changing is valid This parameter is made valid when the auto tuning mode is invalid parameter No PA08 3 7 0 0 0 to 300 0 Multiplier PB30 PG2B Gain changing position l...

Page 125: ...PB36 Do not change this value by any means 0 PB37 100 PB38 NH3 Machine resonance suppression filter 3 Set the notch frequency of the machine resonance suppression filter 3 Set parameter No PB39 notch shape selection 3 to 1 to make this parameter valid 4500 30 to 4500 Hz PB39 NHQ3 Notch shape selection 3 Used to select the machine resonance suppression filter 3 Notch depth selection Depth Gain 0 De...

Page 126: ...in parameter No PB25 according to the machine used 1 For step input 3t Time Command Input position command Position command after filtering for primary delay Position command after filtering for linear acceleration deceleration Position command acceleration deceleration time constant parameter No PB03 2 For trapezoidal input For trapezoidal input linear acceleration deceleration the setting range ...

Page 127: ...romagnetic brake sequence output 100 ms PC10 ZSP Zero speed 50 r min PC11 BPS Alarm history clear 000h PC12 TC Internal torque command 0 0 PC13 ENRS Encoder output pulses selection 000h PC14 TL2 Internal torque limit 2 Applied 100 PC15 ERZL Error excessive alarm detection level 3 0 rev PC16 For manufacturer setting 3 0 PC17 OSL Overspeed alarm detection level 0 r min PC18 For manufacturer setting ...

Page 128: ...r manufacturer setting 000h PC36 0 PC37 0 PC38 0 PC39 0 PC40 0 PC41 000h PC42 0 PC43 000h PC44 RECT Drive recorder alarm specifying 000h PC45 For manufacturer setting 000h PC46 000h PC47 000h PC48 000h PC49 000h PC50 000h PC51 000h PC52 000h PC53 000h PC54 000h PC55 000h PC56 000h PC57 000h PC58 COP9 Function selection C 9 Applied 000h PC59 DBT Electronic dynamic brake operating time Applied 000h ...

Page 129: ...0 to 7 If the preset speed command is lower than the rated speed acceleration deceleration time will be shorter Time Parameter No PC02 setting 0r min Rated speed Speed Parameter No PC01 setting For example for the servo motor of 3000r min rated speed set 3000 3s to increase speed from 0r min to 1000r min in 1 second 0 0 to 50000 ms PC02 STB Deceleration time constant Used to set the deceleration t...

Page 130: ...STA acceleration time constant or STB deceleration time constant may produce an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit for the actual time of the arc part is as follows At acceleration 2000000 STA At deceleration 2000000 STB Example Settings of STA 20000 STB 5000 and STC 200 limit the actual arc part times as follo...

Page 131: ...rmi ssible speed r min Internal speed limit 3 Used to set speed 3 of internal speed limits PC09 MBR Electromagnetic brake sequence output Used to set the delay time Tb from the electromagnetic brake interlock MBR turns off to the base drive circuit is shut off 100 0 to 1000 ms PC10 ZSP Zero speed Used to set the output range of the zero speed detection ZSP Zero speed detection ZSP has hysteresis w...

Page 132: ...ter No PA15 encoder output pulses setting invalid 0 A phase B phase A phase B phase A phase B phase Encoder output pulse cycle setting Note 0 444 s cycle 1 55 s cycle Note It is supported by servo amplifiers of the software version A1 or later 000h Refer to the name and function field PC14 TL2 Internal torque limit 2 Applied Set this parameter to limit servo motor torque on the assumption that the...

Page 133: ... force 0 Valid Servo locked The control to maintain the stop position is performed 1 Invalid Not servo locked The stop position is not maintained The control to make the speed 0r min is performed 0 0 000h Refer to the name and function field PC24 COP3 Function selection C 3 Applied Select the unit of the in position range In position range unit selection 0 Command input unit 1 Servo motor encoder ...

Page 134: ... and parameter No PB15 machine resonance suppression filter 2 50 0 to 100 PC28 CVAT Detailed setting of instantaneous power failure tough drive Applied Set the time between the fall of the main circuit power supply to the alarm detection level and the occurrence of the instantaneous power failure alarm When parameter No PA04 tough drive function selection is set to 0 this parameter is invalid 3 3 ...

Page 135: ...mi ssible speed r min Internal speed limit 7 Applied Used to set speed 7 of internal speed limits PC35 For manufacturer setting 000h PC36 Do not change this value by any means 0 PC37 0 PC38 0 PC39 0 PC40 0 PC41 000h PC42 0 PC43 000h PC44 RECT Drive recorder alarm specifying Specify the alarm No which activates the drive recorder 0 Specification of alarm No 00 The optimum item is recorded according...

Page 136: ...set The setting range is 000h 2000ms 001h 1ms to 3E8h 10000ms If set beyond that range the time will be limited to 10000ms When 000h is set the electronic dynamic brake operates for 2000ms To disable the electronic dynamic brake set parameter No PC58 to 002h This parameter setting is available with servo amplifiers with software version B2 or later 000h 000h to FFFh 10 ms PC60 For manufacturer set...

Page 137: ...error 37 Watchdog 888 When the graph is displayed in MR Configurator the drive recorder function becomes invalid To make the drive recorder function valid again switch the power off then on Valid invalid of drive recorder function can be confirmed on the display diagnostic mode Refer to section 5 4 The drive recorder function records the state transition before and after the alarm occurrence for t...

Page 138: ...o motor speed r min Torque Bus voltage Note Within one revolution position pulse Multi revolution counter rev Current command Regenerative load ratio Command pulse frequency kpps Effective load ratio Note The bus voltage is displayed in five steps Display value Description 5 Overvoltage About 400V or more 4 High voltage About 375V or more 3 Normal 2 Low voltage About 200V or less 1 Undervoltage Ab...

Page 139: ...1 SON RD 0 8 56 8 CH3 Current command CH1 Servo motor speed r min 30 30 CH2 Torque ALM EM1 SON RD 56 8 3600 CH3 Regenerative load ratio CH1 Servo motor speed r min 31 31 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Command pulse frequency kpps CH1 Servo motor speed r min 32 32 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Current command CH1 Servo motor speed r min 33 33 CH2 Torque ALM EM1 SON RD 3 5 227 CH3 B...

Page 140: ... 100 pulses CH1 Servo motor speed r min 61 61 CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Within one revolution position pulse CH1 Servo motor speed r min 8E 8E CH2 Torque ALM EM1 SON RD 0 8 56 8 CH3 Within one revolution position pulse Note The bus voltage is displayed in five steps Display value Description 5 Overvoltage About 400V or more 4 High voltage About 375V or more 3 Normal 2 Low voltage Abou...

Page 141: ...PD07 DI3 1 Input signal device selection 3L CN1 5 0D06h PD08 DI3 2 Input signal device selection 3H CN1 5 2C0Dh PD09 DI4 1 Input signal device selection 4L CN1 6 070Ah PD10 DI4 2 Input signal device selection 4H CN1 6 0707h PD11 DI5 1 Input signal device selection 5L CN1 7 080Bh PD12 DI5 2 Input signal device selection 5H CN1 7 0808h PD13 DI6 1 Input signal device selection 6L CN1 8 0505h PD14 DI6...

Page 142: ...e BIN HEX BIN HEX Signal name Initial value BIN HEX Point table No Program No selection 1 DI0 Point table No Program No selection 2 DI1 Point table No Program No selection 3 DI2 0 0 0 0 0 Automatic manual selection MD0 Example 1 Turn ON SON The setting is 4 Example 2 Turn ON LSP LSN To turn ON LSP only The setting is 4 To turn ON LSN only The setting is 8 To turn ON both LSP and LSN The setting is...

Page 143: ...field Setting Control modes Note 1 P S T CP CL 00 CN1 23 pin PP CN1 25 pin NP CN1 23 pin PP CN1 25 pin NP 01 For manufacturer setting Note 2 02 SON SON SON 03 RES RES RES 04 PC PC 05 Note 4 EM1 EM1 EM1 06 For manufacturer setting Note 2 07 ST1 RS2 ST1 08 ST2 RS1 ST2 09 TL1 TL1 0A LSP LSP 0B LSN LSN 0C For manufacturer setting Note 2 0D SP1 SP1 0E SP2 SP2 0F SP3 SP3 10 LOP LOP 11 CDP CDP 12 to 1F F...

Page 144: ... SON SON SON 03 RES RES RES RES 04 PC PC PC 05 Note 4 EM1 EM1 EM1 EM1 06 CR 07 ST1 RS2 ST1 08 ST2 RS1 ST2 09 TL1 TL1 TL1 0A LSP LSP LSP 0B LSN LSN LSN 0C For manufacturer setting Note 2 0D SP1 SP1 0E SP2 SP2 0F SP3 SP3 10 LOP LOP LOP 11 CDP CDP CDP 12 to 1F For manufacturer setting Note 2 20 MD0 21 to 23 For manufacturer setting Note 2 24 TSTP 25 For manufacturer setting Note 2 26 DOG 27 PI1 Note ...

Page 145: ...field PD06 DI2 2 Input signal device selection 2H CN1 4 Any input signal can be assigned to the CN1 4 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 Internal torque control mode Positioning mode Select the input device of the CN1 4 pin 0202h Refer to the name and function field PD07 DI3 1 Input signal device selection 3L CN1 5 Any input signal can ...

Page 146: ...e selection 5L CN1 7 Any input signal can be assigned to the CN1 7 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 Position control mode Internal speed control mode Select the input device of the CN1 7 pin 080Bh Refer to the name and function field PD12 DI5 2 Input signal device selection 5H CN1 7 Any input signal can be assigned to the CN1 7 pin Th...

Page 147: ...ice selection 6H CN1 8 Any input signal can be assigned to the CN1 8 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 If a value other than the initial value is set EM1 cannot be used Internal torque control mode Positioning mode Select the input device of the CN1 8 pin 0505h Refer to the name and function field ...

Page 148: ... WNG 09 For manufacturer setting Note 2 0A Always OFF SA Always OFF Always OFF 0B Always OFF Always OFF VLC Always OFF 0C ZSP ZSP ZSP ZSP 0D MTTR MTTR MTTR 0E For manufacturer setting Note 2 0F CDPS Always OFF Always OFF CDPS 10 to 1F For manufacturer setting Note 2 20 Always OFF Always OFF Always OFF CP0 Note 3 21 Always OFF Always OFF Always OFF ZP 22 Always OFF Always OFF Always OFF POT 23 Alwa...

Page 149: ... setting method are the same as in parameter No PD15 Select the output device of the CN1 11 pin 0 0 0002h Refer to the name and function field PD18 DO4 Output signal device selection 4 CN1 12 Any output signal can be assigned to the CN1 12 pin MBR is assigned as the initial value The devices that can be assigned and the setting method are the same as in parameter No PD15 Select the output device o...

Page 150: ...aneous power failure tough drive 1 MTTR turns ON during the overload tough drive or the instantaneous power failure tough drive 0000h Refer to the name and function field PD21 For manufacturer setting Do not change this value by any means 0000h PD22 DOP3 Function selection D 3 Set the clear CR Clear CR selection 0 Droop pulses are cleared on the leading edge 1 While on droop pulses are always clea...

Page 151: ...ard reverse rotation stroke end turns OFF A slow stop can be made by changing parameter No PD20 setting Parameter No PD20 setting Stopping method 0 initial value Sudden stop Position control mode The servo motor stops by clearing the droop pulses Internal speed control mode The servo motor stops when the deceleration time constant is zero 1 Slow stop Position control mode The servo motor decelerat...

Page 152: ...ccurrence Blinks to indicate the test operation mode 3 digit LED Displays data AUTO One touch tuning button refer to section 6 1 The gain filter is easily adjusted during the operation The symbol in the third digit indicates that the number is the upper 3 digits of the parameter or the upper 3 digits of the point table If there is no number in the second digit the same symbol will be displayed in ...

Page 153: ... MODE Servo status display appears at power on Note Section 5 3 Sequence display external signal display forced output of signal DO test operation software version display servo motor series ID display servo motor type ID display servo motor encoder ID display Section 5 4 Current alarm display alarm history display the number of tough drive display parameter error No display Section 5 5 Display an...

Page 154: ...ng table has been shown for 2 s or after pressing the MODE UP or DOWN button Control mode Status display at power on Position Cumulative feedback pulses by the pulse Position internal speed Cumulative feedback pulses by the pulse servo motor speed in 10r min Internal speed Servo motor speed in 10r min Internal speed internal torque Servo motor speed in 10r min instantaneous torque Internal torque ...

Page 155: ...lse unit Command pulse frequency Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Within one revolution position in pulse unit Within one revolution position in 1000 pulse unit Load to motor inertia moment ratio Bus voltage Settling time To Step No Current position in 10STM m unit Current position in 1000 10STM m unit Command position in 10STM m unit Command positi...

Page 156: ...wing table lists display examples Item Status Displayed data Servo amplifier display Servo motor speed in 10r min unit Forward rotation at 2500r min Reverse rotation at 3000r min Lit Reverse rotation is indicated by the lit decimal points in the upper two digits Servo motor speed in r min unit Forward rotation at 250r min Reverse rotation at 300r min Lit Reverse rotation is indicated by the lit de...

Page 157: ...back pulses 720000pulses Pulse unit 1000 pulse unit 680000pulses Pulse unit Lit Negative value is indicated by the lit decimal points in the upper two digits 1000 pulse unit Lit Negative value is indicated by the lit decimal points in the upper two digits Load to motor inertia moment ratio 15 Multiplier ...

Page 158: ...cy of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear CMX CDV The value in excess of 999 can be counted up to 1500 However the counter shows only the lower three digits since the servo amplifier display is three digits 999 to 999 Regenerative load ratio L The ratio of regenerative power to permissible regenerative power is displayed in 0 ...

Page 159: ...distance to the command position specified by the selected point table is displayed The value in excess of 999999 can be counted However the counter shows only the lower or higher three digits since the servo amplifier display is three digits 0 to 999 Command remaining distance in 1000 10STM m unit Note 1 rnH 1000 10STM m 0 to 999 Point table No Note 1 Pno The point table No Program No which is be...

Page 160: ... to section 5 9 Test operation mode JOG operation JOG operation can be performed when there is no command from the command device For details refer to section 5 10 2 Positioning operation With no command given from the command device positioning operation can be executed once MR Configurator is required for positioning operation For details refer to section 5 10 3 Motor less operation Without conn...

Page 161: ... Series ID of the servo motor currently connected will be displayed by pressing the SET button For details refer to App 2 Servo motor type ID Type ID of the servo motor currently connected will be displayed by pressing the SET button For details refer to App 2 Servo motor Encoder ID Encoder ID of the servo motor currently connected will be displayed by pressing the SET button For details refer to ...

Page 162: ...il No are displayed alternately in 2 s intervals Alarm history SET Indicates the last alarm If the last alarm is 50 overload detail 1 alarm No 50 with detail No is displayed while holding down the SET button Indicates in hexadecimal for the second to the sixteenth alarm in the past as shown on the left The alarm No with detail No is displayed while holding down the SET button The number of tough d...

Page 163: ... Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the third digit remains blinking 3 For any alarm remove its cause and clear it in any of the following methods for clearable alarms refer to section 8 1 a Switch power OFF then ...

Page 164: ...onstant the deceleration time constant dwell and the auxiliary function can be set 5 6 1 Point table transition After selecting the point table mode with the MODE button pressing the UP or the DOWN button changes the display as shown below Point table No 1 Point table No 2 Point table No 3 Point table No 4 Point table No 5 Point table No 6 Point table No 7 DOWN UP ...

Page 165: ...reen sequence In the point table mode pressing the SET button changes the screen as shown below Press the UP or the DOWN button to move to the next screen Position data Servo motor speed Deceleration time constant Dwell Auxiliary function Acceleration time constant UP DOWN ...

Page 166: ...he operation procedure performed after power on to set the auxiliary function of the point table No 1 to 1 The set value of the specified point table No blinks During blinking the set value can be changed Set with UP or DOWN Press MODE three times Press UP or DOWN to choose the point table No 1 The point table No is displayed Press SET once Press UP five times Press SET twice Press UP once Press S...

Page 167: ... the next setting To the next setting Press SET once Press UP or DOWN to change the setting Press SET once Press UP or DOWN to choose the point table No 1 The point table No is displayed Press SET once Press SET once Choose the setting screen of the upper 3 digits or the lower 3 digits with MODE After setting 2 to shift to the setting of higher or lower 3 digits in the same point table No press th...

Page 168: ... display mode MODE Basic setting parameters Gain filter parameters Extension setting parameters I O setting parameters Parameter No PA01 Parameter No PA02 Parameter No PB01 Parameter No PB02 Parameter No PC01 Parameter No PC02 Parameter No PD01 Parameter No PD02 Parameter No PE01 Parameter No PE02 Parameter No PA18 Parameter No PA19 Parameter No PB49 Parameter No PB50 Parameter No PD25 Parameter N...

Page 169: ...fter power on to change the control mode parameter No PA01 to the internal speed control mode Press MODE to switch to the basic setting parameter screen Press UP or DOWN to change the number The set value of the specified parameter number blinks Press SET twice Press UP twice During blinking the set value can be changed Use UP or DOWN 2 Internal speed control mode Press SET to enter The parameter ...

Page 170: ...nce Setting of upper 2 digits Press UP or DOWN to change the setting Press SET once Enter the setting Press MODE once Press MODE once Setting of lower 3 digits The decimal point of the first digit is lit Press MODE four times Press SET once Press UP or DOWN to choose parameter No PA06 To the initial screen of setting for lower 3 To the initial screen of setting for upper 2 To proceed to the next p...

Page 171: ... UP once External I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below Input signals Output signals Always lit CN1 7 CN1 8 CN1 12 CN1 11 Lit ON Extinguished OFF CN1 5 CN1 6 CN1 9 CN1 4 CN1 3 CN1 10 CN1 21 CN1 23 CN1 25 The LED segment corresponding to the pin is lit to indicate ON and is extinguished to indicate OFF The signals ...

Page 172: ...itioning mode Program method b Symbol and signal names Symbol Signal name Symbol Signal name SON Servo on RD Ready RES Reset ALM Trouble PC Proportion control INP In position EM1 Forced stop SA Speed reached CR Clear MBR Electromagnetic brake interlock ST1 Forward rotation start TLC Limiting torque ST2 Reverse rotation start VLC Limiting speed RS1 Forward rotation selection WNG Warning RS2 Reverse...

Page 173: ...3 SON CN1 4 SP1 CN1 5 Input signals Output signals EM1 CN1 8 ST2 CN1 7 ST1 CN1 6 RD CN1 11 MBR CN1 12 ALM CN1 9 OP CN1 21 SA CN1 10 c Internal torque control mode Not assigned CN1 23 Not assigned CN1 25 Lit ON Extinguished OFF RES CN1 3 SON CN1 4 SP1 CN1 5 Input signals Output signals EM1 CN1 8 RS1 CN1 7 RS2 CN1 6 RD CN1 11 MBR CN1 12 OP CN1 21 ALM CN1 9 d Positioning mode Lit ON Extinguished OFF ...

Page 174: ...f state by turning off the servo on SON Operation After power on change the display to the diagnostic screen using the MODE button CN1 9 Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the output signals of the external I O signal display Lit ON extinguished OFF Press UP twice Press SET for 2s or more to shift to the output signal DO forced outp...

Page 175: ...l operation mode 5 10 1 Mode change After power on change the display to the diagnostic screen using the MODE button Select JOG operation motor less operation forced tough drive operation in the following procedure Press UP three times Press SET for more than 2s When this screen appears JOG operation can be performed Refer to section 5 10 2 When this screen appears motor less operation can be perf...

Page 176: ...he buttons is explained below Button Description UP Press to start CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the communication cable is disconnected during the JOG operation using MR Configurator the servo motor decelerates to a stop 2 Status display Call the status display screen by pressing the MODE button in the JOG operation stand by status When the JOG op...

Page 177: ...the servo motor speed into the Motor speed input field b Accel decel time ms Enter the acceleration deceleration time constant into the Accel decel time input field c Move distance pulse Enter the moving distance into the Move distance input field d LSP LSN automatically turned ON When setting the external stroke signal to automatic ON click the check box to make it valid When it is not checked tu...

Page 178: ... CW to forward rotation CCW Reverse rotation CW to Reverse rotation CW Dwell Times 2 0 0 1 to 50 0 Number of repeats times 1 1 to 9999 Click the check box of Make the aging function valid to execute the repeated operation with the repeated pattern and the dwell time set above h Forward Reverse Click the Forward button to rotate the servo motor in the forward rotation direction Click the Reverse bu...

Page 179: ... as if the servo motor is running in response to input device This operation can be used to check the sequence of a host programmable controller or the like 1 Operation Turn off the servo on SON and then select motor less operation After that perform external operation as in ordinary operation 2 Status display The servo status can be checked in the motor less operation Change the display to the st...

Page 180: ...returns to the forced tough drive operation stand by screen after one screen cycle For details of the status display refer to section 5 3 Note that the status display screen cannot be changed by the UP or the DOWN button in the forced tough drive operation mode 3 Termination of forced tough drive operation To end the forced tough drive operation turn the power off once or press the MODE button to ...

Page 181: ...5 30 5 DISPLAY AND OPERATION SECTIONS MEMO ...

Page 182: ...ue to 90 or less of the maximum torque of the servo motor during the operation 6 1 One touch tuning Just by pressing the AUTO button on the front panel of the servo amplifier the gain filter is easily adjusted The following parameters are automatically adjusted by the one touch tuning Parameter No Symbol Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response PB03 PST Position command acceler...

Page 183: ...d start up the system Rotate the servo motor by a command device etc The one touch tuning cannot be performed if the servo motor is not operating Press the AUTO button for 3 s or longer during the operation The display changes to and the mode shifts to the one touch tuning mode Press the UP or the DOWN button while is displayed to select the response mode Start the one touch tuning by pressing the...

Page 184: ...th high rigidity such as a ballscrew drive Response mode for standard machines Response mode for machines with low rigidity such as a belt drive Response mode Response level Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response Inserter Mounter Bonder Arm robot Precision working machine General machine tool conveyor High response The one touch tuning ...

Page 185: ...t Pressing the MODE button during the one touch tuning calls the status display During the one touch adjustment At 100 Completion display Settling time display 2s later Settling time 100ms The settling time of the status display is displayed and the value is displayed 2s later The UP and DOWN buttons enable to call other status displays and the MODE button enables to call the diagnostic mode Press...

Page 186: ...ervo off during the adjustment The overshoot is larger than the value set in the in position range parameter No PA10 Increase the in position range parameter No PA10 The one touch tuning was attempted while the servo on SON was turned OFF Perform the one touch tuning after turning on the servo on SON C03 Control mode fault The one touch tuning was attempted while the internal torque control mode w...

Page 187: ...s called 6 At warning occurrence During the one touch tuning Warning reset Alarm display warning Completion display One touch tuning complete a If some warning occurs during the one touch tuning the alarm display is called and the warning is displayed However one touch tuning continues to be performed b When the warning is reset the alarm display is shifted to the one touch tuning Waning occurrenc...

Page 188: ...display at power on is called One touch tuning clear mode display when returning to the initial value Status display at power on in the position control mode The selected one touch tuning clear mode is performed During the operation the symbol of the one touch tuning clear mode is lit for 3s Clear the one touch tuning with the SET button If no operation is performed in 10s the one touch tuning cle...

Page 189: ...meter No PB03 PG1 parameter No PB07 OVA parameter No PB12 NH1 parameter No PB13 NHQ1 parameter No PB14 NH2 parameter No PB15 NHQ2 parameter No PB16 2 Gain adjustment made by the auto tuning mode parameter No PA08 Gain adjustment method Parameter No PA08 setting Estimation of load to motor inertia moment ratio Automatically set parameters Manually set parameters Auto tuning mode 1 initial value 001...

Page 190: ...al mode Yes END Usage This servo amplifier enables the auto tuning mode 1 in the initial status Refer to section 6 3 1 Use the one touch tuning button AUTO to make the adjustment Refer to section 6 1 After one touch tuning parameter No PA08 ATU auto tuning mode automatically changes to 000 2 gain adjustment mode Refer to section 6 4 All gains can be adjusted manually for fast setting etc Refer to ...

Page 191: ...er No Abbreviation Name PB06 GD2 Load to motor inertia moment ratio PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5 s or less Speed is 150r min or highe...

Page 192: ...atio is already known or if the estimation cannot be made properly select manual mode by setting parameter No PA08 to 003 the switch in the above diagram turns off to stop the estimation of the load to motor inertia moment ratio Then set the load to motor inertia moment ratio manually to parameter No PB06 From the preset load to motor inertia moment ratio parameter No PB06 value and response level...

Page 193: ...he machine Merely changing the response level setting value as required completes the adjustment The adjustment procedure is as follows END Acceleration deceleration repeated Load to motor inertia moment ratio estimation value stable Adjust the auto tuning response level RSP parameter No PA09 on vibration free level To manual mode Requested performance satisfied Yes No Yes No Acceleration decelera...

Page 194: ...o the desired response because of machine resonance beyond 100Hz adaptive tuning mode parameter No PB01 or machine resonance suppression filter parameter No PB13 to PB16 PB38 PB39 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 2 for adaptive tuning mode and machine resonance suppression filter Setting of p...

Page 195: ...ly adjusted parameters The following parameters are adjustable manually Parameter No Abbreviation Name PA09 RSP Auto tuning response PB07 PG1 Model loop gain 2 Adjustment procedure Step Operation Description 1 Set to the 2 gain adjustment mode Set parameter No PA08 auto tuning mode to 0 2 During the operation increase the response level setting parameter No PA09 and reset the setting if vibration ...

Page 196: ... motor inertia moment ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a small value to the model loop gain Set a large value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensati...

Page 197: ...inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 Speed loop gain setting 1 load to motor inertia moment ratio setting 3 Model loop gain PG1 parameter No PB07 This param...

Page 198: ...ance or the like and the desired response cannot be achieved response may be increased by suppressing resonance with adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of machine resonance Refer to section 7 2 10 While checking the settling characteristic and rotational status fine adjust each gain Fine adjustment c Adjustment description 1 Spe...

Page 199: ...6 18 6 GENERAL GAIN ADJUSTMENT MEMO ...

Page 200: ...e next command until the in position INP turns on In the positioning mode the controller holds the output of position command until the in position INP turns on The during tough drive MTTR can be output from the servo amplifier by setting parameter No PD20 function selection D 1 to 1 POINT The overload tough drive function is available only in the position control mode or in the positioning mode T...

Page 201: ...the load ratio reduces automatically ends the INP delay ON OFF ON OFF ON OFF Ti Ti Ti When the overload tough drive activates the number of tough drive in the display mode alarm mode is increased by one Refer to section 5 5 7 1 2 Vibration tough drive function The vibration tough drive function resets the filter instantaneously and prevents vibration when a machine resonance is generated due to ag...

Page 202: ...is compared with the parameters No PB13 machine resonance suppression filter 1 and No PB15 machine resonance suppression filter 2 and the parameter No which has a set value closer to the detected machine resonance frequency is reset to the value of the detected frequency Updates the parameter whose setting is the closest to the machine resonance frequency Command input pulses Command filter Machin...

Page 203: ... drive POINT The electromagnetic brake interlock MBR does not turn off during the instantaneous power failure tough drive When the load of instantaneous power failure is heavy the undervoltage alarm 10 2 caused by the bus voltage drop may occur regardless of the setting value of parameter No PC28 detailed setting of instantaneous power failure tough drive 1 When the instantaneous main circuit powe...

Page 204: ... MBR Base circuit ON OFF Instantaneous power failure time of the main circuit power supply Ready RD ON OFF ON OFF ON OFF ON OFF ON OFF Parameter No PC28 3 When the instantaneous main circuit power failure time is longer than the set value of parameter No PC28 detailed setting of instantaneous power failure tough drive If the instantaneous main circuit power failure time exceeds the set value of pa...

Page 205: ...al mode Machine resonance suppression filter 1 2 0 Encoder Current command Low pass filter M Servo motor Manual setting Automatic setting Machine resonance suppression filter 3 Parameter No PB16 0 1 0 Parameter No PB39 1 Parameter No PB23 1 0 7 2 2 Adaptive filter II 1 Function The adaptive filter II adaptive tuning sets the filter characteristics automatically with the one touch tuning and suppre...

Page 206: ...chanical system which has complex resonance characteristics 2 Parameters Select the tuning mode of adaptive tuning mode parameter No PB01 Parameter No PB01 Selection of adaptive tuning mode 0 0 Setting Adaptive tuning mode Manually set parameter No 0 Filter OFF Note 1 2 Note 2 Manual mode Parameter No PB13 Parameter No PB14 Note 1 Parameter No PB13 and PB14 are fixed to the initial values 2 When a...

Page 207: ...ncy gain decreasing depth and width Notch width Mechanical system response level Machine resonance point Notch characteristics Notch frequency Frequency Frequency Notch depth The vibration of three resonance frequency can be suppressed by the machine resonance suppression filter 1 machine resonance suppression filter 2 and machine resonance suppression filter 3 Mechanical system response level Mac...

Page 208: ... higher effect on machine resonance suppression but increases a phase delay and may increase vibration A wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration 7 2 4 Advanced vibration suppression control 1 Operation Vibration suppression control is used to further suppress load side vibration such as workpiece end vibration and base...

Page 209: ... when the auto tuning mode parameter No PA08 is set to manual mode 3 The machine resonance frequency supported by the vibration suppression control tuning mode is 1 0Hz to 100 0Hz The function is not effective for vibration outside this range To prevent unexpected operations be sure to stop the servo motor before changing the vibration suppression control related parameters parameter No PB02 PB19 ...

Page 210: ...e one touch tuning Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Factor Estimation cannot be made as load side vibration has not been transmitted to the motor side The response of the model loop gain has increased to the load side vibration frequency vibration suppression control limit Yes Tuning ends automatically after operation is performed ...

Page 211: ... frequency setting Parameter No PB20 Resonance of more than 100Hz is not the target of control b When vibration can be measured using an external measuring instrument Motor end vibration Droop pulses Position command frequency External acceleration pick signal etc Vibration suppression control vibration frequency Vibration suppression control resonance frequency Set the same value Vibration cycle ...

Page 212: ...er selection 0 Automatic setting initial value 1 Manual setting parameter No PB18 setting Parameter No PB23 0 0 7 3 Gain changing function POINT The functions given in this section are not generally required to use Use these functions when the machine status is not satisfactory after making adjustment in the methods given in chapter 6 This function can change the gains Gains can be changed using a...

Page 213: ... frequency Droop pulses Model speed Input device CDP Comparator Changing CDP Parameter No PB26 GD2 Parameter No PB06 GD2B Parameter No PB29 Valid GD2 value PG2 Parameter No PB08 PG2B Parameter No PB30 Valid PG2 value VG2 Parameter No PB09 VG2B Parameter No PB31 Valid VG2 value VIC Parameter No PB10 VICB Parameter No PB32 Valid VIC value CDL Parameter No PB27 VRF1 Parameter No PB19 VRF1B Parameter ...

Page 214: ...ion kpps pulse r min Used to set the changing condition values PB28 CDT Gain changing time constant ms Used to set the filter time constant for a gain change at changing PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Hz Used to set the value of the after changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration suppres...

Page 215: ...lid when the value is equal to or larger than the value set in parameter No PB27 1 Valid when the input device gain changing CDP is OFF or valid when the value is equal to or smaller than the value set in parameter No PB27 5 Gain changing condition parameter No PB27 This parameter is used to set gain changing level when command frequency droop pulse or servo motor speed is selected in the gain cha...

Page 216: ...30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing 001 Changed by ON OFF of input device PB28 CDT Gain changing time constant 100 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 60 Hz PB34 VRF2B Gain changing vibration suppression ...

Page 217: ...a moment ratio 10 0 Multiplier 1 PB30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing 003 Changed by droop pulses PB27 CDL Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Timing chart at changing After changing gain Before changing gain C...

Page 218: ...ower OFF ON Press SET on current alarm screen Alarm reset RES Alarms A 10 Undervoltage EDB A 12 Memory error 1 RAM DB A 13 Clock error DB A 15 Memory error 2 EEP ROM DB A 16 Encoder initial communication error1 DB A 17 Board error DB A 19 Memory error 3 Flash ROM DB A 1A Motor combination error DB A 1C Software combination error DB A 1E Encoder initial communication error 2 DB A 1F Encoder initial...

Page 219: ... DB Stops A EC Overload warning 2 Does not stop A ED Output watt excess warning Does not stop A F0 Tough drive warning Does not stop Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence 2 Operation to the direction which cancels the warning can be performed 3 The following shows two stop methods of DB and EDB DB Dynamic brake stop For a servo amplifie...

Page 220: ...than 30 minutes before resuming operation Regenerative error 30 Main circuit device overheat 45 1 Servo motor overheat 46 1 Overload 1 50 Overload 2 51 Parameter error 37 alarm and warnings are not recorded in the alarm history The alarm can be deactivated by switching the power off and then on by pressing the SET button on the current alarm screen or by turning on the reset RES For details refer ...

Page 221: ... if the main circuit power supply voltage is the following or less MR JN A 140VAC MR JN A1 70VAC MR JN A 140VAC or less MR JN A1 70VAC or less Raise the main circuit power voltage MR JN A Above 140VAC MR JN A1 Above 70VAC Check 3 3 The drop occurs during acceleration Check if the value of status display Pn bus voltage is 1 undervoltage The value is 1 undervoltage Increase the acceleration time con...

Page 222: ...the servo amplifier 2 Parts fault Alarm does not occur Check 3 3 Fault in the surrounding environment Check if any noise entered the power supply Check if any connector is shorted An error is found Take the appropriate measures according to the cause Alarm No A 15 Name Memory error 2 EEP ROM Description Servo amplifier internal part EEP ROM is faulty Detailed display Detailed Name Cause Checking m...

Page 223: ...n data error 2 Frame error 1 Encoder cable faulty Execute the checking methods mentioned in the alarm display 16 0 2 Fault in the surrounding environment 3 Servo amplifier fault 16 3 Encoder transmission data error 3 The servo amplifier not receiving 1 Encoder cable is disconnected Check if the encoder cable is connected correctly Disconnected Connect correctly Connected correctly Check 2 2 Encode...

Page 224: ...y Execute the checking methods mentioned in the alarm display 16 5 2 Fault in the surrounding environment 3 Encoder fault Alarm No A 17 Name Board error Description Servo amplifier internal part is faulty Detailed display Detailed Name Cause Checking method Result Action 17 1 AD converter error 1 Current detection circuit fault Turn off the servo on SON and check if the alarm occurs Alarm occurs R...

Page 225: ...error Description Software checksum error Detailed display Detailed Name Cause Checking method Result Action 1C 1 Software combination error 1 Flash ROM fault Remove all cables except for the control circuit power supply and check if the alarm occurs Alarm occurs Replace the servo amplifier Alarm No A 1E Name Encoder initial communication error 2 Description Faulty parts in the encoder Detailed di...

Page 226: ...nding environment Check the noise etc An error is found Take the appropriate measures according to the cause No error Check 3 3 Encoder fault Check if the alarm occurs after replacing the servo motor Alarm does not occur Replace the servo motor 20 7 Encoder receive data error2 Request discrepancy 1 Encoder cable shielding is faulty Execute the checking methods mentioned in the alarm display 20 5 2...

Page 227: ...otor Remove the power cables from the servo motor and check if short occurs in the servo motor between U V W and Servo motor is shorted Replace the servo motor No problem Check 4 4 Power supply cables and servo motor power cables are shorted Check if there is a contact between the power supply cables and the servo motor power cables at power off There is a contact Connect correctly No contact Chec...

Page 228: ...rative option is connected correctly Incorrect connection Connect correctly Correct connection Check 3 3 Power supply voltage is high Check the input power supply 230VAC or more Decrease the power supply voltage Below 230VAC Check 4 4 The regenerative load ratio is over 100 Call the status display or MR Configurator and check the regenerative load ratio at alarm occurrence 100 or more Reduce the f...

Page 229: ...due to saturated torque caused by short acceleration time constant Overshoot occurs Increase the acceleration deceleration time constant Overshoot does not occur Check 5 5 Encoder faulty Check if the alarm occurs when the actual speed is under the instantaneous permissible speed Alarm occurs Replace the servo motor Alarm No A 32 Name Overcurrent Description The flowed current is higher than the pe...

Page 230: ...em Check 4 4 Servo motor fault Remove the power cables from the servo motor edge and check if short occurs between U V W and Ground fault occurs in the servo motor Replace the servo motor Ground fault does not occur in the servo motor Check 5 5 Fault in the surrounding environment Check the noise etc An error is found Take the appropriate measures according to the cause 32 3 Overcurrent was detect...

Page 231: ...n When using the built in regenerative resistor replace the servo amplifier When using the regenerative option replace the regenerative option No problem Check 4 4 Regenerative capacity is insufficient Check if alarm occurs when the deceleration time constant is increased Alarm does not occur Use the regenerative option if it is not used Increase the deceleration time constant Alarm occurs Check 5...

Page 232: ...ing environment Check the noise the ambient temperature etc An error is found Take the appropriate measures according to the cause Alarm No A 37 Name Parameter error Description Parameter setting is incorrect Detailed display Detailed Name Cause Checking method Result Action 37 1 Parameter setting range error 1 Parameter is set outside the setting range Check the set value according to the paramet...

Page 233: ... Correct program is written Check 3 3 Servo amplifier fault caused the program to be rewritten Check if the alarm occurs after replacing the servo amplifier Alarm does not occur Replace the servo amplifier 39 2 Command argument range error 1 An argument of program command is out of the range Check the command argument according to the step No Refer to section 5 3 1 Outside the argument range Corre...

Page 234: ...rm occurs after cleaning the heat sink and the opening Alarm does not occur Clean periodically Alarm occurs Check 5 5 Servo amplifier fault Check if the alarm occurs after replacing the servo amplifier Alarm does not occur Use the normal servo amplifier Alarm No A 46 Name Servo motor overheat Description Servo motor is overheated Detailed display Detailed Name Cause Checking method Result Action 4...

Page 235: ...n is restarted without the cooling time Check if the alarm was reset after 30 minutes had past since the alarm occurrence No Reset the alarm after the sufficient time Yes Check 5 5 Servo amplifier fault Check if the alarm occurs after replacing the servo amplifier Alarm does not occur Replace the servo amplifier 50 2 Overload thermal 2 error during operation Short time operation protection 1 The w...

Page 236: ...on is restarted without the cooling time Check if the alarm was reset after 30 minutes had past since the alarm occurrence No Reset the alarm after the sufficient time Yes Check 5 5 Servo amplifier fault Check if the alarm occurs after replacing the servo amplifier Alarm does not occur Replace the servo amplifier 50 5 Overload thermal 2 error at a stop Short time operation protection 1 The load is...

Page 237: ...ainst the structural part Check if the work collided against the structural part Collided Check the operation pattern Did not collide Check 5 5 Torque is saturated Check the torque during the operation Torque is saturated Check the operation pattern Torque is not saturated Check 6 6 Servo amplifier fault Check if the alarm occurs after replacing the servo amplifier Alarm does not occur Replace the...

Page 238: ...shortage caused by power supply voltage drop Check the value of status display Pn bus voltage The value is 1 undervoltage or 2 low voltage Check the power supply voltage The value is 4 high voltage or 5 overvoltage Check 8 8 Acceleration deceleration time constant is short Check if the alarm occurs after the deceleration time constant is increased Alarm does not occur Check operation pattern Alarm...

Page 239: ...ollided against the structural part 6 Torque shortage 7 Servo motor cannot be started due to torque shortage caused by power supply voltage drop 8 Acceleration deceleration time constant is short 9 Gain adjustment is not made well 10 Estimation of the load to motor inertia moment ratio is not estimated well 11 Position loop gain value is small 12 Servo motor is rotated by external force 13 Encoder...

Page 240: ...methods mentioned in the alarm display 8E 1 2 Communication device e g personal computer setting error 3 Fault in the surrounding environment 4 Servo amplifier fault 8E 3 USB communication character error 1 Communication cable fault Execute the checking methods mentioned in the alarm display 8E 1 2 Communication device e g personal computer setting error 3 Fault in the surrounding environment 4 Se...

Page 241: ...rn was performed Home position return was not performed Perform home position return 90 2 Home position return abnormal completion 1 Home position return speed could not be decreased to the creep speed Check the home position return speed the creep speed and the travel distance after proximity dog The set value is incorrect Set correctly and perform home position return Alarm No A 91 Name Servo am...

Page 242: ...rd rotation 1 Software limit was set within the actual movable range Check the set value of the parameter Within the movable range Set the parameter correctly Outside the movable range Check 2 2 Point table program with the position data in excess of the software limit at the forward rotation was executed 1 Check the set value of the point table program 2 Check the operation method Within the mova...

Page 243: ...E0 1 Excessive regenerative warning 1 Regenerative power exceeded 85 of the permissible regenerative power of the built in regenerative resistor or the regenerative option Call the status display or MR Configurator and check the regenerative load ratio 85 or more Reduce the frequency of positioning Increase the deceleration time constant Reduce the load Use the regenerative option if it is not use...

Page 244: ...l of the overload alarm 51 2 Execute the checking methods mentioned in the alarm display 51 1 Alarm No A E6 Name Servo forced stop warning The servo motor stops Warning contents The forced stop signal is turned OFF Detailed display Detailed Name Cause Checking method Result Action E6 1 Servo forced stop warning 1 Forced stop EM1 is turned OFF Check the forced stop EM1 OFF Ensure safety and turn ON...

Page 245: ... or less Raise the main circuit power supply voltage MR JN A Above 140VAC MR JN A1 Above 70VAC Check 4 4 Servo amplifier for 1 phase 200VAC input is used for 100VAC power supply circuit Check the model of servo amplifier The model of servo amplifier is MR JN A Replace the servo amplifier whose model is MR JN A1 The model of servo amplifier is MR JN A1 Check 5 5 Faulty servo amplifier for 1 phase 1...

Page 246: ... warning 2 The servo motor does not stop Warning contents Operation in which a current exceeding the rating flowed intensively in any of the U V and W phases of the servo motor was repeated Detailed display Detailed Name Cause Checking method Result Action EC 1 Overload warning 2 1 Current flowed intensively and continuously into a specific phase of the servo motor Check if the alarm occurs after ...

Page 247: ...ve warning 1 Effective load ratio exceeded 90 the alarm level of the overload alarm Measure the effective load ratio in the continuous operation by using the status display or MR Configurator The effective load is over the overload warning level Reduce the load F0 3 Vibration tough drive warning 1 The reconfiguration of machine resonance suppression filter 1 or machine resonance suppression filter...

Page 248: ... 6 5 The build in regenerative resistor lead is mounted only in MR JN 20A 1 2 6 mounting hole CNP1 CNP2 Mass 0 6 kg 1 32 lb U V W P C 24V 0V L2 Terminal assignment L1 CNP1 CNP2 Approx 40 Approx 130 120 0 5 Approx 5 Approx 5 5 2 M5 screw Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in ...

Page 249: ...prox 80 CNP1 CNP2 2 6 mounting hole Mass 0 7 kg 1 54 lb U V W P C 24V 0V L2 Terminal assignment L1 CNP1 CNP2 Approx 50 Approx 130 120 0 5 Approx 5 Approx 6 2 M5 screw Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in ...

Page 250: ...here D Connector Shell kit Each type of dimension A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D 5 2 F Connector Shell kit Each type of dimension A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 27 4 ...

Page 251: ...9 4 9 DIMENSIONS 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 252: ...closely mounting the servo amplifiers operate them at the ambient temperature of 0 to 45 32 to 113 or at 75 or smaller effective load ratio The servo motor overload protective function is built in MR JN series servo amplifiers 115 of the servo amplifier rated current is set as standard full load current Operation time s 1000 100 10 1 0 1 0 50 150 200 250 300 100 During operation During servo lock ...

Page 253: ...r improving reactor is not used 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative option refer to section 11 2 2 Heat dissipation area for enclosed servo amplifier The enclosed control box hereafter called the control box which will contain the servo amplifier should be designed to ensure that its temperature ...

Page 254: ...nside Air flow Fig 10 2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure effective heat exchange will be possible because the temperature slope inside and outside the enclosure will be steeper ...

Page 255: ...10 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 10 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 10 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant varies with the servo motor and machine operation speeds Refer to paragraph 2 in this section OFF ON Machine speed V0 te Dyna...

Page 256: ...0 25 HG KR series 10 3 2 The dynamic brake at the load inertia moment Use the dynamic brake under the load to motor inertia moment ratio indicated in the following table If the load to motor inertia moment is higher than this value the dynamic brake may burn If there is a possibility that the load to motor inertia moment may exceed the value contact your local sales office The values of the load t...

Page 257: ...imum permissible voltage main circuit power supply 253VAC control circuit power supply 26 4VDC is applied at the power supply capacity of 2500kVA and the wiring length of 1m Servo amplifier Inrush currents A0 P Main circuit power supply L1 L2 Control circuit power supply 24V 0V MR JN 10A1 20A1 55A Attenuated to approx 15A in 10ms 25A Attenuated to approx 0A in 4 to 6ms MR JN 10A to 40A 130A Attenu...

Page 258: ...ION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 11 1 Cable connector sets POINT The IP rating indicated for cables and connecters is for a cable or connector alone When the cables and connectors are used to connect the servo amplifier and servo motor and if the IP rating of the servo amplifier and servo motor are lower than that of the cable and c...

Page 259: ...on type cable length 10m or less IP65 Junction type cable length more than 10m IP20 4 1 CNP1 CN3 CNP2 CN1 CN2 2 Encoder connector Brake connector Power supply connector 7 8 9 10 11 12 17 18 13 14 15 16 To 24VDC power supply for electromagnetic brake 28 29 Junction type cable length more than 10m IP65 Servo motor HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 30 31 27 32 23 24 25 26 ...

Page 260: ...26 6000EL Shell kit 10326 3210 000 3M or equivalent For servo amplifier connector Connector 10126 6000EL Shell kit 10326 3210 000 3M or equivalent For junction terminal block connection 4 CN1 connector set MR J2CMP2 Connector 10126 3000PE Shell kit 10326 52F0 008 3M or equivalent 5 Junction terminal block MR TB26A Refer to section 11 3 6 USB cable MR J3USBCBL3M Cable length 3m For CN3 connector mi...

Page 261: ...length 0 3m Power supply connector HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Refer to section 11 1 3 for details IP55 Opposite to load side lead EN standard compliant 13 Motor brake cable MR BKS1CBL M A1 L Cable length 2 5 10m Brake connector HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Refer to section 11 1 4 for details IP65 Load side lead 14 Motor brake cable MR BKS1CBL M A1 H Cable length 2 5 1...

Page 262: ...CBL M A2 H Cable length 2 5 10m IP65 Opposite to load side lead Long flex life 23 Encoder cable MR J3JCBL03M A1 L Cable length 0 3m Encoder connector HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Refer to section 11 1 2 3 for details IP20 Load side lead 24 Encoder cable MR J3JCBL03M A2 L Cable length 0 3m Encoder connector HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Refer to section 11 1 2 3 for detai...

Page 263: ... for details IP65 Opposite to load side lead 30 Encoder cable MR J3ENSCBL M L Cable length 2 5 10 20 30m For HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Refer to section 11 1 2 4 for details IP67 Standard flex life 31 Encoder cable MR J3ENSCBL M H Cable length 2 5 10 20 30 40 50m IP67 Long flex life 32 Encoder connector set MR J3SCNS For HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Refer to section 1...

Page 264: ...G1 G5 G7 MR J3ENCBL M A2 L MR J3ENCBL M A2 H 2 1 Servo motor HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 MR J3ENCBL M A1 L MR J3ENCBL M A1 H or CN2 Cable model 1 For CN2 connector 2 For encoder connector MR J3ENCBL M A1 L Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact...

Page 265: ...0M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR J3JCBL03M A1 L or MR J3JCBL03M A2 L is required The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model The cables of the lengths with the symbols are available Cable model Cable length...

Page 266: ...0002 Toa Electric Industrial MR 1 2 3 MRR MD 4 5 6 MDR P5 7 8 9 LG SHD Note Signal layout View seen from wiring side CONT Note Keep open the pin shown with an or 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 Note Signal layout View seen from wiring side MDR MD 1 P5 3 MR 7 9 4 MRR 2 LG 8 6 10 5 Note Signal layout View seen from wiring side MDR MD Note Keep open the pins shown with Especially pin 10 is provided...

Page 267: ...e connector Encoder side connector 9 SD Plate 1 2 8 9 MR EKCBL20M H MR MRR SHD LG P5 Note P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 Servo amplifier side connector Encoder side connector MD 7 9 SD Plate 1 2 8 9 MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H MR MRR MDR MD SHD 6 CONT LG P5 Note Note When fabricating the cable this wiring is not necessary When fabricating the cable use the wiring diagram correspo...

Page 268: ...nnector Housing 1 172161 9 Connector pin 170359 1 TE Connectivity or equivalent Cable clamp MTI 0002 Toa Electric Industrial 3 MR J3JCBL03M A1 L MR J3JCBL03M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR EKCBL M L H is required Cable model Cable length IP rating Flex life Application MR J3JCBL03M A1 L 0 3m IP20 Standard HF...

Page 269: ... tool 91529 1 TE Connectivity MR 1 2 3 MRR MD 4 5 6 MDR P5 7 8 9 LG SHD Note Signal layout View seen from wiring side CONT Note Keep open the pins shown with Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity 9 SHD 7 MDR 5 MR 3 P5 1 8 MD 6 LG 4 MRR 2 View seen from wiring side Note Signal layout CONT Note Keep open the pins sh...

Page 270: ...e lengths corresponding to the specified symbols are prepared Cable model Cable length IP rating Flex life Application 2m 5m 10m 20m 30m 40m 50m MR J3ENSCBL M L 2 5 10 20 30 IP67 Standard HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Use in combination with MR J3JSCBL03M A1 L or MR J3JSCBL03M A2 L MR J3ENSCBL M H 2 5 10 20 30 40 50 IP67 Long flex life a Connection of servo amplifier and s...

Page 271: ...ut View seen from wiring side Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Referring to section 3 9 securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell MR J3ENSCBL M H b Internal wiring diagram MR J3ENSCBL2...

Page 272: ...ector Straight plug CM10 SP10S M D6 Socket contact CM10 22SC S1 D8 100 Applicable wire size AWG20 or less DDK 5 MR J3JSCBL03M A1 L MR J3JSCBL03M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR J3ENSCBL M L H is required Cable model Cable length IP rating Flex life Application MR J3JSCBL03M A1 L 0 3m IP65 Standard HF KN serie...

Page 273: ...able cable AWG 20 or less 1 MR 2 3 5 LG 4 7 6 10 9 8 P5 Note Signal layout SHD MRR CONT View seen from wiring side Note Keep open the pins shown with Connector 2174053 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 1 TE Connectivity 9 SHD 7 5 MR 3 P5 1 8 6 LG 4 MRR 2 View seen from wiring side Note Signal layout CONT Note Keep open the pins shown with MR J3J...

Page 274: ...0 IP65 Standard HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Load side lead MR PWS1CBL M A2 L 2 5 10 IP65 Standard HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Opposite to load side lead MR PWS1CBL M A1 H 2 5 10 IP65 Long flex life HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Load side lead MR PWS1CBL M A2 H 2 5 10 IP65 Long flex life HF KN series HF KP G1 G5 G7 HG KR...

Page 275: ...socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B Japan Aviation Electronics Industry U V W 1 2 3 4 View seen from wiring side Signal layout MR PWS1CBL M A2 L MR PWS1CBL M A1 H MR PWS1CBL M A2 H MR PWS2CBL03M A1 L Connector KN4FT04SJ2 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B Japan Aviation E...

Page 276: ...Standard HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Load side lead MR BKS1CBL M A2 L 2 5 10 IP65 Standard HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Opposite to load side lead MR BKS1CBL M A1 H 2 5 10 IP65 Long flex life HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 servo motor Load side lead MR BKS1CBL M A2 H 2 5 10 IP65 Long flex life HF KN series HF KP G1 G5 G7 HG KR G1 G5 ...

Page 277: ...or JN4FT02SJ1 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B Japan Aviation Electronics Industry B1 B2 1 2 View seen from wiring side Signal layout MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H MR BKS2CBL03M A1 L Connector JN4FT02SJ2 R Hood socket insulator Bushing ground nut Contact ST TMH S C1B 100 A534G Crimping tool CT170 14 TMH5B...

Page 278: ...an in depth selection of the regenerative option a Regenerative energy calculation Friction torque Unbalance torque TF TU M t1 t2 t3 Tpsa1 Tpsd1 Tpsa2 Tpsd2 t4 tf 1 cycle No Up Time Servo motor speed Generated torque 1 2 4 5 3 6 8 7 Driving Regenerative Down Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N٠m Energy J 1 T1 JL JM N0 9 55 x 10...

Page 279: ...ut 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J Es Ec Calculate the power consumption of the regenerative option on the basis of single cycle operation perio...

Page 280: ...ring to P and C remove the built in regenerative resistor from the servo amplifier and then connect the regenerative option to P and C G3 and G4 are thermal sensor output terminals G3 G4 is disconnected when the regenerative option overheats abnormally P C G4 G3 C P Regenerative option 5m or less Servo amplifier Note 2 Always remove wiring across P C of servo amplifier built in regenerative resist...

Page 281: ...te Screw size M3 Tightening torque 0 72 N m 5 Outline dimension drawings a MR RB12 Unit mm 5 144 Approx 20 169 168 156 6 12 6 36 6 mounting hole TE1 15 Approx 6 149 2 G3 G4 P C TE1 terminal block Tightening torque 0 5 to 0 6 N m Applicable wire size 0 2 to 2 5 mm2 Mounting screw Screw M5 Tightening torque 3 24 N m 28 7 lb in 4 to 5 lb in AWG24 to AWG12 Mass 1 1 kg 2 4 lb ...

Page 282: ... to use the junction terminal block Always use the junction terminal block MR TB26A with the junction terminal block cable MR TBNATBL M as a set Use the junction terminal block by mounting it onto the DIN rail MR TBNATBL M Cable length 05 0 5m 1 1m The terminal numbers described on the junction terminal block match the pin numbers of the servo amplifier s CN1 connector S in the terminal number mea...

Page 283: ... to 1 2mm Wire insulator outer diameter Wires with 3 4 mm or less Operation tools Equivalent to 210 619 manufactured by WAGO JAPAN Equivalent to 210 119SB manufactured by WAGO JAPAN Length of the removed coating 5 to 6 mm 3 Outline drawing Unit mm Approx 35 Approx 7 5 Approx 31 1 23 6 14 1 14 1 26 6 26 27 55 57 Note Note Note Note The measure in is applicable when a DIN 35mm rail is installed ...

Page 284: ...MR Configurator2 Version1 SW1DNC MRC2 _ INSTALLATION GUIDE IB NA 0300163ENG For specifications of the engineering software and system configuration please refer to each installation guide 1 How to update parameter setting range When expanding the setting range of the parameter is required please update the parameter setting range as follows a MR Configurator Connect to MR JN A and check Reading se...

Page 285: ...r socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electricity due to connection with a per...

Page 286: ...rds use a wire that is complied with each standard Selection condition of wire size is as follows Construction condition One wire is constructed in the air Wire length 30m or less 1 Wires for power supply wiring The following diagram shows the wires used for wiring Use the wires given in this section or equivalent Servo amplifier U V W Servo motor Power supply U V W L1 L2 Electro magnetic brake En...

Page 287: ... rated current among combining servo motors b When using the 600V Grade heat resistant polyvinyl chloride insulated wire HIV wire Selection example of wire size when using HIV wires is indicated below Table 11 2 Wire size selection example 2 HIV wire Servo amplifier Wires mm2 Note 1 1 L1 L2 2 24V 0V 3 U V W 4 P C 5 B1 B2 MR JN 10A 1 2 AWG14 Note 2 2 AWG14 Note 2 2 AWG14 Note 2 2 AWG14 1 25 AWG16 M...

Page 288: ...less 1 2 8 2 UL 20276 AWG 23 6pair BLACK MR EKCBL M H 20 0 2mm2 12 6 pairs 40 0 08 105 or less 0 88 7 2 Note 3 A14B2343 6P 30 to 50 0 2mm2 14 7 pairs 40 0 08 105 or less 0 88 8 0 Note 3 J14B0238 0 2 7P MR J3JSCBL03M A1 L 0 3 AWG26 8 4 pairs 7 0 16 146 or less 1 0 7 1 0 3 Note 3 VSVP 7 0 16 AWG 26 or equivalent 4P Ban gi shi 16822 MR J3JSCBL03M A2 L MR J3ENSCBL M L 2 to 10 AWG22 6 3 pairs 7 0 26 53...

Page 289: ...d at the wiring length of 10m 7 This model is for a single wire The color must be specified separately 11 6 Molded case circuit breakers fuses magnetic contactors Always use one molded case circuit breaker and one magnetic contactor with one servo amplifier When using a fuse instead of the molded case circuit breaker use the one having the specifications given in this section Servo amplifier Molde...

Page 290: ...MAX D MAX W Note3 D1 2 D2 0 Y Z S T MC MCCB FR HAL Servo amplifier MR JN A 1 X R S T L1 L2 1 phase 200 to 230VAC or 1 phase 100 to 120VAC Servo amplifier Power factor improving AC reactor FR HAL Dimensions mm Terminal screw size Crimping terminal Mass kg lb W W1 H D Note 2 D1 D2 d MR JN 10A 20A 10A1 FR HAL 0 75K 104 84 99 74 56 44 M5 M4 2 4 0 8 1 76 MR JN 40A 20A1 FR HAL 1 5K 104 84 99 77 61 50 M5...

Page 291: ...y relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge absorber is bu...

Page 292: ...r bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power li...

Page 293: ...ommended The recommended surge killer for installation to an AC relay AC valve or the like near the servo amplifier is shown below Use this product or equivalent MC SK MC OFF ON Relay Surge killer Surge killer This distance should be short within 20cm Ex CR 50500 OKAYA Electric Industries Co Ltd Rated voltage AC V C F 20 R 30 Test voltage AC V Outline drawing Unit mm 6 1 300 or more 300 or more So...

Page 294: ...he earth plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the earth plate Cable clamp A B Cable Earth plate External conductor 40 cutter cable Strip the cable sheath of the clamped area Clamp section diagram Outline drawing installation hole Earth plate Cable clamp Note M4 screw 11 3 6 C A 6 22 17 5 35 35 2 5 hole L or less 10 30 B 0 3 7...

Page 295: ... increases but generally four passes would be appropriate For the motor power supply passes must be four times or less Do not pass the grounding earth wire through the filter or the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required...

Page 296: ...entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Power supply voltage Varistor Maximum rating Maximum limit voltage Static capacity reference ...

Page 297: ...e Ig1 Iga Ig2 Igm M Servo amplifier NV Earth leakage current breaker K Type Mitsubishi Electric products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 1 Ig2 Leakage current o...

Page 298: ... an example of selecting an earth leakage current breaker under the following conditions Servo amplifier MR JN 40A Servo motor HF KN43 2mm2 5m M NV Ig1 Iga Ig2 Igm 2mm2 5m Use an earth leakage current breaker designed for suppressing harmonics surges Find the terms of Equation 11 1 from the diagram Ig1 20 5 1000 0 1 mA Ig2 20 5 1000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values i...

Page 299: ...commended filter Soshin Electric Mass kg lb Model Rated current A Rated voltage VAC Leakage current mA MR JN 10A 1 Note HF3010A UN MR JN 20A 1 10 Max 250 5 3 5 7 72 MR JN 40A Note A surge protector is separately required to use any of these EMC filters Refer to section 11 13 2 Connection example MCCB L1 L2 Servo amplifier 1 2 3 4 5 6 E Note 2 Surge protector 1 RAV 781BYZ 2 OKAYA Electric Industrie...

Page 300: ...and sparking applied on AC power line connecting the following surge protectors to the main circuit power L1 L2 is recommended 1 Specifications Surge protector model Circuit voltage 50 60Hz Maximum permissible circuit voltage Clamp voltage Surge immunity 8 20μs Surge compression 1 2 50μs Static capacity Operating temperature RAV 781BYZ 2 3AC 250V 300V 783V 10 2500A 20kV 75pF 20 to 70 RAV 781BXZ 4 ...

Page 301: ...Outline drawing RAV 781BYZ 2 4 5 0 5 1 3 2 41 1 0 28 5 1 0 28 1 0 4 2 0 2 200 UL 1015AWG16 5 5 1 11 1 30 0 Unit mm Black 1 2 3 Black Black RAV 781BXZ 4 1 3 2 UL 1015AWG16 4 2 0 2 5 5 1 11 1 28 5 1 0 41 1 0 28 1 0 4 5 0 5 200 30 0 Unit mm 1 2 3 4 ...

Page 302: ... in parameter No PE02 1 Specifications Item Specifications Power Voltage 4 5VDC to 13 2VDC Current consumption 60mA or lower Interface Output current max 20mA for open collector output Pulse signal form A phase B phase 2 signals of 90 phase difference Pulse resolution 100 pulse rev Max speed 600r min moment 200r min normally Operating temperature range 10 to 60 14 to 140 Storage temperature range ...

Page 303: ...11 46 11 OPTIONS AND PERIPHERAL EQUIPMENT MEMO ...

Page 304: ... in a serial number on the rating plate The year and month are indicated by the last two digits of the year and one digit of the month 1 to 9 X 10 Y 11 and Z 12 For January 2012 the Serial No is like SER _ _ _ _ _ _ _ _ _ 121 2 Products approved by Certification Bodies are marked The marks depends on the Certification Bodies 12 1 2 Parts identification Refer to section 11 1 for details of the cabl...

Page 305: ... supply exclusively used for the electromagnetic brake The electromagnetic brake terminals B1 B2 do not have polarity Electromagnetic brake Switch VAR B1 U B 24VDC power supply for electromagnetic brake B2 Electromagnetic brake Switch VAR B1 U B 24VDC power supply for electromagnetic brake B2 or A surge absorber VAR must be installed between B1 and B2 Refer to 3 in this section for the selection m...

Page 306: ...esired suppressed voltage Vs V If Vi is not smaller than Vs reselect a varistor or improve the withstand voltage of devices 5 Surge current width Given that the varistor absorbs all energies the surge current width is as follows E Vi Ib s 6 Inspection of surge life of varistor From the varistor characteristic diagram calculate the guaranteed current value Ip in which the number of the surge applic...

Page 307: ...milar accidents attributable to a loose key use a friction coupling etc when coupling the shaft with a machine The shaft shape of the standard servo motor varies depending on the capacity Refer to sections 12 5 4 and 12 6 4 The keyway shaft with single pointed key is available only with the HF KP G7 HG KR G7 servo motor Shaft section view Shaft section view Keyway shaft with key Keyway shaft witho...

Page 308: ...e when checking the vibration level A great vibration may cause the early damage of a bearing encoder brake and reduction gear The great vibration may also cause the poor connector connection or bolt looseness For the gain adjustment at the equipment startup check the torque waveform and the speed waveform by using a measurement device and then check that no vibration occurs If the vibration occur...

Page 309: ... it vertically or obliquely provide a cable trap for the cable Cable trap 2 Servo motor with an electromagnetic brake The servo motor with an electromagnetic brake can also be installed in the same direction as the standard servo motor When the servo motor with an electromagnetic brake is installed with the shaft upward the brake plate may generate a sliding sound but it is not a fault 3 Servo mot...

Page 310: ...in Pulley Servo motor Double end stud Nut Washer 2 For the shaft without a keyway use a friction coupling or the like 3 When removing the pulley use a pulley remover to protect the shaft from hard load or impact 4 To ensure safety fit a protective cover or the like on the rotating part such as the pulley mounted to the shaft 5 When a threaded shaft end part is needed to mount a pulley on the shaft...

Page 311: ...ing life and damage the shaft 4 The load indicated in this section is static load in a single direction and does not include eccentric load Make eccentric load as small as possible Not doing so may damage the servo motor 12 2 4 Protection from oil and water Provide adequate protection to prevent foreign matter such as oil from entering the servo motor shaft When installing the servo motor consider...

Page 312: ...r 15 minutes or longer and then make sure that the charge lamp is off to prevent an electric shock In addition always confirm if the charge lamp is off or not from the front of the servo amplifier Due to a risk of an electric shock only qualified personnel should attempt inspection For repair and parts replacement contact your local sales office POINT Do not disassemble and or repair the equipment...

Page 313: ...anged Encoder 20 000 to 30 000 hours When the servo motor is operated at the rated speed under the rated load replace the bearings in 20 000 to 30 000 hours as a guideline However this service life varies depending on the operating conditions The bearings must be replaced if unusual noise or vibration is found during inspection 12 2 8 Machine accuracies The following table indicates the machine ac...

Page 314: ...ds on the lowest of all 12 3 1 Selection of connectors Use the connector configuration products given in the table as the connectors for connection with the servo motor Refer to section 12 3 2 for the compatible connector configuration products HF KN series HF KP G1 G5 G7 HG KR G1 G5 G7 Encoder connector Brake connector Power supply connector Servo motor Wiring connector For encoder For power supp...

Page 315: ...1 TE Connectivity 1674339 1 TE Connectivity Connector configuration Configuration product Servo motor power supply connector Connector IP rating IP65 Crimping tool B Connector KN4FT04SJ1 R Hood socket insulator bushing ground nut Contact ST TMH S C1B 100 A534G JAE CT170 14 TMH5B JAE JN4AT04NJ1 JAE Connector configuration Configuration product Servo motor brake connector Connector IP rating IP65 Cr...

Page 316: ...74053 1 Unit mm 19 6 13 5 6 5 24 6 22 19 31 1 Note 13 6 Note The recommended screw tightening torque is 0 1 N m Crimping tool 1596970 1 for ground clip 1596847 1 for receptacle contact 2 JAE JN4FT02SJ1 R Unit mm 26 6 17 12 3 19 14 3 φ11 6 11 8 2 5 Note Note The recommended screw tightening torque is 0 2 N m Crimping tool CT170 14 TMH5B ...

Page 317: ...OR KN4FT04SJ1 R Unit mm 16 0 3 11 7 0 2 Approx 29 18 5 0 3 24 5 0 3 20 1 0 2 7 3 5 0 2 12 2 0 3 13 7 0 3 11 0 3 13 0 3 Main key Note R6 Note The recommended screw tightening torque is 0 2 N m Crimping tool CT170 14 TMH5B ...

Page 318: ...addition to this section 12 5 1 Model definition The following describes what each block of a model name indicates Note that not all the combinations of the symbols exist H F K N 3 Appearance Shaft type Symbol Shaft shape None Standard Straight shaft K With keyway With key D D cut shaft 053 to 43 HF KN 23 43 053 13 Rated speed 3000 r min None None Electromagnetic brake Symbol Electromagnetic brake...

Page 319: ...or 1 rotation 131072pulses rev Accessory Insulation class Class B Structure Totally enclosed self cooled IP rating IP65 Note 4 Environmental conditions Note 5 Ambient temperature In operation 0 to 40 32 to 104 non freezing In storage 15 to 70 5 to 158 non freezing Ambient humidity In operation 10 RH to 80 RH non condensing In storage 10 RH to 90 RH non condensing Ambience Indoors no direct sunligh...

Page 320: ... L Distance from flange mounting surface to load center 2 Torque characteristics POINT For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be kept at 70 or less of the rated torque When the input power supply specifications of the servo amplifier are 1 phase 230VAC the torque characteristics are indicated by heavy lines Part ...

Page 321: ...sible braking work Per braking J 5 6 22 Per hour J 56 220 Brake looseness at servo motor shaft Note 5 degrees 2 5 1 2 Brake life Note 3 Number of braking cycles times 20000 20000 Work per braking J 5 6 22 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125V TND20V 680KB For the suppressed voltage 350V TND10V 221KB Note 1 There is no manual release mechanism Use ...

Page 322: ...e K and D are the symbols attached to the servo motor model names Servo motor Shaft shape Keyway shaft with key D cut shaft HF KN053 13 D HF KN23 43 K 1 Keyway shaft with key Q A A QK R T W U S QL Y Section A A Unit mm Servo motor Variable dimensions S R Q W QK QL U T Y HF KN23K 43K 14h6 30 27 5 20 3 3 5 M4 Depth 15 2 D cut shaft Unit mm 25 21 5 20 5 1 8h6 ...

Page 323: ...htening order 1 2 1 2 For power supply and encoder connectors For brake connector 2 Tighten the screws evenly Tightening torques are as indicated below For brake connector Screw size M2 Tightening torque 0 2 N m For power supply connector Screw size M2 Tightening torque 0 2 N m For encoder connector Screw size M2 Tightening torque 0 1 N m 3 The servo motor fitting part of each connector is provide...

Page 324: ...tor shaft 1 Standard without an electromagnetic brake Model Output W Inertia moment J 10 4 kg m2 WK2 oz in2 Mass kg lb HF KN053 50 0 052 0 284 0 4 0 882 Unit mm 40 45 2 4 5 mounting hole Use the hexagon socket head cap screw 37 1 6 4 27 5 46 25 2 5 27 4 4 9 9 9 11 7 8h6 30h7 Bottom Top 11 7 13 9 3 4 1 2 20 7 20 5 Caution plate 21 13 7 21 5 20 7 36 7 19 2 10 1 21 5 9 25 4 72 Encoder connector Power...

Page 325: ... 2 3 4 Signal name Earth U V W Power supply connector pin configurations Opposite to load side Bottom Top Top Bottom 4 2 3 1 Model Output W Inertia moment J 10 4 kg m2 WK2 oz in2 Mass kg lb HF KN23 200 0 24 1 31 1 0 2 21 Unit mm 1 2 3 4 Motor plate 9 7 Caution plate Bottom Top Encoder connector Power supply connector 88 2 30 7 3 40 11 7 11 8 10 1 19 2 9 5 Power supply connector Encoder connector 5...

Page 326: ... an electromagnetic brake Model Output W Brake static friction torque N m Inertia moment J 10 4 kg m2 WK2 oz in2 Mass kg lb HF KN053B 50 0 32 0 054 0 295 0 6 1 32 Unit mm 40 45 2 4 5 mounting hole Use the hexagon socket head cap screw 37 1 6 4 27 5 46 25 2 5 27 4 4 9 Motor plate 9 9 11 7 8h6 30h7 Bottom Top 11 7 13 9 3 4 1 2 20 7 20 5 Caution plate 21 13 7 21 5 20 7 36 7 19 2 10 1 21 5 9 25 4 108 ...

Page 327: ...9 3 4 1 2 20 7 20 5 Caution plate 21 13 7 21 5 20 7 36 7 19 2 10 1 21 5 9 40 4 123 9 Encoder connector Power supply connector 19 2 11 7 11 7 9 9 21 5 5 Encoder connector Power supply connector 2 1 58 8 18 4 13 Brake connector 58 8 18 4 Brake connector Caution plate Motor plate Opposite side 38 8 Caution plate Power supply connector pin configurations Opposite to load side Bottom Top Top Bottom Bra...

Page 328: ... 5 Power supply connector Encoder connector 50h7 14h6 60 45 70 47 1 27 8 13 9 5 9 47 1 28 4 13 7 10 9 5 11 8 11 7 21 5 Motor plate Opposite side Caution plate 4 5 8 mounting hole Use the hexagon socket head cap screw Caution plate 13 5 Brake connector 1 2 Brake connector 57 8 18 3 57 8 21 5 BC36756B Pin No 1 2 Signal name B1 B2 Pin No 1 2 3 4 Signal name Earth U V W Power supply connector pin conf...

Page 329: ...te Opposite side Caution plate 4 5 8 mounting hole Use the hexagon socket head cap screw Caution plate 13 5 57 8 Brake connector 1 2 Brake connector 57 8 18 3 21 5 Power supply connector pin configurations Bottom Top Top Bottom Opposite to load side Brake connector pin configurations BC36757B Pin No 1 2 Signal name B1 B2 Pin No 1 2 3 4 Signal name Earth U V W 1 2 3 4 2 1 12 5 7 USA Canada complian...

Page 330: ...to 12 4 in addition to this section 12 6 1 Model definition The following describes what each block of a model name indicates Note that not all the combinations of the symbols exist Shaft type Symbol Shaft shape None Standard Straight shaft K With keyway With key Reduction gear Symbol G1 For general industrial machine Flange mounting flange output type for precision application Flange mounting sha...

Page 331: ... bit encoder Resolution per servo motor 1 rotation 262144pulses rev Accessory Insulation class Class B Structure Totally enclosed self cooled IP rating IP44 Note 4 Environmental conditions Note 5 Ambient temperature In operation 0 to 40 32 to 104 non freezing In storage 15 to 70 5 to 158 non freezing Ambient humidity In operation 10 RH to 80 RH non condensing In storage 10 RH to 90 RH non condensi...

Page 332: ...ch as a vertical axis system the unbalanced torque of the machine should be kept at 70 or less of the rated torque The torque characteristics shown in the following graph are for the servo motor itself When the input power supply specifications of the servo amplifier are 1 phase 230VAC the torque characteristics are indicated by heavy lines Part of the torque characteristics are indicated by broke...

Page 333: ...03 0 03 Braking delay time Note 2 s DC off 0 01 0 02 Permissible braking work Per braking J 5 6 22 Per hour J 56 220 Brake looseness at servo motor shaft Note 5 degrees 2 5 1 2 Brake life Note 3 Number of braking cycles times 20000 20000 Work per braking J 5 6 22 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125V TND20V 680KB For the suppressed voltage 350V TN...

Page 334: ...and precision applications compliant Servo motors with an electromagnetic brake are also available 1 For general industrial machines compliant G1 a Manufacturing range The following table indicates the reduction ratios and actual reduction ratios of the servo motors with a reduction gear for general industrial machines compliant The servo motors with a reduction gear of the following reduction rat...

Page 335: ...vailable Backlash 60 minutes or less at reduction gear output shaft Permissible load to motor inertia moment ratio converting into the servo motor shaft Note 2 For 50W 100W 5 times or less For 200W 400W 7 times or less Reduction gear efficiency Note 3 45 to 75 Note 1 Already packed with the grease 2 If the above indicated value is exceeded please contact your local sales office 3 The reduction gea...

Page 336: ...load Note Permissible radial load Permissible thrust load N Ib N Ib 1 5 150 33 7 200 45 0 HF KP053G1 1 12 240 54 0 320 71 9 1 20 370 83 2 450 101 1 5 150 33 7 200 45 0 HF KP13G1 1 12 240 54 0 320 71 9 1 20 370 83 2 450 101 1 5 330 74 2 350 78 7 HF KP23G1 1 12 710 160 720 162 1 20 780 175 780 175 1 5 330 74 2 350 78 7 HF KP43G1 1 12 710 160 720 162 1 20 760 171 760 171 Note Do not subject the shaft...

Page 337: ...ked Note 1 Packed with Harmonic grease SK 2 Harmonic Drive Systems Output shaft rotating direction Same as the servo motor output shaft direction With an electromagnetic brake Available Backlash 3 minutes or less at reduction gear output shaft Permissible load to motor inertia moment ratio converting into the servo motor shaft Note 2 For 50W 100W 10 times or less For 200W 400W 14 times or less Red...

Page 338: ...e thrust load N Ib N Ib 1 5 23 177 39 8 706 159 HF KP053G5 HF KP053G7 1 11 23 224 50 4 895 201 1 21 23 272 61 1 1087 224 1 33 23 311 69 9 1244 280 1 45 23 342 76 9 1366 307 1 5 23 177 39 8 706 159 HF KP13G5 HF KP13G7 1 11 23 224 50 4 895 201 1 21 23 272 61 1 1087 224 1 33 32 733 165 2581 570 1 45 32 804 181 2833 637 1 5 23 177 39 8 706 159 HF KP23G5 HF KP23G7 1 11 23 224 50 4 895 201 1 21 32 640 1...

Page 339: ...6 4 M6 Depth 12 32A 82 40h7 12 8 70 5 M10 Depth 20 U Q QK W T S Y 12 6 5 Connector installation If the connector is not fixed securely it may come off or may not produce a splash proof effect during operation To achieve the IP rating of IP65 pay attention to the following points and install the connectors 1 When screwing the connector hold the connector still and gradually tighten the screws in a ...

Page 340: ...r Screw size M2 Tightening torque 0 2 N m For encoder connector Screw size M2 Tightening torque 0 1 N m 3 The servo motor fitting part of each connector is provided with a splash proof seal O ring When installing the connector take care to prevent the seal O ring from dropping and being pinched If the seal O ring has dropped or is pinched a splash proof effect is not produced ...

Page 341: ...s manual and sections 12 1 to 12 4 in addition to this chapter 12 7 1 Model definition The following describes model designation Not all combinations of the symbols are available Appearance Shaft type Symbol Shaft shape None Standard Straight shaft K Key shaft With key Rated speed 3000 r min None None Electromagnetic brake Symbol Electromagnetic brake B With 05 0 05 Rated output Symbol Rated outpu...

Page 342: ...rtia J Standard 10 4 kg m2 Refer to section 6 8 3 to 6 8 8 of the Servo Motor Instruction Manual Vol 3 With an electromagnetic brake 10 4 kg m2 Recommended load to motor inertia ratio Note 2 Refer to section 12 7 4 Speed position detector Incremental 18 bit encoder system resolution per servo motor revolution 262144 pulses rev Insulation class 130 B Structure Totally enclosed natural cooling IP ra...

Page 343: ... your local sales office 6 The servo motor alone The following figure shows the vibration directions The value is the one at the part that indicates the maximum value normally the opposite to load side bracket When the servo motor stops fretting is likely to occur at the bearing Therefore suppress the vibration to about half of the permissible value Note that this does not apply to the geared serv...

Page 344: ...ics is indicated by a broken line and for 1 phase 200 V AC part of the torque characteristics is indicated by a continuous line HG KR053G1 G5 G7 0 1 0 2 0 3 0 4 0 5 0 6 0 1000 2000 3000 4000 4500 Speed r min 0 Continuous running range Torque N m Short duration running range HG KR13G1 G5 G7 0 2 0 4 0 6 0 8 1 2 1 1000 2000 3000 4000 4500 0 0 Speed r min Torque N m Continuous running range Short dura...

Page 345: ...0 03 Braking delay time Note 2 s DC off 0 01 0 02 Permissible braking work Per braking J 5 6 22 Per hour J 56 220 Brake looseness at servo motor shaft Note 5 degree 2 5 1 2 Brake life Note 3 Number of braking cycles times 20000 Work per braking J 5 6 22 Selection example of surge absorbers to be used Note 7 8 For the suppressed voltage 125V TND20V 680KB For the suppressed voltage 350V TND10V 221KB...

Page 346: ...e as the servo motor output shaft direction Backlash Note 3 60 minutes or less at gear reducer output shaft Permissible load to motor inertia ratio converted into the servo motor shaft Note 1 50W 100W 5 times or less 200W 400W 7 times or less Gear reducer efficiency Note 2 40 to 85 Note 1 If the above indicated value is exceeded please contact your local sales office 2 The gear reducer efficiency ...

Page 347: ...330 350 HG KR43 B G1 1 12 710 720 1 20 760 760 Note Do not subject the shaft to load greater than the value The value in the table assumes that the load is applied independently 2 For high precision application a Reduction ratio The symbols 11B 14A 20A and 32A in the following table indicate the model number of the gear reducer assembled to the servo motors Geared servo motors having the indicated...

Page 348: ...please contact your local sales office 2 The gear reducer efficiency differs depending on the reduction ratio Also the gear reducer efficiency changes depending on the operating conditions such as the output torque speed and rotation temperature etc The numerical value in the table is a typical value in the rated torque rated speed and rotation and typical temperature and not a guaranteed value 3 ...

Page 349: ...20A 32 733 2581 1 45 32 804 2833 1 5 14A 23 177 706 HG KR43 B G5 HG KR43 B G7 1 11 20A 32 527 1856 1 21 32 640 2254 1 33 32A 57 1252 4992 1 45 57 1374 5478 Note Do not subject the shaft to load greater than the value The value in the table assumes that the load is applied independently d Special shaft servo motors Servo motors with special shafts having keyway with single pointed keys are availabl...

Page 350: ... 2 Connector for power connector for encoder Connector for electromagnetic brake 2 Tighten the screws evenly Tightening torques are as indicated below Connector for electromagnetic brake Screw size M2 Tightening torque 0 2 N m Connector for power supply Screw size M2 Tightening torque 0 2 N m Connector for encoder Screw size M2 Tightening torque 0 1 N m 3 The servo motor fitting part of each conne...

Page 351: ...12 48 12 SERVO MOTOR MEMO ...

Page 352: ...tion Section 13 6 7 Dog type rear end reference Section 13 6 8 Count type front end reference Section 13 6 9 Dog cradle type Section 13 6 10 Note MD0 Automatic manual selection DI0 to DI2 Point table No Program No selection 1 to 3 2 Program method Selection item of operation mode Operation mode Parameter No PA01 setting Input device setting Note 1 Refer to MD0 DI0 to DI2 Automatic operation mode f...

Page 353: ... direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 200mA current for interfaces from the outside 200mA is the value applicable when all I O signals are used The current capacity can be decreased by reduci...

Page 354: ...DE SET AUTO CN3 CNP2 CNP1 CN1 CN2 The frames of the CN1 connectors are connected to the PE earth terminal in the amplifier CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 MD0 4 SON 6 ST1 5 DI0 19 LZ 18 LBR 20 LZR 21 OP 7 ST2 8 EM1 10 Note MEND 9 ALM 23 DI1 22 PG 24 NG 25 DOG 11 RD 12 MBR 26 13 DOCOM 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 CN2 MDR MD The 3M make connector is shown When using any other conne...

Page 355: ...e reset DI 1 Proximity dog DOG CN1 25 When DOG is turned OFF the proximity dog is detected The polarity of dog detection can be changed using parameter No PE03 DI 1 Parameter No PE03 Proximity dog DOG detection polarity 0 initial value OFF 1 ON Forward rotation stroke end LSP To start operation turn LSP LSN on Turn it off to bring the motor to a sudden stop and make it servo locked DI 1 Note Devic...

Page 356: ...al torque limit selection TL1 The internal torque limit 2 parameter No PC14 becomes valid by turning TL1 on The forward torque limit parameter No PA11 and the reverse torque limit parameter No PA12 are always valid The smallest torque limit among the valid forward and reverse torque limits is the actual torque limit value DI 1 Note Input device Comparison between limit values Valid torque limit va...

Page 357: ...emental value command system Turning ST1 ON for automatic operation executes positioning once in the forward rotation direction on the basis of the position data set to the point table Turning ST1 ON for a home position return immediately starts a home position return Keeping ST1 ON for JOG operation performs rotation in the forward rotation direction Forward rotation indicates the address increas...

Page 358: ...ive circuit is activated to shut off the base circuit When there is no alarm ALM turns on approximately 1s after power on DO 1 Ready RD CN1 11 RD turns on when the servo motor is ready for the operation after turning on the servo on SON DO 1 In position INP CN1 10 INP turns on when the number of droop pulses is in the preset in position range The in position range can be changed using parameter No...

Page 359: ... PC10 20r min Hysteresis width OFF level 70r min ON level 50r min ON level 50r min OFF level 70r min Reverse rotation direction 0r min Parameter No PC10 Zero speed ZSP 3 4 1 2 ZSP turns on 1 when the servo motor is decelerated to 50r min and ZSP turns off 2 when the servo motor is accelerated to 70r min again ZSP turns on 3 when the servo motor is decelerated again to 50r min and turns off 4 when ...

Page 360: ...ription PT2 PT1 PT0 Point table No output 2 PT1 0 0 1 Point table No 1 DO 1 0 1 0 Point table No 2 0 1 1 Point table No 3 1 0 0 Point table No 4 Point table No output 3 PT2 1 0 1 Point table No 5 DO 1 1 1 0 Point table No 6 1 1 1 Point table No 7 Program output 1 OUT1 OUT1 turns on when the OUTON 1 command in the program is given OUT1 turns off when the OUTOF command is given By setting parameter ...

Page 361: ... pulse Differential line driver LZ LZR CN1 19 CN1 20 The same signal as OP is output in the differential line driver type DO 2 4 Power supply Signal Symbol Connector pin No Functions Applications I O division Positioning mode CP CL Digital I F power supply input DICOM CN1 1 Used to input 24VDC 24VDC 10 200mA for I O interface The power supply capacity changes depending on the number of I O interfa...

Page 362: ...he delay time of the servo amplifier s internal processing is max 3ms The delay time of other devices is max 10ms 6ms or more Forward rotation start ST1 or reverse rotation start ST2 Temporary stop restart TSTP 3ms or less 10ms or less 3ms or less Servo motor speed Forward rotation 0r min c When a programmable controller is used the ON time of a forward rotation start ST1 a reverse rotation start ...

Page 363: ...ion command generated in the servo amplifier and the travel completion MEND This timing can be changed using parameter No PA10 in position range MEND turns ON in the servo on status MEND does not turn ON during automatic operation 3ms or less ON OFF ON OFF Forward rotation start ST1 or reverse rotation start ST2 Position command and servo motor speed Travel completion MEND In position range Servo ...

Page 364: ...N in the servo on status CPO does not turn ON during automatic operation 3ms or less ON OFF ON OFF Forward rotation start ST1 or reverse rotation start ST2 Position command Rough match CPO 0r min Forward rotation When parameter No PE12 is set to 0 ON OFF ON OFF Rough match output range 0r min 3ms or less Forward rotation start ST1 or reverse rotation start ST2 Position command Rough match CPO Forw...

Page 365: ...s or less ON OFF ON OFF Servo motor speed In position INP In position range 0r min Forward rotation start ST1 or reverse rotation start ST2 Forward rotation When positioning operation is performed once ON OFF ON OFF Forward rotation Reverse rotation 0r min 3ms or less Servo motor speed In position INP In position range Forward rotation start ST1 or reverse rotation start ST2 When servo motor rever...

Page 366: ...rward rotation start ST1 or reverse rotation start ST2 2 Automatic operation types With this servo the following automatic operations are available Automatic operation using point table Refer to section 13 3 2 One positioning operation Automatic continuous operation Varied speed operation Automatic continuous positioning operation There are two types of command systems the absolute value command s...

Page 367: ...ystem a Absolute value command system As position data set the target address to be reached Setting range 999999 to 999999 10STM μm STM feed length multiplication parameter No PE02 Position data setting range 10STM m 999999 999999 b Incremental value command system As position data set the travel distance from the current address to the target address Setting range 0 to 999999 10STM μm STM feed le...

Page 368: ...peed of the servo motor Acceleration time constant 0 to 20000 ms Set the time until the servo motor reaches to the rated speed Deceleration time constant 0 to 20000 ms Set the time until the servo motor stops from the rated speed Dwell 0 to 20000 ms When dwell is set and the set dwell has passed after the position command of the selected point table is completed the position command of the next po...

Page 369: ...et the feed length multiplication STM of position data in parameter No PE02 Feeding function selection Parameter No PE02 setting Feed unit μm Position data input range mm 0 1 999 999 to 999 999 1 10 9999 99 to 9999 99 2 100 99999 9 to 99999 9 3 1000 999999 to 999999 3 Operation Choosing the point table using DI0 to DI2 and turning ST1 ON starts positioning to the position data at the preset speed ...

Page 370: ... of positioning The setting should be equal to or less than the instantaneous permissible speed of the servo motor Acceleration time constant 0 to 20000 ms Set the time until the servo motor reaches to the rated speed Deceleration time constant 0 to 20000 ms Set the time until stops from the rated speed Dwell 0 to 20000 ms When dwell is set and the set dwell has passed after the position command o...

Page 371: ...rse rotation start ST2 is turns ON Parameter No PA14 setting Servo motor rotation direction Forward rotation start ST1 ON Reverse rotation start ST2 ON 0 CCW rotation address incremented CW rotation address decremented 1 CW rotation address incremented CCW rotation address decremented Parameter No PA14 0 Parameter No PA14 1 CW ST2 ON CW ST1 ON ST2 ON CCW ST1 ON CCW Set the feed length multiplicati...

Page 372: ...chart The timing chart is shown below 6ms or more Note 2 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Servo on SON Ready RD Trouble ALM Automatic manual selection MD0 In position INP Rough match CPO Servo motor speed Forward rotation Reverse rotation 0r min Point table No 2 1 ON OFF Note 3 Travel completion MEND Point table No output PT0 to PT2 3ms or less Point table No 1 Point table No 2 1 2 6ms or...

Page 373: ...1 3 1 or more 1 3 2 In incremental value command system Automatic continuous operation Varied speed operation Automatic continuous positioning operation Point table setting Dwell Auxiliary function 0 1 1 or more 1 b Varied speed operation When 1 or 3 is set to the auxiliary function in the point tables up to No 6 varied speed operation can be performed at a maximum of 7 speeds Set 0 to the auxilia...

Page 374: ... Acceleration time constant ms Deceleration time constant ms Note 1 Dwell ms Auxiliary function 1 5 00 3000 100 150 0 1 2 3 00 2000 Invalid Invalid 0 3 3 10 00 1000 Invalid Invalid 0 1 4 6 00 500 Invalid Invalid 0 2 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function in the last point table among the consecutive point tables 0 When point table is used in absolute value command...

Page 375: ...valid Invalid 0 3 3 8 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function in the last point table among the consecutive point tables 0 When point table is used in absolute value command system 2 When point table is used in incremental value command system Deceleration time constant in the point table No 1 150 Servo motor speed Position address Selec...

Page 376: ...6 00 2000 Invalid Invalid 0 1 3 3 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 to the auxiliary function in the last point table among the consecutive point tables Deceleration time constant in the point table No 1 150 Servo motor speed Position address Selected point table No Forward rotation start ST1 Note ON OFF 5 00 11 00 14 00 Speed 3000 Speed 2000 Speed 1000 1 Accele...

Page 377: ...y function in the last point table among the consecutive point tables 0 When point table is used in absolute value command system 2 When point table is used in incremental value command system Point table No 1 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 6ms or more Servo on SON Ready RD Trouble ALM Automatic manual selection MD0 In position INP Rough match CPO Point table No Servo motor speed Forwar...

Page 378: ...ring JOG operation a When the servo motor is rotating ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Deceleration time constant in the point table No n No n Remaining distance Forward rotation start ST1 or reverse rotation start ST2 Point table Temporary stop restart TSTP Temporary stop PUS Rough match CPO In position INP Travel completion MEND Point table No output PT0 to PT2 0r min Servo motor speed ...

Page 379: ...t ST1 This servo amplifier is factory set to the absolute value command system As the position data the absolute move command MOV command used to specify the target address or the incremental move command MOVI command used to specify the travel distance can be set Note that the movable range is 999999 to 999999 10STM μm Positioning is enabled within this range Setting range 999999 to 999999 10STM ...

Page 380: ...deceleration time constant are equal STA and STB commands can set the acceleration time constant and deceleration time constant individually It cannot be changed during command output STD Note 2 5 S pattern acceleration de celeration time constant STD Setting value 0 to 100 ms Used to set the S pattern acceleration deceleration time constant Set this command when inserting an S pattern acceleratio...

Page 381: ...clears the pulse counter FOR NEXT Step repeat instruction FOR Setting value NEXT 0 1 to 10000 times Repeats the steps located between the FOR setting value command and NEXT command by the preset number of times Set 0 to select endless repetition TIM Dwell command time TIM Setting value 1 to 20000 ms Holds the next step until the preset time elapses ZRT Zeroing ZRT Executes a home position return T...

Page 382: ...ed 1000r min b Acceleration time constant 200ms b Acceleration time constant 200ms c Deceleration time constant 300ms c Deceleration time constant 300ms a Servo motor speed 1000r min Forward rotation 2 Program example 2 When operation is to be performed in two patterns that have different servo motor speeds acceleration time constants deceleration time constants and move commands Program Descripti...

Page 383: ...mmand the movement of the MOVA command can be executed continuously without a stop The speed changing point of the MOVA command is the deceleration starting position of the operation performed by the preceding MOV and MOVA commands The acceleration deceleration time constant of the MOVA command is the value at execution of the preceding MOV command The MOVIA command is a continuous move command fo...

Page 384: ... Wrong usage In continuous operation the acceleration or deceleration time constant cannot be changed at each speed change Hence the STA STB or STD command is ignored if it is inserted for a speed change Program Description SPN 500 STA 200 STB 300 MOV 500 SPN 1000 STC 500 MOVA 1000 SPN 1500 STC 100 MOVA 0 STOP Speed Motor speed Acceleration time constant Deceleration time constant Absolute move co...

Page 385: ...end 1000 r min 200 ms 300 ms 500 10STM μm 100 ms 250 10STM μm 50 ms a b Dwell command time 100ms 0r min Servo motor speed a b Program output 1 OUT1 ON OFF Dwell command time 50ms Forward rotation 2 Program example 2 Using parameter No PE14 program output 1 OUT1 can be turned off automatically Parameter No Name Setting Description PE14 OUT1 output time selection 200 OUT1 is turned off in 200 ms a P...

Page 386: ... time constant Deceleration time constant Absolute move command Absolute trip point Program output 1 OUT 1 is turned ON Absolute trip point Program output 1 OUT 1 is turned OFF Dwell command time Incremental move command Incremental trip point Program output 1 OUT 1 is turned ON Program end 1000 r min 200 ms 300 ms 500 10STM μm 250 10STM μm 400 10STM μm 100 ms 500 10STM μm 300 10STM μm a b c d e f...

Page 387: ...ation time constant Deceleration time constant Incremental move command Incremental trip point Program output 1 OUT 1 is turned ON Speed Motor speed Incremental continuous move command Incremental trip point Program output 1 OUT 1 is turned OFF Program end 500 r min 200 ms 300 ms 600 10STM μm 300 10STM μm 700 r min 700 10STM μm 300 10STM μm a b c d e f 0r min Servo motor speed Program output 1 OUT...

Page 388: ...leration deceleration time constant Absolute move command Program end 200 ms 1000 r min 20 ms 1000 10STM μm a 0r min Servo motor speed Forward rotation start ST1 ON OFF a 200ms Forward rotation 2 Program example 2 Program Description SPN 1000 STC 20 MOVI 1000 TIM 200 OUTON 1 MOVI 500 STOP Speed Motor speed Acceleration deceleration time constant Incremental move command Dwell command time Program ...

Page 389: ...STM μm a b 0r min Servo motor speed Program output 1 OUT1 ON OFF b 200ms a Forward rotation 4 Program example 4 Program Description SPN 1000 STC 20 MOVI 1000 TIM 200 OUTON 1 TIM 300 MOVI 500 STOP Speed Motor speed Acceleration deceleration time constant Incremental move command Dwell command time Program output 1 OUT 1 is turned ON Dwell command time Incremental move command Program end 1000 r min...

Page 390: ...ogram end 500 10STM μm 0r min Servo motor speed Program input 1 PI1 ON OFF a PI1 is accepted in 200ms or later Forward rotation 6 Program example 6 Program Description SPN 1000 STC 20 MOVI 1000 Speed Motor speed Acceleration deceleration time constant Incremental move command 1000 r min 20 ms 1000 10STM μm SYNC 1 Step is suspended until program input PI1 turns ON a TIM 200 MOVI 500 STOP Dwell comm...

Page 391: ...sition by the set value farther from the position where any of program input 1 PI1 turned ON When using the ITP command always place the SYNC command immediately before the ITP command 1 Program example 1 Program Description SPN 500 STA 200 STB 300 MOV 600 SPN 100 MOVA 600 Speed Motor speed Acceleration time constant Deceleration time constant Absolute move command Speed Motor speed Continuous mov...

Page 392: ... for PI1 to be turned ON by SYNC 1 a P1 b 50 10STM m Forward rotation f External pulse counter COUNT When the number of input pulses of the manual pulse generator becomes greater than the value set with the COUNT command the next step is started Set 0 to erase the accumulated input pulses Program Description COUNT 500 The next step is held until the number of input pulses of the manual pulse gener...

Page 393: ...cceleration deceleration time constant Absolute move command Dwell command time Step repeat instruction start Incremental move command Dwell command time Step repeat instruction end Step repeat instruction start Incremental move command Dwell command time Step repeat instruction end Program end 1000 r min 20 ms 1000 10STM μm 100 ms 3 times 100 10STM μm 100 ms 2 times 200 10STM μm 100 ms a b c d e ...

Page 394: ...once the TIMES setting value command is not necessary Set 0 to select endless repetition Program Description TIMES 2 SPN 1000 STC 20 MOVI 1000 TIM 100 STOP Program repeat command Speed Motor speed Acceleration deceleration time constant Incremental move command Dwell command time Program end 2 times 1000 r min 20 ms 1000 10STM μm 100 ms a b 0r min Servo motor speed a 1000 b Incremental move comman...

Page 395: ... position data 1 CW rotation with position data CCW rotation with position data CW CCW c Feed length multiplication parameter No PE02 Set the feed length multiplication STM of position data Parameter No PE02 setting Position data input range mm 0 initial value 999 999 to 999 999 1 9999 99 to 9999 99 2 99999 9 to 99999 9 3 999999 to 999999 2 Signals Choosing the program using DI0 to DI2 and turning...

Page 396: ...tion deceleration time constant Absolute move command Program end 50 ms 5000 10STM μm Move command 4 2 Timing chart Note 1 6ms or more 6ms or more ON OFF ON OFF Servo on SON Automatic manual selection MD0 Program No Forward rotation Reverse rotation 0r min ON OFF Forward rotation start ST1 2 1 3ms or less Move command 1 Move command 3 Servo motor speed ON ON OFF ON OFF Ready RD Trouble ALM OFF Not...

Page 397: ...n deceleration time constant Parameter No PE07 Set the acceleration deceleration time constants S pattern acceleration deceleration time constant Parameter No PC03 Set the S pattern acceleration deceleration time constant 2 Servo motor rotation direction Parameter No PA14 setting Servo motor rotation direction Forward rotation start ST1 ON Reverse rotation start ST2 ON 0 CCW rotation CW rotation 1...

Page 398: ...nual pulse generator assign PP to CN1 23 pin and NP to CN1 25 pin by parameter No PD02 Refer to sections 4 4 2 and 11 14 When the manual pulse generator is used during JOG operation pulses of the manual pulse generator are added 1 Setting Set the input device and parameters as follows according to the purpose of use In this case the point table No program No selection 1 to 3 DI0 to DI2 are invalid...

Page 399: ...n 3 Manual pulse generator multiplication Use parameter No PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation Parameter No PA05 setting Multiplication ratio of servo motor rotation to manual pulse generator rotation Travel distance 0 1 time 1 μm 1 10 times 10 μm 2 100 times 100 μm 4 Operation Turn the manual pulse generator to rotate the servo m...

Page 400: ...phase signal is given after advancement over the preset moving distance after the proximity dog or a motion has been made over the home position shift distance starting from the Z phase signal is defined as a home position Home position return method using a proximity dog Used when it is desired to minimize the length of the proximity dog Data set type An arbitrary position is defined as a home po...

Page 401: ...ess is decremented c Choose the polarity at which the proximity dog is detected Set 0 to detect the dog when the proximity dog device DOG is OFF or 1 to detect the dog when the device is ON 3 Instructions a Before starting home position return always make sure that the limit switch operates b Confirm the home position return direction Incorrect setting will cause the machine to run reversely c Con...

Page 402: ...ection 13 6 1 2 and select the home position return direction Dog input polarity Parameter No PE03 Refer to section 13 6 1 2 and select the proximity dog input polarity Home position return speed Parameter No PE04 Set the speed till the dog is detected Creep speed Parameter No PE05 Set the speed after the dog is detected Home position shift distance Parameter No PE06 Set when shifting the home pos...

Page 403: ...ST2 ON OFF Automatic manual selection MD0 ON OFF Note 2 DI0 DI1 and DI2 0r min Note 1 6ms or more Forward rotation Proximity dog Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller and variations of a signal c...

Page 404: ...he rear end of the proximity dog DOG at approximately the center of two consecutive Z phase signals The position where the Z phase signal is generated can be monitored in Within one revolution position of Status display of MR Configurator OFF 0 65536 Note 0 Servo motor Z phase Proximity dog DOG ON Proximity dog Note When using the HF KN series servo motor ...

Page 405: ...g OFF DI0 DI1 and DI2 Program method Select a program that has the home position return ZRT command Count type home position return Parameter No PE03 1 Count type home position return is selected Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the home position return direction Dog input polarity Parameter No PE03 Refer to section 13 6 1 2 and select the dog i...

Page 406: ...tion time constant parameter No PE07 3ms or less 6ms or more Note 2 Note 1 6ms or more Proximity dog Travel distance after proximity dog parameter No PE09 Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller an...

Page 407: ...ing chart ON OFF Automatic manual selection MD0 ON OFF 6ms or more Forward rotation start ST1 Reverse rotation start ST2 ON OFF Note 2 DI0 DI1 and DI2 ON OFF Travel completion MEND ON OFF Rough match CPO ON OFF Home position return completion ZP Movement to the home position Execution of data set type home position return Servo motor speed 3ms or less Home position address parameter No PE08 0r min...

Page 408: ...type home position return Parameter No PE03 3 Stopper type home position return is selected Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the home position return direction Home position return speed Parameter No PE04 Set the speed till contact with the stopper Stopper time Parameter No PE10 Time from when the part makes contact with the stopper to when home...

Page 409: ... a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller and variations of a signal change due to hardware 2 TLC turns ON when the torque reaches the value set in forward torque limit parameter No PA11 reverse torque limit parameter No PA12 or internal torque limit parameter No PC14 3 The torque limit that is enabled at this point i...

Page 410: ... DI1 and DI2 Program method Select a program that has the home position return ZRT command Home position ignorance Parameter No PE03 4 Home position ignorance is selected Home position return position data Parameter No PE08 Set the current position at home position return completion 2 Timing chart ON OFF Servo on SON ON OFF Ready RD ON OFF Automatic manual selection MD0 ON OFF Travel completion ME...

Page 411: ...ogram No selection 1 to 3 DI0 to DI2 Point table method Select the home position return mode by turning OFF DI0 DI1 and DI2 Program method Select a program that has the home position return ZRT command Dog type rear end reference home position return Parameter No PE03 5 Select the dog type rear end reference Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the ...

Page 412: ...art ST2 Automatic manual selection MD0 DI0 DI1 and DI2 Forward rotation Proximity dog Travel distance after proximity dog parameter No PE09 Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller and variations of...

Page 413: ...ion MD0 Turn MD0 ON Point table No Program No selection 1 to 3 DI0 to DI2 Point table method Select the home position return mode by turning OFF DI0 DI1 and DI2 Program method Select a program that has the home position return ZRT command Count type dog front end reference home position return Parameter No PE03 6 Select the count type dog front end reference Home position return direction Paramete...

Page 414: ...ion time constant parameter No PE07 Travel distance after proximity dog parameter No PE09 Forward rotation Note 1 6ms or more Proximity dog Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller and variations of...

Page 415: ...radle type home position return Parameter No PE03 7 Select the dog cradle type Home position return direction Parameter No PE03 Refer to section 13 6 1 2 and select the home position return direction Dog input polarity Parameter No PE03 Refer to section 13 6 1 2 and select the dog input polarity Home position return speed Parameter No PE04 Set the speed till the dog is detected Creep speed Paramet...

Page 416: ...ugh match CPO Home position return completion ZP Proximity dog DOG Forward rotation Reverse rotation Note 1 6ms or more Note 1 External input signal detection delays by the input filter setting time of parameter No PD19 Additionally make up a sequence that changes DI0 DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller and variations of a signal change due...

Page 417: ... motor speed Reverse rotation 0r min 2 When the current position is beyond the proximity dog The current position moves in the home return direction at a start When the stroke end LSP or LSN is detected the position moves in the opposite direction The motion stops when the position passes the front end of the proximity dog Then a home position return is resumed from this position If the proximity ...

Page 418: ... a function basis Parameter group Main description Basic setting parameters No PA Make basic setting with these parameters when using this servo amplifier in the position control mode Gain Filter parameters No PB Use these parameters when making gain adjustment manually Extension setting parameters No PC Use these parameters mainly when using this servo amplifier in the internal speed control mode...

Page 419: ...irtual pulse multiplying factor numerator 1 3 in this section PA07 CDV Electronic gear denominator Virtual pulse multiplying factor denominator 1 PA08 ATU Auto tuning mode 001h Section 4 1 8 PA09 RSP Auto tuning response 6 Section 4 1 8 PA10 INP In position range 100 μm Note Section 4 1 9 PA11 TLP Forward torque limit 100 Section 4 1 10 PA12 TLN Reverse torque limit 100 Section 4 1 10 PA13 This pa...

Page 420: ...to 100 10000 pulse rev initial value the number of pulses necessary to rotate the servo motor one turn is 10000 pulses When parameter No PA05 is set to 0 the number of pulses necessary to rotate the servo motor one turn equals to the encoder resolution of the servo motor Parameter No PA05 setting Description 0 Servo motor encoder resolution pulse rev 100 to 500 Number of virtual pulses necessary t...

Page 421: ...g injury POINT In the positioning mode this parameter is made valid when power is switched off then on after setting The setting range of the electronic gear is as follows If you set any value outside this range a parameter error 37 1 occurs Setting range of the electronic gear Min value CMX CDV Max value Parameter No PA05 Min value Max value 100 10000 pulse rev 1 131 76 200 20000 pulse rev 1 65 1...

Page 422: ...n to the value set in parameter No PA05 CDV CMX PA07 No Parameter PA06 No Parameter The following setting examples are used to explain how to calculate the electronic gear POINT The following specification symbols are required to calculate the electronic gear Pb Ballscrew lead mm 1 n Reduction ratio S Travel distance per servo motor revolution μm rev Angle per revolution 0 001 rev b Setting exampl...

Page 423: ...Liner operation 100 10000 pulse rev Rotary operation 360 36000 pulse rev 4 Selection of servo motor rotation direction Parameter Initial value Setting range Unit No Symbol Name PA14 POL Rotation direction selection 0 0 1 POINT This parameter is made valid when power is switched off then on after setting In program method ST2 can be used only for JOG operation in the test mode Select the servo moto...

Page 424: ... selection 1 000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 000h PB17 Automatic setting parameter PB18 LPF Low pass filter setting Applied 3141 rad s Section 4 2 2 PB19 VRF1 Vibration suppression control vibration frequency setting Applied 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting Applied 100 0 Hz PB21 For manufactu...

Page 425: ...13 74 13 POSITIONING MODE No Symbol Name Initial value Unit Reference PB40 For manufacturer setting 111h PB41 20 PB42 000h PB43 000h PB44 000h PB45 000h PB46 000h PB47 000h PB48 000h PB49 000h PB50 000h ...

Page 426: ...y clear 000h PC12 This parameter is not used Do not change this value by any means 0 PC13 ENRS Encoder output pulses selection 000h Section 4 3 2 PC14 TL2 Internal torque limit 2 Applied 100 PC15 ERZL Error excessive alarm detection level 3 0 rev PC16 For manufacturer setting 3 0 PC17 OSL Overspeed alarm detection level 0 r min Section 4 3 2 PC18 For manufacturer setting 1000 PC19 0 PC20 000h PC21...

Page 427: ...specifying 000h Section 4 3 2 PC45 For manufacturer setting 000h PC46 000h PC47 000h PC48 000h PC49 000h PC50 000h PC51 000h PC52 000h PC53 000h PC54 000h PC55 000h PC56 000h PC57 000h PC58 COP9 Function selection C 9 Applied 000h Section 4 3 2 PC59 DBT Electronic dynamic brake operating time Applied 000h 10ms Section 4 3 2 PC60 For manufacturer setting 000h PC61 000h PC62 000h PC63 000h PC64 000h...

Page 428: ...tting increases until the travel completion MEND Acceleration time constant Servo motor speed 0 r min Deceleration time constant Ta Ta Ts Tb Tb Ts Rated speed Preset speed Ta Time until preset speed is reached Tb Time until stop Ts S pattern acceleration deceleration time constant parameter No PC03 Setting range 0 to 100ms S pattern acceleration deceleration time constant at setting value 101 to 1...

Page 429: ... 5 0D06h PD08 DI3 2 Input signal device selection 3H CN1 5 2C0Dh PD09 DI4 1 Input signal device selection 4L CN1 6 070Ah PD10 DI4 2 Input signal device selection 4H CN1 6 0707h PD11 DI5 1 Input signal device selection 5L CN1 7 080Bh PD12 DI5 2 Input signal device selection 5H CN1 7 0808h PD13 DI6 1 Input signal device selection 6L CN1 8 0505h PD14 DI6 2 Input signal device selection 6H CN1 8 0505h...

Page 430: ... processing at LSP LSN OFF or when the software limit is detected 0 Sudden stop Home position is not erased 1 Slow stop Home position is not erased 0 Selection of base circuit status at reset RES ON 0 Base circuit switched off 1 Base circuit not switched off Operation selection during tough drive MTTR 0 MTTR turns ON during the instantaneous power failure tough drive 1 MTTR turns ON during the ove...

Page 431: ...tion deceleration time constants 100 ms PE08 ZPS Home position return position data 0 10STM μm PE09 DCT Travel distance after proximity dog 1000 10STM μm PE10 ZTM Stopper type home position return stopper time 100 ms PE11 ZTT Stopper type home position return torque limit value 15 PE12 CRP Rough match output range 0 10STM μm PE13 JOG JOG speed 100 r min PE14 OUT1 OUT1 output time selection This pa...

Page 432: ... 1 1 10 100 100 1000 1000 9999 99 to 9999 99 0 to 9999 99 99999 9 to 99999 9 0 to 99999 9 999999 to 999999 0 to 999999 10 0000h Refer to the name and function filed PE03 ZTY Home position return type Select the home position return type home position return direction and proximity dog input polarity Refer to section 13 6 Home position return type 0 Dog type 1 Count type 2 Data set type 3 Stopper t...

Page 433: ...ype home position return stopper time for the setting value 0 to 4 is 5ms 100 0 to 4 5 to 1000 ms PE11 ZTT Stopper type home position return torque limit value Used to set the torque limit value relative to the max torque in in stopper type home position return Refer to section 13 6 6 However the stopper type home position return torque limit value for the setting value 0 is 1 15 0 1 to 100 PE12 C...

Page 434: ... the same as in software limit Refer to 4 in this section Set the same sign to parameters No PE18 and No PE19 Setting of different signs will result in a parameter error Upper three digits Lower three digits Parameter No PE18 Parameter No PE19 Set address The software limit is a set of upper digits and lower digits To change the value set in the order of lower digits to upper digits 0 999999 to 99...

Page 435: ... editing the point table program or to select the polarity of program input 1 PI1 Point table program edit 0 Permit 1 Inhibit 0 Polarity selection of program input 1 PI1 This setting is used only for the program method It is not used in the point table method 0 Positive logic 1 Negative logic 0 0000h Refer to the name and function filed PE25 For manufacturer setting 10 PE26 Do not change this valu...

Page 436: ...s stopped and servo locked This function is made valid at power on but made invalid during home position return This function is made invalid when the software limit setting is the same as the software limit setting A parameter error 37 1 will occur if the software limit setting is less than the software limit setting Current position Unmovable Software limit Movable area Movable Inhibited area ...

Page 437: ...the point table list screen Click Positioning data on the menu bar and click Point table on the menu When the above choices are made the following window appears h g f c a b d e 1 Writing point table data a Click the point table data changed and click the Write button to write the new point table data to the servo amplifier 2 Verifying point table data b Click the Verify button to verify all data ...

Page 438: ...k the data to be changed enter a new value into the input field and press the enter key 8 Reading point table data Point table data in a file can be read and displayed Click Project on the menu bar to read the point table data 9 Saving point table data All displayed point table data on the window can be saved Click Project on the menu bar to save the point table data 10 Printing point table data A...

Page 439: ...mplifier b Writing the program b Click the Write All button to write the program whose setting has been changed to the servo amplifier c Verifying the programs c Click the Verify button to verify the program contents on the personal computer and the program contents of the servo amplifier d Selecting the program No d Used to select the program No to be edited e Editing the program e Used to edit t...

Page 440: ...nto the program edit area a in a text format b Copying the text b Select the text of the program edit area and click the Copy button to store the selected text into the clipboard c Pasting the text c Click the Paste button to paste the text stored in the clipboard to the specified position of the program edit area d Deleting the text d Select the text of the program edit area and click the Cut but...

Page 441: ...to discard the program being edited and close the Program Edit window g Error display g If a problem is found when the edit check is executed in e the line number and content of the error will be displayed Click the error content to move the cursor to the corresponding line in the program ...

Page 442: ...re version C4 or later The servo motor will not operate if the forced stop EM1 forward rotation stroke end LSP and reverse rotation stroke end LSN are off Make automatic ON setting to turn on these devices or turn on between DOCOM Refer to section 4 4 2 Operation is performed in accordance with the preset point table No program No Click Test on the menu bar and click Single step Feed on the menu C...

Page 443: ...er key b Program No setting b Enter the program No into the Program No input field and press the enter key c Servo motor start c Click the Start button to rotate the servo motor d Temporary stop of servo motor d Click the Pause button to stop the servo motor temporarily e Servo motor stop e Click the Pause button again during a temporary stop of the servo motor to clear the travel remaining distan...

Page 444: ... is enabled the Start button cannot be used Click the Software forced stop button again to make the Start button enabled i Single step feed window closing i Click the Close button to cancel the single step feed mode and close the window j Switching to normal operation mode To switch from the test operation mode to the normal operation mode turn OFF the power of the servo amplifier ...

Page 445: ...13 94 13 POSITIONING MODE MEMO ...

Page 446: ... 1 Parameter list POINT For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid Never change parameters for manufacturer setting ...

Page 447: ... S T PB12 OVA Overshoot amount compensation P PA13 PLSS Command input pulse form P PB13 NH1 Machine resonance suppression filter 1 P S PA14 POL Rotation direction selection P PB14 NHQ1 Notch shape selection 1 P S PA15 ENR Encoder output pulses P S T PB15 NH2 Machine resonance suppression filter 2 P S PA16 ENR2 Encoder output pulse electronic gear P S T PB16 NHQ2 Notch shape selection 2 P S PA17 Fo...

Page 448: ...ero speed P S T PD16 DO2 Output signal device selection 2 CN1 10 P S T PC11 BPS Alarm history clear P S T PD17 DO3 Output signal device selection 3 CN1 11 P S T PC12 TC Internal torque command T PD18 DO4 Output signal device selection 4 CN1 12 P S T PC13 ENRS Encoder output pulses selection P S T PD19 DIF Input filter setting P S T PC14 TL2 Internal torque limit 2 P S T PD20 DOP1 Function selectio...

Page 449: ...on PA14 POL Rotation direction selection PB13 NH1 Machine resonance suppression filter 1 PA15 ENR Encoder output pulses PB14 NHQ1 Notch shape selection 1 PA16 ENR2 Encoder output pulse electronic gear PB15 NH2 Machine resonance suppression filter 2 PA17 For manufacturer setting PB16 NHQ2 Notch shape selection 2 PA18 PB17 Automatic setting parameter PA19 BLK Parameter writing inhibit PB18 LPF Low p...

Page 450: ... signal device selection 5H CN1 7 PC15 ERZL Error excessive alarm detection level PD13 DI6 1 Input signal device selection 6L CN1 8 PC16 For manufacturer setting PD14 DI6 2 Input signal device selection 6H CN1 8 PC17 OSL Overspeed alarm detection level PD15 DO1 Output signal device selection 1 CN1 9 PC18 For manufacturer setting PD16 DO2 Output signal device selection 2 CN1 10 PC19 PD17 DO3 Output...

Page 451: ...ance after proximity dog PE10 ZTM Stopper type home position return stopper time PE11 ZTT Stopper type home position return torque limit value PE12 CRP Rough match output range PE13 JOG JOG speed PE14 OUT1 OUT1 output time selection This parameter is used only for the program method It is not used in the point table method PE15 BKC Backlash compensation PE16 LMPL Software limit PE17 LMPH PE18 LMNL...

Page 452: ...F053 0044 HG KR053G1 G5 G7 FF13 HG KR13G1 G5 G7 0111 FF23 HG KR23G1 G5 G7 FF43 HG KR43G1 G5 G7 App 3 Signal layout recording paper Position control mode Internal speed control mode Internal torque control mode Positioning mode CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 4 6 5 19 LZ 18 LBR 20 LZR 21 OP 7 8 10 9 23 PP 22 PG 24 NG 25 NP 11 12 26 13 DOCOM CN1 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 ...

Page 453: ...load ratio Peak hold PWM M Current control Speed control Servo motor speed Position control Droop pulse Current position calculation Auto tuning section Cumulative feedback pulse Cumulative command pulses CMX CDV Differ ential Command pulse frequency Electronic gear Bus voltage Command pulse PP NP Speed feedback Servo motor Encoder Within one revolution position low high Load to motor inertia mome...

Page 454: ... hold PWM M Current control Speed control Position control Current position calculation Within one revolution position Auto tuning section Command position CMX CDV Differ ential Command remaining distance Electronic gear Speed feedback Servo motor Encoder Travel distance creation Target position Speed command Current position PP NP Home position CDV CMX Electronic gear 1 Multiplica tion factor low...

Page 455: ...pp 5 1 2 Applications of the device MR JN servo amplifiers comply with the following standards IEC EN 61800 5 1 GB 12668 501 IEC EN KN 61800 3 GB 12668 3 App 5 1 3 Correct use Use the MR JN servo amplifiers within specifications Refer to section 1 3 for specifications such as voltage temperature etc Mitsubishi Electric Co accepts no claims for liability if the equipment is used in any other way or...

Page 456: ...er UL 489 Listed MCCB indicated in the table below The T class fuses and molded case circuit breakers in the table are selected examples based on rated I O of the servo amplifiers When you select a smaller capacity servo motor to connect it to the servo amplifier you can also use smaller capacity T class fuses or molded case circuit breaker than ones in the table For selecting ones other than Clas...

Page 457: ...rvos a EMC requirement MR JN servo amplifiers comply with category C3 in accordance with IEC EN 61800 3 Install an EMC filter and surge protector on the primary side of the servo amplifier As for I O signal wires max length 10 m and encoder cables max length 50 m use shielded wires and ground the shields The following shows recommended products EMC filter Soshin Electric HF3000A UN series Surge pr...

Page 458: ...ics The MR JN servo amplifiers have servo motor overload protective function It is set on the basis full load current of 120 rated current of the servo amplifier d Over temperature protection for motor Motor Over temperature sensing is not provided by the drive Integral thermal protection s is necessary for motor Refer to App 5 3 for details of the proper connections e Branch circuit protection Fo...

Page 459: ... Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country specific waste disposal regulations Example European Waste 16 02 14 App 5 2 Mounting dismounting Installation direction and clearances CAUTION The devices must be installed in the specified direction Not doing so may cause a malfunction Mount the servo amplifier on a cabinet which me...

Page 460: ... the servo motor may operate unexpectedly The following shows representative configuration examples to conform to the IEC EN UL CSA standards Power supply MCCB or fuse AC DC converter L1 L2 24 V CN3 CN1 CN2 U V W PE Controller Encoder cable Cabinet side Machine side Servo motor Encoder Servo amplifier 0 V To protective equipment Thermal signal Note Note Please use a thermal sensor etc for thermal ...

Page 461: ...shows CN1 connector signals as a typical example CN1 This is in position control mode 2 OPC 1 DICOM 15 LA 14 LG 16 LAR 17 LB 3 RES 4 SON 6 LSP 5 CR 19 LZ 18 LBR 20 LZR 21 OP 7 LSN 8 EM1 10 INP 9 ALM 23 PP 22 PG 24 NG 25 NP 11 RD 12 MBR 26 13 DOCOM ...

Page 462: ...r connection 8 Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch App 5 5 2 Parts having service life Service life of the following parts is listed below However the service life varies depending on operating methods and environment If any fault is found in the parts they must be replace...

Page 463: ...ll the following environment Item Environment Ambient temperature Operation C 0 to 55 Class 3K3 IEC EN 60721 3 3 Transportation Note C 20 to 65 Class 2K4 IEC EN 60721 3 2 Storage Note C 20 to 65 Class 1K4 IEC EN 60721 3 1 Ambient humidity Operation transportation storage 5 RH to 90 RH Vibration resistance Test condition 10 Hz to 57 Hz with constant amplitude of 0 075 mm 57 Hz to 150 Hz with consta...

Page 464: ...PWM control current control method Pollution degree 2 IEC EN 60664 1 Overvoltage category III IEC EN 60664 1 Protective class I IEC EN 61800 5 1 Short circuit current rating SCCR 100 kA App 5 7 2 Dimensions mounting hole process drawing W D H Front Side Servo amplifier Variable dimensions mm Mass kg W H D MR JN 10A 1 MR JN 20A 1 40 130 135 0 6 MR JN 40A 50 130 135 0 7 a c b c a1 d Servo amplifier ...

Page 465: ...n is partially changed Partially added Partially changed Diagram is partially changed Partially changed Partially changed POINT is partially added 6 and 7 are added to the set value in the first digit of PA01 PA05 is partially changed PA13 POINT is partially changed Partially changed Partially added and changed Partially added and changed Partially changed Caution is added Partially changed Partia...

Page 466: ... serial number is added Power supply symbol is added Partially changed Partially added Partially changed Partially changed Caution is partially changed Caution is partially added Diagram is partially changed Note 1 is partially changed Note 6 is partially changed Diagram is all changed Note 1 is partially changed Note 2 is partially changed Diagram is partially changed Note 1 is partially changed ...

Page 467: ...hanged Partially changed Partially changed Note 3 is partially changed Note 4 and Note 5 are added Note 4 is partially changed Note 5 and Note 6 are added Caution is partially added and changed POINT is newly added Positioning parameters No PE is added POINT is partially added Partially changed Reference and writing for positioning parameters No PE are added 00Ch and 10Eh are added to setting 6 an...

Page 468: ... is changed as follows Initial value 337 to 33 7 Setting range 1 to 10000 to 1 0 to 1000 0 Unit 0 1ms to ms PB12 The following sentence is added to the end Executing one touch tuning automatically changes this parameter PB15 The following sentence is added to the end Executing one touch tuning automatically changes this parameter PB16 The following sentence is added to the end Executing one touch ...

Page 469: ...12 Initial value 0 to 0 0 Unit 0 1 to PC15 Initial value 30 to 3 0 Unit 0 1rev to rev PC44 Drive recorder alarm specifying is newly added PC11 is partially changed PC12 is changed as follows Initial value 0 to 0 0 Setting range 0 to 1000 to 0 0 to 100 0 Unit 0 1 to PC13 Encoder output pulse cycle setting is added to the third digit PC15 is changed as follows Initial value 30 to 3 0 Setting range 1...

Page 470: ...er two digits PD08 Positioning mode is added to the upper two digits PD10 Positioning mode is added to the upper two digits PD12 Positioning mode is added to the upper two digits PD13 The following sentence is added to the end If a value other than the initial value is set EM1 cannot be used PD14 Positioning mode is added to the upper two digits The following sentence is added to the end If a valu...

Page 471: ...is newly added Point table transition is newly added Point table mode setting screen sequence is newly added Operation example of point table is newly added Changed to section 5 7 to 5 11 POINT is deleted Positioning setting parameters is added CN1 23 and CN1 25 are added to the display definition Control mode CP CL is added Pin No 23 and 25 are added The followings are added Proximity dog DOG Aut...

Page 472: ... tuning is changed to 2 Gain adjustment made by the auto tuning mode parameter No PA08 Title is changed Auto tuning is changed to Auto tuning mode 1 Title is changed Auto tuning mode 1 is changed to Overview POINT is partially changed Title is changed Auto tuning mode 1 operation is changed to Auto tuning mode 1 basis Diagram is partially changed POINT is partially changed Partially changed POINT ...

Page 473: ...setting error Partially changed Following warning contents are added Detailed display 90 1 Home position return incompletion Detailed display 90 2 Home position return abnormal completion Detailed display 96 1 In position not reached Detailed display 96 2 Speed command not converged Detailed display 97 1 Program operation disabled Detailed display 98 1 Reached the software limit at the forward rot...

Page 474: ...y added Partially changed Title is changed Electromagnetic brake is changed to Electromagnetic brake characteristics Caution is partially changed Partially added and changed Partially changed Caution is partially added Partially changed Partially changed Partially changed Partially changed Note is deleted MR JN 10A1 and MR JN 20A1 are added Torque characteristics for MR JN 10A1 and MR JN 20A1 are ...

Page 475: ...nged Section 3 2 1 Diagram is partially changed Note 6 is partially changed Note 16 changed to 15 Section 3 2 2 Note is partially changed Section 3 2 3 Note is partially changed Section 3 3 1 Signal explanations are partially changed Section 3 4 2 Partially changed Section 3 5 1 Partially changed Section 3 6 1 4 Caution is partially added Section 3 6 2 1 a and b Parameters No PD03 are changed to P...

Page 476: ...d and changed Section 10 2 1 Table 10 1 is partially added Section 10 3 1 Partially changed Section 10 3 2 HG KR G1 G5 G7 is added Section 10 5 Partially changed Chapter 11 Section 11 1 1 HG KR G1 G5 G7 is added Table is partially added and changed Section 11 1 2 Partially added and changed Section 11 1 3 Partially added and changed Section 11 1 4 Partially added and changed Section 11 2 Partially...

Page 477: ...r list table is partially changed Section 13 7 3 2 Symbol is partially changed App 2 Partially added App 4 1 Diagram is partially changed App 4 2 Diagram is partially changed App 5 Partially added and changed App 5 1 3 Partially changed App 5 3 HG KR is added App 5 5 2 Partially changed App 5 6 Caution is partially changed This manual confers no industrial property rights or any rights of any othe...

Page 478: ...a 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 ...

Page 479: ...e 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 production 3 Servic...

Page 480: ...otice MODEL MODEL CODE General Purpose AC Servo MODEL Servo Amplifier MR JN A General Purpose Interface Servo Amplifier JN Series HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 JN Series MR JN A Instruction Manual D D MODEL Servo Motor HF KN HF KP G1 G5 G7 HG KR G1 G5 G7 INSTRUCTION MANUAL ...

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