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Mitsubishi Electric Melservo MR-J3- 350B4, Instruction Manual

The Mitsubishi Electric Melservo MR-J3- 350B4 is a high-performance servo amplifier that offers precise and efficient motor control. To ensure optimal usage, it is crucial to have the Instruction Manual readily available. Download the comprehensive manual for free from our website, providing step-by-step instructions for hassle-free setup and operation.

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13 -  18 

13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 

 

2) How to close 

Setting tab

Setting tab

 

Hold the bottom of the terminal block cover 
with both hands. 

 

 

B)

B)'

 

Close the cover using the axis B), B)' as a 
support. 

 

 

Setting tab

 

Press the cover against the terminal box until 
the installing knobs click. 

 

Summary of Contents for Melservo MR-J3- 350B4

Page 1: ...General Purpose AC Servo MODEL MR J3 B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J3 Series C J3 Series MR J3 B Servo Amplifier Instruction Manual C ...

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

Page 3: ...c shock 2 To prevent fire note the following CAUTION Install the converter unit servo amplifier drive unit servo motor and regenerative resistor on incombustible material Installing them directly or close to combustibles will lead to a fire Always connect a magnetic contactor MC between the main circuit power supply and L1 L2 and L3 of the converter unit servo amplifier and configure the wiring to...

Page 4: ...se fulfill the following environmental conditions Conditions Environment Converter unit servo amplifier drive unit Servo motor 0 to 55 non freezing 0 to 40 non freezing During operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature In storage 4 to 149 non freezing 5 to 158 non freezing In operation 90 RH or less non condensing 80 RH o...

Page 5: ...correctly and securely Otherwise the servo motor may misoperate Do not install a power capacitor surge absorber or radio noise filter FR BIF H option between the servo motor and servo amplifier drive unit Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly Connect the servo motor power terminal U V W to the servo motor power input terminal U V W directly ...

Page 6: ...n signal on Do not modify the equipment Use a noise filter etc to minimize the influence of electromagnetic interference which may be caused by electronic equipment used near the converter unit and servo amplifier drive unit Burning or breaking a converter unit and servo amplifier drive unit may cause a toxic gas Do not burn or break a converter unit and servo amplifier drive unit Use the converte...

Page 7: ...ting operation When power is restored after an instantaneous power failure keep away from the machine because the machine may be restarted suddenly design the machine so that it is secured against hazard if restarted 6 Maintenance inspection and parts replacement CAUTION With age the electrolytic capacitor of the servo amplifier drive unit will deteriorate To prevent a secondary accident due to a ...

Page 8: ...sses could occur if the product fails install appropriate backup or failsafe functions in the system EEP ROM life The number of write times to the EEP ROM which stores parameter 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...

Page 9: ...forming methods refer to the EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines the converter unit servo amplifiers...

Page 10: ...664 1 For this purpose install the servo amplifier in a control box which is protected against water oil carbon dust dirt etc IP54 4 Power supply a This converter unit and servo amplifier drive unit can be supplied from star connected supply with earthed neutral point of overvoltage category III set forth in IEC60664 1 However when using the neutral point of 400V system for single phase supply a r...

Page 11: ...11 12 Section 13 9 5 for 30kW or more Use a type B Note breaker When it is not used provide insulation between the converter unit servo amplifier drive unit and other device by double insulation or reinforced insulation or install a transformer between the main power supply converter unit and servo amplifier drive unit Note Type A AC and pulse detectable Type B Both AC and DC detectable b The size...

Page 12: ...or series HF MP HF KP HF SP Note HF SP 4 Note HC RP HC UP HC LP HA LP Note HA LP 4 Note Note For compliance conditions refer to Section 1 1 of the Servo Motor Instruction Manual Vol 2 SH NA 030041 2 Installation Install a cooling fan of 100CFM 2 8m 3 min air flow 4 in 10 16 cm above the servo amplifier drive unit or provide cooling of at least equivalent capability 3 Short circuit rating This serv...

Page 13: ...cated in the following table When the servo amplifier must comply with the UL C UL Standard be sure to use these fuses Fuse Fuse Servo amplifier drive unit Class Current A Voltage AC V Servo amplifier drive unit Class Current A Voltage AC V MR J3 10B 1 20B 10 MR J3 60B4 10 MR J3 40B 20B1 15 MR J3 100B4 15 MR J3 60B to 100B 40B1 20 MR J3 200B4 25 MR J3 200B 40 MR J3 350B4 35 MR J3 350B 70 MR J3 500...

Page 14: ... the MELSERVO Servo Motor Instruction Manual Vol 2 are required if you use the General Purpose AC servo MR J3 B for the first time Always purchase them and use the MR J3 B safely Relevant manuals Manual name Manual No MELSERVO J3 Series To Use the AC Servo Safely Enclosed in converter unit and servo amplifier drive unit IB NA 0300077 MELSERVO Servo Motor Instruction Manual Vol 2 SH NA 030041 EMC I...

Page 15: ...A 14 MEMO ...

Page 16: ...ply circuit 3 2 3 2 I O signal connection example 3 10 3 3 Explanation of power supply system 3 12 3 3 1 Signal explanations 3 12 3 3 2 Power on sequence 3 13 3 3 3 CNP1 CNP2 CNP3 wiring method 3 14 3 4 Connectors and signal arrangements 3 23 3 5 Signal device explanations 3 24 3 6 Alarm occurrence timing chart 3 27 3 7 Interfaces 3 28 3 7 1 Internal connection diagram 3 28 3 7 2 Detailed descript...

Page 17: ...tuning 5 5 5 1 7 In position range 5 6 5 1 8 Selection of servo motor rotation direction 5 7 5 1 9 Encoder output pulse 5 7 5 2 Gain filter parameters No PB 5 9 5 2 1 Parameter list 5 9 5 2 2 Detail list 5 10 5 3 Extension setting parameters No PC 5 17 5 3 1 Parameter list 5 17 5 3 2 List of details 5 18 5 3 3 Analog monitor 5 21 5 3 4 Alarm history clear 5 23 5 4 I O setting parameters No PD 5 24...

Page 18: ...plifier 9 1 9 2 Connector 9 10 10 CHARACTERISTICS 10 1 to 10 10 10 1 Overload protection characteristics 10 1 10 2 Power supply equipment capacity and generated loss 10 3 10 3 Dynamic brake characteristics 10 6 10 3 1 Dynamic brake operation 10 6 10 3 2 The dynamic brake at the load inertia moment 10 8 10 4 Cable flexing life 10 9 10 5 Inrush currents at power on of main circuit and control circui...

Page 19: ...12 4 Confirmation of absolute position detection data 12 5 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k TO 55kW 13 1 to 13 100 13 1 Functions and menus 13 1 13 1 1 Function block diagram 13 2 13 1 2 Packing list 13 4 13 1 3 Standard specifications 13 5 13 1 4 Model definition 13 8 13 1 5 Combinations of converter units drive unit and servo motors 13 9 13 1 6 Parts identification 13 10 13 1 7 Remo...

Page 20: ... 13 8 3 Dynamic brake characteristics 13 67 13 8 4 Inrush currents at power on of main circuit and control circuit 13 69 13 9 Options 13 70 13 9 1 Cables and connectors 13 70 13 9 2 Regenerative option 13 73 13 9 3 External dynamic brake 13 77 13 9 4 Recommended wires 13 80 13 9 5 No fuse breakers fuses magnetic contactors 13 81 13 9 6 Power factor improving DC reactor 13 82 13 9 7 Line noise filt...

Page 21: ...6 MEMO ...

Page 22: ... The torque limit with clamping circuit is put on the servo amplifier in order to protect the power transistor of main circuit from the overcurrent caused by rapid acceleration deceleration or overload In addition torque limit value can be changed to desired value with parameter As this new series has the USB communication function a MR Configurator installed personal computer or the like can be u...

Page 23: ...ent protection Voltage detection Virtual encoder Virtual motor Model torque Personal computer Actual speed control Actual position control Note 3 Cooling fan Control circuit power supply Model position control Model position Model speed CN2 P U V W M Model speed control Current control I F Control CN1B CN1A Controller or servo amplifier Servo amplifier or cap Analog monitor 2 channels CN3 Digital ...

Page 24: ...vo motor Servo amplifier Optional battery for absolute position detection system Overcurrent protection Voltage detection Virtual encoder Virtual motor Model torque Personal computer Actual speed control Actual position control Cooling fan Control circuit power supply Model position control Model position Model speed CN2 P U V W M Model speed control Current control I F Control CN1B CN1A Controlle...

Page 25: ...rvo motor Servo amplifier Optional battery for absolute position detection system Overcurrent protection Voltage detection Virtual encoder Virtual motor Model torque Personal computer Actual speed control Actual position control Control circuit power supply Model position control Model position Model speed CN2 P U V W M Model speed control Current control I F Control CN1B CN1A Controller or servo ...

Page 26: ...n External option Built in Protective functions Overcurrent shut off regenerative 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 Self cooled open IP00 Force cooling open IP00 Self cooled...

Page 27: ...load 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 Self cooled open IP00 Force cooling open IP00 Note2 0 to 55 non freezing During operation 32 to 131 non freezing 20 to 65 non freezing Ambient temperature In storag...

Page 28: ...sary for this function Gain search function Personal computer changes gains automatically and searches for overshoot free gains in a short time MR Configurator is necessary for this function Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop Parameters No PB24 Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo m...

Page 29: ...definition 1 Rating plate MR J3 10B AC SERVO POWER INPUT OUTPUT SERIAL 100W 0 9A 3PH 1PH200 230V 50Hz 1 3A 1PH 200 230V 50 60Hz 170V 0 360Hz 1 1A 3PH 1PH200 230V 60Hz A34230001 Model Capacity Applicable power supply Serial number Rated output current ...

Page 30: ...ote 1 None Note 2 1 4 3 phase 380 to 480VAC Note 1 1 phase 200V to 230V is supported by 750W or less 2 1 phase 100V to 120V is supported by 400W or less SSCNET compatible Rated output Rated output kW Symbol 10 0 1 20 0 2 40 0 4 60 0 6 70 0 75 100 1 200 2 350 3 5 500 5 700 7 11K 11 15K 15 22K 22 Rating plate MR J3 60B4 100B4 Rating plate MR J3 200B4 MR J3 11KB 4 to 22KB 4 Rating plate MR J3 350B4 5...

Page 31: ...0B 121 201 152 202 103 153 152 152 MR J3 350B 301 352 203 202 202 MR J3 500B 421 502 353 503 352 502 302 MR J3 700B 702 MR J3 11KB MR J3 15KB MR J3 22KB Servo motors HA LP Servo amplifier 1000r min 1500r min 2000r min MR J3 500B 502 MR J3 700B 601 701M 702 MR J3 11KB 801 12K1 11K1M 11K2 MR J3 15KB 15K1 15K1M 15K2 MR J3 22KB 20K1 25K1 22K1M 22K2 Servo motors HA LP Servo amplifier HF SP 1000r min 15...

Page 32: ...it connector CNP2 Connect the control circuit power supply regenerative option SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor ...

Page 33: ...rol circuit power supply regenerative option SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicat...

Page 34: ... CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not re...

Page 35: ... Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconne...

Page 36: ...r the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Battery connector CN4 Used to connect the battery for absolute position data backup Prote...

Page 37: ...front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Battery connector CN4 Used to connect the battery for absolute position data backup Protective ...

Page 38: ...nect digital I O signals More over an analog monitor is output SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged Whil...

Page 39: ...nfirm that the voltage between P and N is safe with a voltage tester and others 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 1 For MR J3 350B4 MR J3 500B 4 MR J3 700B 4 Removal of the front cover A A Hold the ends of lower side of the front cover with both hands Pull up the cover supporting at point A P...

Page 40: ...N Reinstallation of the front cover Front cover setting tab A A Insert the front cover setting tabs into the sockets of servo amplifier 2 places Pull up the cover supporting at point A Setting tab Push the setting tabs until they click ...

Page 41: ... to remove the front cover Reinstallation of the front cover A B C D Note2 Note1 Note1 Installation hook 1 Fit the front cover installation hooks on the sockets of body cover A to D to reinstall it 2 Push the front cover until you hear the clicking noise of the installation hook Note 1 The cooling fan cover can be locked with enclosed screws M4 40 2 By drilling approximately 4 of a hole on the fro...

Page 42: ...r FR BSF01 Magnetic contactor MC No fuse breaker NFB or fuse Regenerative option Power factor improving DC reactor FR BEL Note 2 Note 2 Junction terminal block Servo motor Note 1 Battery MR J3BAT Note 3 Power supply Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used W...

Page 43: ... filter FR BSF01 Magnetic contactor MC No fuse breaker NFB or fuse Junction terminal block Servo motor Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap MR Configurator Personal computer Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The power factor improving DC reactor cannot be used 3 Refer to...

Page 44: ...oller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Servo motor Servo amplifier Note 3 Power supply L1 Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used When not using DC reactor short P1 P2 3 A 1 phase 200V to 230VAC power supply may be used wi...

Page 45: ...rvo amplifier Junction terminal block MR Configurator Personal computer Note 1 Battery MR J3BAT Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Servo motor Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used When not using DC...

Page 46: ...N1B CN2 CN4 Note 1 Battery MR J3BAT Junction terminal block Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap MR Configurator Servo motor U V W Personal computer P2 Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used When not u...

Page 47: ...amplifier Note 2 Power factor improving DC reactor FR BEL H Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Note 1 Battery MR J3BAT Servo motor Junction terminal block Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used When ...

Page 48: ...Regenerative option Servo motor Junction terminal block MR Configurator Personal computer Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Note 1 Battery MR J3BAT Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used When not us...

Page 49: ... CN3 CN2 Junction terminal block Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap CN1A CN1B P1 P Note 2 Power factor improving DC reactor FR BEL H Note 1 Battery MR J3BAT Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor can also be used In this case the DC reactor cannot be used Whe...

Page 50: ...rvo 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 Mitsubishi When treating the servo amplifier be careful about the edged parts...

Page 51: ...en installing the servo amplifiers closely leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case bring the ambient temperature within 0 to 45 or use it at 75 or smaller effective load ratio 40mm or more Control box 30mm or more 30mm or more Control box Leaving clearance Mounting closely 30mm or more 1mm 1mm 100mm or more 30mm or more 10...

Page 52: ...talled on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean air into the control box from outside to make the internal pressure higher than the external pressure to prevent such materials from entering the control box 2 3 Cable stress 1 The way of clamping the cable must be fully examined so that flexing stress an...

Page 53: ...amplifier When closing the door of control box pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius For the minimum bend radius refer to section 11 1 5 2 Prohibition of vinyl tape use Migrating plasticizer is used for vinyl tape Keep the MR J3BUS M and MR J3BUS M A cables away from vinyl tape because ...

Page 54: ...e of optical fiber or damage of optical connector may occur For cable laying handle without putting forced tension For the tension strength refer to section 11 1 5 6 Lateral pressure If lateral pressure is added on optical cable the optical cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of optical cable may occur As the sam...

Page 55: ... any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Smoothing capacitor 10 years Relay Number of power on and number of emergency stop times 100 000 times Cooling fan 10 000 to 30 000hour...

Page 56: ...ry 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 output due to a fault disabling the forced stop EM1 and other protective circuits RA DOCOM DICOM 24VDC Servo ...

Page 57: ...es not operate and optical transmission of SSCNET communication is interrupted Therefore the servo amplifier on the rear axis displays AA at the indicator and turns into base circuit shut off The servo amplifier stops with starting dynamic brake Wire the power supply main circuit as shown below so that power is shut off and the servo on command turned off as soon as an alarm occurs a servo forced ...

Page 58: ...P2 EM1 NFB MC L1 1 phase 200 to 230VAC ALM RA1 DICOM DOCOM U V W Note 1 Note 2 CNP1 CNP3 PE CNP2 U V W 2 3 4 1 M Motor Encoder CN2 24VDC Note 3 Encoder cable Note 6 DOCOM Forced stop CN3 CN3 OFF Forced stop ON MC MC SK Note 4 Alarm RA1 Controller forced stop RA2 Servo amplifier Servo motor Note 5 Trouble Note 4 Note 5 Note 1 Always connect P1 P2 Factory wired When using the power factor improving ...

Page 59: ... Note 1 Always connect P1 P2 Factory wired The power factor improving DC reactor cannot be used 2 Always connect P D Factory wired When using the regenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit ...

Page 60: ...n using the power factor improving DC reactor refer to section 11 13 2 Always connect P D Factory wired When using the regenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magn...

Page 61: ...y wired When using the power factor improving DC reactor refer to section 11 13 2 When using the regenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after d...

Page 62: ...tor improving DC reactor refer to section 11 13 2 When using the regenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on ...

Page 63: ...y wired When using the power factor improving DC reactor refer to section 11 13 2 When using the regenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after d...

Page 64: ...nnect P1 P Factory wired When using the power factor improving DC reactor refer to section 11 13 2 When using the regenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic ...

Page 65: ...SW2 SW1 2 1 SW2 Between electrodes Control common Note8 Note8 CN1A CN1B MR J3 B Note7 SW1 2 1 SW2 Note8 CN1A CN1B MR J3 B Note7 SW1 2 1 SW2 Note8 Note13 14 24VDC Power supply Note10 Note3 4 Forced stop Note14 3 axis n axis Note6 SSCNET cable option Note6 SSCNET cable option Analog monitor 2 Max 1mA meter both directions Analog monitor 1 Max 1mA meter both directions 10k Encoder B phase pulse diffe...

Page 66: ...0m to 50m 50m 7 The wiring of the second and subsequent axes is omitted 8 Up to eight axes n 1 to 8 may be connected Refer to section 3 13 for setting of axis selection 9 Make sure to put a cap on the unused CN1A CN1B 10 Supply 24VDC 10 150mA current for interfaces from the outside 150mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the num...

Page 67: ...esistor connect between P D terminals Wired by default When using regenerative option disconnect between P D terminals and connect regenerative option to P terminal and C terminal 2 MR J3 350B4 500B 4 700B 4 MR J3 350B4 500B 4 and 700B 4 do not have D terminal When using servo amplifier built in regenerative resistor connect P terminal and C terminal Wired by default When using regenerative option...

Page 68: ...and within 3s the main circuit power supply is switched on Refer to paragraph 2 of this section 2 Timing chart 3s ON OFF ON OFF ON OFF 10ms 95ms 95ms Base circuit Servo on command from controller SON accepted Main circuit Control circuit power 3 Forced stop CAUTION Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately If the controller doe...

Page 69: ...ommended For CNP1 51241 0600 connector 56125 0128 terminal For CNP2 51240 0500 connector 56125 0128 terminal For CNP3 51241 0300 connector 56125 0128 terminal Crimping tool CNP57349 5300 Connector applicable cable example Cable finish OD to 3 8mm b Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is 8 to 9mm Sheath Core Twisted wire Use the cable ...

Page 70: ...2 MR J3 200B MR J3 350B a Servo amplifier power supply connectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 Connector for CNP1 PC4 6 STF 7 62 CRWH Phoenix Contact Applicable cable example Cable finish OD 5mm or less Connector for CNP3 PC4 3 STF 7 62 CRWH Phoenix Contact Connector for CNP2 Note 54927 0520 Molex Servo amplifier Applicable cable example Cable finish OD 3 8mm or less Note...

Page 71: ...ther Cable size Bar terminal type mm2 AWG For 1 cable For 2 cables Crimping tool Manufacturer 1 25 1 5 16 AI1 5 8BK AI TWIN2 1 5 8BK 2 0 2 5 14 AI2 5 8BU AI TWIN2 2 5 10BU CRIMPFOX ZA3 Phoenix Contact 3 5 12 AI4 10GY 2 CNP2 CNP2 is the same as MR J3 100B or smaller capacities Refer to 1 b of this section 3 MR J3 60B4 to MR J3 200B4 a Servo amplifier power supply connectors Applicable cable example...

Page 72: ...or CNP2 L11 L21 721 2205 026 000 WAGO JAPAN Using this connector enables passing a wire of control circuit power supply Refer to Appendix 3 for details of connector L21 L11 L21 L11 Power supply or Front axis Rear axis CNP2 Twin type connector for CNP2 4 Insertion of cable into Molex and WAGO JAPAN connectors Insertion of cable into 54928 0610 54927 0510 54928 Molex connectors and 721 207 026 000 7...

Page 73: ...nnection lever 1 The servo amplifier is packed with the cable connection lever a 54932 0000 Molex Unit mm M X J 5 4 9 3 2 7 7 4 7 Approx 3 4 9 10 20 6 3 4 6 5 Approx 4 9 Approx 7 7 Approx 3 4 b 231 131 WAGO JAPAN Unit mm 20 3 10 16 7 6 3 6 5 3 4 4 9 17 5 1 5 1 3 ...

Page 74: ...ach the cable connection lever to the housing Detachable 2 Push the cable connection lever in the direction of arrow 3 Hold down the cable connection lever and insert the cable in the direction of arrow 4 Release the cable connection lever Cable connection lever ...

Page 75: ...3 Approx 22 3 to 3 5 Approx R0 3 2 When using the flat blade screwdriver part 1 1 Insert the screwdriver into the square hole Insert it along the top of the square hole to insert it smoothly 2 If inserted properly the screwdriver is held 3 With the screwdriver held insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Page 76: ...Insert the screwdriver into the square window at top of the connector 2 Push the screwdriver in the direction of arrow 3 With the screwdriver pushed insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Page 77: ...t tightened enough to the connector the cable or connector may generate heat because of the poor contact When using a cable of 1 5mm 2 or less two cables may be inserted into one opening Secure the connector to the servo amplifier by tightening the connector screw For securing the cable and the connector use a flat blade driver with 0 6mm blade edge thickness and 3 5mm diameter Recommended flat bl...

Page 78: ...e connector is shown When using any other connector refer to section 11 1 2 9 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 BAT CN2 MDR MD CN4 CN2L CN2 CN1B CN1A CN3 CN5 CHARGE L2 U W V D L12 L11 C P N P1 P2 L3 L1 OPEN CN5 USB connector Refer to section 11 8 CN3 The frames of the CN2 and CN3 connectors are connected to the PE earth terminal in the amplifier Connector for the front axis of CN1A SSCNET cable Conn...

Page 79: ...for drive unit 30kW or more is safe with a voltage tester and others 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 Replace the battery with main circuit power OFF and with control circuit power ON Replacing the battery with the control circuit power OFF results in loosing absolute position data CN5 Commu...

Page 80: ...ached SA When using this signal make it usable by the setting of parameter No PD07 to PD09 When the servo is off SA will be turned OFF When servo motor rotation speed becomes approximately setting speed SA will be turned ON When the preset speed is 20r min or less SA always turns on This signal cannot be used in position loop mode DO 1 Limiting torque TLC When using this signal make it usable by t...

Page 81: ...otation direction and phase difference of the A and B phase pulses can be changed using parameter No PC03 Output pulse specification and dividing ratio setting can be set Refer to section 5 1 9 Encoder Z phase pulse Differential line driver LZ LZR CN3 8 CN3 18 Outputs the zero point signal in the differential line driver system of the encoder One pulse is output per servo motor revolution turns on...

Page 82: ...60ms or more NO Brake operation Brake operation Power on Power off Note Note Switch off the main circuit power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 32 overload 1 50 or overload 2 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor ma...

Page 83: ...prox 5 6k Analog monitor Servo amplifier 2 4 7 8 MR MRR MD MDR LG Encoder E Servo motor Note 1 USB M D GND VBUS D 1 2 3 5 CN5 LG 1 MBR DOCOM 24VDC Forced stop CN2 Note 3 Note 3 Approx 5 6k 10VDC 10VDC Note 1 Signal can be assigned for these pins with host controller setting For contents of signals refer to the instruction manual of host controller 2 This signal cannot be used with speed loop mode ...

Page 84: ...stor Approx 5mA Switch 150mA Servo amplifier EM1 etc 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 Permissible current 40mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the servo amplifier Refer to section 3 7 3 for the source out...

Page 85: ...LAR LBR LZR SD Servo amplifier Servo amplifier Am26LS32 or equivalent High speed photocoupler 150 100 b Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more Time cycle T is determined by the settings of parameter No PA15 and PC03 4 Analog output LG MO1 Servo amplifier Output voltage 10V Max 1mA Max Output current Resolution 10 bit MO2 ...

Page 86: ...tal input interface DI 1 EM1 etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 150mA Approx 5 6k 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the servo amplifier If polarity of diode is reversed servo amplifier will fail Servo amplifier ALM etc Load DOCOM 24VDC 10 150mA Note Note If the voltage drop maximum of 2 6V interferes with the relay opera...

Page 87: ...onductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath 1 For CN3 connector 3M connector Screw Screw Ground plate Cable 2 For CN2 connector 3M or Molex connector Screw Cable Ground plate ...

Page 88: ...CN1B CN1A Cap SSCNET cable SSCNET cable 2 How to connect disconnect cable POINT CN1A CN1B connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before mounting SSCNET cable Then when removing SSCNET cable make sure to put a cap Keep the cap for CN1A CN1B connector and the tube for protecting light code end of SSCNET cable in a plas...

Page 89: ... it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Click Tab b Removal With holding a tab of SSCNET cable connector pull out the connector When pulling out the SSCNET cable from servo amplifier be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty For SSCNET cable attach the tube for protecti...

Page 90: ...section indicates the connection of the servo motor power U V W Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor When the options are not available use the recommended products Refer to section 11 1 for details of the options 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the ser...

Page 91: ...ay connector for extension cable a Note Relay connector for motor power supply cable b MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 AWG 19 red AWG 19 white AWG 19 black U V W Servo motor Servo amplifier Extension cable 50m or less 2m or less U V W M AWG 19 green yellow Note Use of the following connectors is recommended when ing...

Page 92: ... Pin No 1 Pin No 1 For CM10 SP2S For CM10 SP10S a Wiring diagrams Refer to section 11 11 for the cables used for wiring 1 When the power supply connector and the electromagnetic brake connector are separately supplied Servo motor Note Servo amplifier M U V W B1 B2 U V W 24VDC power supply for electromagnetic brake 50m or less Forced stop EM1 Trouble ALM RA1 DC24V ALM DOCOM DICOM MBR CN3 RA1 RA2 El...

Page 93: ...tional equipment Refer to section 11 1 For types other than those prepared as optional equipment refer to chapter 3 in Servo Motor Instruction Manual Vol 2 to select Servo motor side connectors Servo motor Encoder Power supply Electromagnetic brake HF SP52 4 to 152 4 HF SP51 81 MS3102A18 10P HF SP202 352 502 4 HF SP121 to 301 MS3102A22 22P HF SP421 702 4 CE05 2A32 17RD B CM10 R2P DDK HC RP103 to 2...

Page 94: ...romagnetic brake power 24VDC There is no polarity Power supply connector signal allotment CE05 2A24 10PD B Brake connector signal allotment CM10 R2P Brake connector signal allotment MS3102A10SL 4P Terminal No Signal Terminal No Signal Terminal No Signal A U B1 B1 B V 1 Note A Note C W B2 B2 2 Note B Note D earth B1 E Note B2 F Note F E D G C B A View b G 1 2 View c A B View c Note For the motor wi...

Page 95: ...nterlock MBR RA2 RA3 M Cooling fan Note 2 24VDC power supply OHS2 OHS1 Servo motor thermal relay Note 3 L1 L2 L3 BU BV BW TE MC Note 1 When using the external dynamic brake refer to section 11 6 2 Cooling fan power supply of the HA LP601 the HA LP701M and the HA LP11K2 servo motor is 1 phase Power supply specification of the cooling fan is different from that of the servo amplifier Therefore separ...

Page 96: ... RA3 M Cooling fan Note 2 24VDC power supply OHS2 OHS1 Servo motor thermal relay Note 3 L1 L2 L3 BU BV BW TE MC Note4 Cooling fan power supply Note 1 When using the external dynamic brake refer to section 11 6 2 There is no BW when the power supply of the cooling fan is a 1 phase 3 Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal 4 Fo...

Page 97: ... 4 3 2 8 7 9 10 Brake connector signal allotment MS3102A10SL 4P 1 2 Note For the motor with electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity Terminal box inside HA LP601 4 701M 4 11K2 4 Terminal block signal arrangement U V W M6 screw Thermal sensor terminal block OHS1 OHS2 M4 screw Cooling fan terminal block BU BV M4 screw Encoder connector CM10 R10P Earth termi...

Page 98: ...al M6 screw Motor power supply terminal block U V W M8 screw U V W Terminal block signal arrangement U V W BU BV OHS1OHS2 BW Terminal box inside HA LP15K1 4 20K1 4 22K1M 4 Earth terminal M6 screw Thermal sensor terminal block Cooling fan terminal block Motor power supply terminal block OHS1 OHS2 M4 screw BU BV BW M4 screw U V W M8 screw CM10 R10P Encoder connector U V W Terminal block signal arran...

Page 99: ... BU W V U Encoder connector CM10 R10P Earth terminal M6 screw Thermal sensor terminal block Cooling fan terminal block Motor power supply terminal block OHS1 OHS2 M4 screw BU BV BW M4 screw U V W M10 screw Terminal block signal arrangement BV U V W BU BW OHS1OHS2 ...

Page 100: ... 22 60Hz HA LP25K1 120 50Hz 175 60Hz 0 65 50Hz 0 80 60Hz HA LP6014 701M4 11K24 400V class 1 phase 200 to 220VAC 50Hz 3 phase 200 to 230VAC 60Hz 42 50Hz 54 60hz 0 21 50Hz 0 25 60Hz HA LP8014 12K14 11K1M4 15K1M4 15K24 22K24 3 phase 380 to 440VAC 50Hz 3 phase 380 to 480VAC 60Hz 62 50Hz 76 60Hz 0 14 50Hz 0 11 60Hz HA LP15K14 20K14 22K1M4 65 50Hz 85 60Hz 0 12 50Hz 0 14 60Hz HA LP25K14 3 phase 380 to 46...

Page 101: ...Motor Instruction Manual Vol 2 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 2 T...

Page 102: ...eration delay time to prevent a drop Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on command from controller Electromagnetic brake operation delay time Tb Coasting 0 r min 95ms 95ms 2 Forced stop command from controller or forced stop EM1 ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid ...

Page 103: ... brake interlock MBR ON OFF Base circuit Servo motor speed No Yes Alarm ON OFF Main circuit Control circuit power 10ms Note Changes with the operating status 5 Only main circuit power supply off control circuit power supply remains on Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Invalid ON Valid OFF Alarm No Yes ON OFF Main circuit power supply Dynamic brake Dynamic br...

Page 104: ...ow on the customer side In this case the motor brake cable should be within 2m long Refer to section 11 8 for the wire used for the extension cable Note 2 a Relay connector for extension cable Note 2 b Relay connector for motor brake cable AWG20 AWG20 MR BKS1CBL2M A1 L MR BKS1CBL2M A2 L MR BKS1CBL2M A1 H MR BKS1CBL2M A2 H MR BKS2CBL03M A1 L MR BKS2CBL03M A2 L B1 B2 24VDC power supply for electroma...

Page 105: ...v 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 L1 L2 L3 L11 L21 CN1A NFB MC CN2 U V W M U V W Control box Servo amplifier Line filter Protective earth PE Outer box Servo motor Encoder Note Power supply Servo system controller Ensure to connect it to PE terminal of t...

Page 106: ...3 2 1 0 F E D C B A 9 Rotary axis setting switch SW1 Down Up Test operation select switch SW2 1 Set the test operation select switch to the Up position when performing the test operation mode by using MR Configurator Spare Be sure to set to the Down position Note SW2 Note This table indicates the status when the switch is set to Down Default Spare Rotary axis setting switch SW1 Description Display...

Page 107: ...3 52 3 SIGNALS AND WIRING MEMO ...

Page 108: ... machine connected Gain adjustment Actual operation Stop Check whether the servo amplifier and servo motor are wired correctly using visual inspection DO forced output function section 4 5 1 etc Refer to section 4 1 2 Check the surrounding environment of the servo amplifier and servo motor Refer to section 4 1 3 Confirm that the axis No settings for rotary axis setting switch SW1 and servo system ...

Page 109: ...or 2 The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals U V W To do so will fail the connected servo amplifier and servo motor U V W U V W M Servo amplifier Servo motor 3 The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier M Servo amplifier Servo motor 4 P1 P2 For 11kW or more P1 P should be connected...

Page 110: ...ving DC reactor should be connected across P1 P2 For 11kW to 22kW P1 P Refer to section 11 13 P1 P2 Servo amplifier Note Power factor improving DC reactor Note Always disconnect the wiring across P1 P2 For 11k to 22kW P1 P 2 I O signal wiring a The I O signals should be connected correctly Use DO forced output to forcibly turn on off the pins of the CN3 connector This function can be used to perfo...

Page 111: ...e initial value is selected After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 3 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 The controller transmits the servo on command When placed in the servo on status the servo amplifier is ready to operate and the servo ...

Page 112: ...ote1 When alarm warning No is displayed Flicker display Flicker display Flicker display If warning other than E6 or E7 occurs during the servo on flickering the second place of decimal point indicates that it is during the servo on Note 1 2 3 The right hand segments of b01 c02 and d16 indicate the axis number Below example indicates Axis1 Initial data communication with servo system controller Ini...

Page 113: ...itializing completion During the completion process for initial data communication with servo system controller A A Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on Note 1 b Ready OFF The ready off signal from the servo system controller was received Note 1 d Servo ON The ready off signal from the servo system controlle...

Page 114: ... section 4 5 for the test operation mode In this step confirm that the servo motor rotates correctly under the commands from the controller Make sure that the servo motor rotates in the following procedure Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal In this step connec...

Page 115: ... system controller is connected or not Exercise control on the jog operation screen of the MR Configurator 1 Operation pattern Item Initial value Setting range Speed r min 200 0 to max speed Acceleration deceleration time constant ms 1000 0 to 50000 2 Operation method Operation Screen control Forward rotation start Click the Forward button Reverse rotation start Click the Reverse button Stop Click...

Page 116: ...utput signal DO forced output Output signals can be switched on off forcibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the DO forced output screen of the MR Configurator 2 Operation procedure a Jog operation positioning operation program operation DO forced output 1 Switch power off 2 Set SW2 1 to UP SW2 DOWN UP 1 2 Set SW2 1 to UP W...

Page 117: ... Same as servo motor inertia moment b Alarms The following alarms and warning do not occur However the other alarms and warnings occur as when the servo motor is connected Encoder error 1 16 Encoder error 2 20 Absolute position erasure 25 Battery cable breakage warning 92 Battery warning 9F Converter error 1B Note 1 Converter warning 9C Note 1 Main circuit off warning E9 Note 2 Note 1 Alarm and wa...

Page 118: ...ting of the basic parameters at the time of introduction 5 1 Basic setting parameters No PA POINT Parameter whose symbol is preceded by is made valid with the following conditions Set the parameter value switch power off once after setting and then switch it on again or perform the controller reset Set the parameter value switch power off once and then switch it on again Never change parameters fo...

Page 119: ...ing parameter settings With the setting of parameter No PA19 write can be disabled to prevent accidental changes The following table indicates the parameters which are enabled for reference and write by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 Setting Setting Operation Basic Setting Parameters No PA Gain Filter Parameters No PB Extensi...

Page 120: ...nverter Selection of regenerative option 00 Regenerative option is not used For servo amplifier of 100W regenerative resistor is not used For servo amplifier of 200 to 7kW built in regenerative resistor is used Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW For a drive unit of 30kW or more select regenerative option by the converter unit 01 F...

Page 121: ...r 12 0 Used in incremental system 1 Used in absolute position detection system Parameter No PA03 0 0 0 5 1 5 Forced stop input selection Parameter No Symbol Name Initial Value Unit Setting Range PA04 AOP1 Function selection A 1 0000h Refer to the text POINT This parameter is made valid when power is switched off then on after setting or when the controller reset has been performed The servo forced...

Page 122: ...gain adjustment mode Gain adjustment mode setting Parameter No PA08 0 0 0 Setting Gain adjustment mode Automatically set parameter No Note Interpolation mode Auto tuning mode 1 Auto tuning mode 2 Manual mode 0 1 2 3 PB06 PB08 PB09 PB10 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10 Note The parameters have the following names Parameter No Name PB06 Ratio of load inertia moment to servo motor inertia...

Page 123: ...0 95 9 5 16 1 21 108 0 6 18 1 22 121 7 7 20 4 23 137 1 8 23 0 24 154 4 9 25 9 25 173 9 10 29 2 26 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 Middle response 59 6 32 Middle response 400 0 5 1 7 In position range Parameter No Symbol Name Initial Value Unit Setting Range PA10 INP In position range 100 pulse 0 to 65535 POINT This parameter cannot be u...

Page 124: ...tation CW 5 1 9 Encoder output pulse Parameter No Symbol Name Initial Value Unit Setting Range PA15 ENR Encoder output pulse 4000 pulse rev 1 to 65535 POINT This parameter is made valid when power is switched off then on after setting or when the controller reset has been performed Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A...

Page 125: ...A B phase pulses are as indicated below 4 5600 A B phase output pulses 1400 pulse 2 For output division ratio setting Set 1 in parameter No PC03 The number of pulses per servo motor revolution is divided by the set value Output pulse pulses rev Resolution per servo motor revolution Set value For instance set 8 to Parameter No PA15 the actually output A B phase pulses are as indicated below A B pha...

Page 126: ... 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch form selection 2 0000h PB17 Automatic setting parameter PB18 LPF Low pass filter 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting 100 0 Hz PB21 For manufacturer setting 0 00 PB22 0 00 PB23 VFBF Low pass filter se...

Page 127: ...cy Response of mechanical system Notch depth Filter tuning mode selection 0 0 0 0000h Setting Filter adjustment mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after positioning is done the predetermined nu...

Page 128: ... control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values When this parameter is set to 1 the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time and the setting changes to 2 When the vibration suppression control tunin...

Page 129: ...meter can be set manually 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is automatically used When parameter No PA08 is set...

Page 130: ...5 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 4500 Hz 100 to 4500 PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 Notch depth selection Setting value Depth Gain 0 40dB Deep 1 14dB 2 8dB 3 4dB Shallow to...

Page 131: ...n Refer to section 7 4 4 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 Hz 0 1 to 100 0 PB21 0 00 PB22 For manufacturer setting Do not change this value by any means 0 00 PB23 VFBF Low pass filter selection Select the low pass filter Low pass filter selection 0...

Page 132: ...g ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 3 7 0 times 0 to 300 0 PB30 PG2B Gain changing position loop gain This parameter cannot be used in the speed control mode Set the position loop gain when the...

Page 133: ...ession control when the gain changing is valid This parameter is made valid when the parameter No PB02 setting is 2 and the parameter No PB26 setting is 1 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped 100 0 Hz 0 1 to 100 0 PB35 0 00 PB36 For manufacturer setting Do not change this value by any means 0 00 PB37 100 PB38 0 0 P...

Page 134: ... PC05 COP2 Function selection C 2 0000h PC06 COP3 Function selection C 3 0000h PC07 ZSP Zero speed 50 r min PC08 For manufacturer setting 0 PC09 MOD1 Analog monitor 1 output 0000h PC10 MOD2 Analog monitor 2 output 0001h PC11 MO1 Analog monitor 1 offset 0 mV PC12 MO2 Analog monitor 2 offset 0 mV PC13 MOSDL Analog monitor feedback position output standard data Low 0 pulse PC14 MOSDH Analog monitor f...

Page 135: ...ect the encoder output pulse direction and encoder pulse output setting CW Encoder pulse output phase changing Changes the phases of A B phase encoder pulses output A phase B phase CCW Servo motor rotation direction Set value 0 1 Encoder output pulse setting selection refer to parameter No PA15 0 Output pulse designation 1 Division ratio setting 0 0 A phase B phase A phase B phase A phase B phase ...

Page 136: ...Note 1 3 Servo motor speed 8V max speed Torque 8V max torque Note 2 Servo motor speed 8V max speed Torque 8V max torque Note 2 Current command 8V max current command Speed command 8V max current command Droop pulses 10V 100 pulses Note 1 Droop pulses 10V 1000 pulses Note 1 Droop pulses 10V 10000 pulses Note 1 Droop pulses 10V 100000 pulses Note 1 Feedback position 10V 1 Mpulses Note 1 3 Feedback p...

Page 137: ...ot change this value by any means 0000h PC17 COP4 Function Selection C 4 Home position setting condition in the absolute position detection system can be selected Selection of home position setting condition 0 Need to pass motor Z phase after the power supply is switched on 1 Not need to pass motor Z phase after the power supply is switched on 0 0 0 0000h Refer to Name and function column PC18 000...

Page 138: ...onitor 2 MO2 999 to 999 2 Set content The servo amplifier is factory set to output the servo motor speed to analog monitor 1 MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No PC14 and PC12 value Refer to 3 for the measurement point Setting Output item Description Setting Output item Description 0 Servo motor speed Max speed CW directio...

Page 139: ... Note 1 10V 100000 pulses 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V A Feedback position Note 1 2 10V 1 Mpulses 1M pulse CW direction CCW direction 1M pulse 0 10 V 10 V B Feedback position Note 1 2 10V 10 Mpulses 10M pulse CW direction CCW direction 10M pulse 0 10 V 10 V C Feedback position Note 1 2 10V 100 Mpulses 100M pulse CW direction CCW direction 100M pulse 0 10 V 10 V ...

Page 140: ...ut range of feedback position The setting range is between 99999999 and 99999999 pulses Standard position of feedback position Parameter No PC14 setting value 10000 Parameter No PC13 setting value Parameter No Description Setting range PC13 Sets the lower order four digits of the standard position of feedback position 9999 to 9999 pulse PC14 Sets the higher order four digits of the standard positi...

Page 141: ... PD02 0000h PD03 0000h PD04 0000h PD05 0000h PD06 0000h PD07 DO1 Output signal device selection 1 CN3 13 0005h PD08 DO2 Output signal device selection 2 CN3 9 0004h PD09 DO3 Output signal device selection 3 CN3 15 0003h PD10 For manufacturer setting 0000h PD11 0004h PD12 0000h PD13 0000h PD14 DOP3 Function selection D 3 0000h PD15 For manufacturer setting 0000h PD16 0000h PD17 0000h PD18 0000h PD1...

Page 142: ... 04 INP Note 1 0E For manufacturer setting Note 3 05 MBR 0F CDPS 06 DB 10 For manufacturer setting Note 3 07 TLC 11 ABSV Note 1 08 WNG 12 to 1F For manufacturer setting Note 3 09 BWNG 20 to 3F For manufacturer setting Note 3 Note 1 It becomes always OFF in speed control mode 2 It becomes SA in speed control mode 3 For manufacturer setting Never change this setting PD08 DO2 Output signal device sel...

Page 143: ...ce Select the warning WNG and trouble ALM output status at warning occurrence 0 1 Setting 0 1 0 1 WNG ALM Warning occurrence 0 1 0 1 WNG ALM Warning occurrence Note Device status Note 0 off 1 on Output of Servo amplifier 0000h Refer to Name and function column PD15 0000h PD16 For manufacturer setting Do not change this value by any means 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0000h...

Page 144: ...rameters Manually set parameters Auto tuning mode 1 initial value 0001 Always estimated GD2 parameter No PB06 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC parameter No PB10 Response level setting of parameter No 2 Auto tuning mode 2 0002 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC parameter No PB10 GD2 parameter No PB06 Response level setting of p...

Page 145: ...Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter You can automa...

Page 146: ...rformed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torqu...

Page 147: ...rtia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No PA08 0002 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No 34 manually From the preset load inertia moment ratio parameter No PB06 value and response level parameter No PA09 the optimum loo...

Page 148: ...cedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfie...

Page 149: ...sion filter parameter No PB13 to PB16 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 3 for filter tuning mode and machine resonance suppression filter Setting of parameter No PA09 Machine characteristic Response level setting Machine rigidity Machine resonance frequency guideline Guideline of corresponding...

Page 150: ... to servo motor inertia moment If the estimate value with auto tuning is correct setting change is not required 4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the s...

Page 151: ...ation set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression 2000 to 3000 Speed loop gain setting 1 ratio of l...

Page 152: ...tegral 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 compensation within the vibration free range and return slightly if vibration takes place Decrease the time constant of the speed integral compensation 7 Increase the position loop gain and retur...

Page 153: ...element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression 2000 to 3000 Speed loop gain 2 setting Speed integral compensation setting ms 1 ratio of load inertia moment to servo motor inertia moment 2 setting 3 Model loop gain PG1 Parameter No PB07 This parameter determines the response level to a posit...

Page 154: ...he auto tuning mode Select the auto tuning mode 1 2 During operation increase the response level setting parameter No PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check the values of model loop gain Check the upper setting limits 4 Set the interpolation mode parameter No PA08 0000 Select the interpolation mode 5 Set the model loop gain of all the axes to be in...

Page 155: ...e Resonance Frequency Hz Parameter No PA09 Setting Guideline for Machine Resonance Frequency Hz 1 10 0 2 11 3 3 12 7 1 15 4 14 3 5 16 1 6 18 1 2 20 7 20 4 8 23 0 3 25 9 25 9 4 30 10 29 2 11 32 9 5 35 12 37 0 13 41 7 6 45 14 47 0 7 55 15 52 9 16 59 6 8 70 17 67 1 18 75 6 9 85 19 85 2 20 95 9 A 105 21 108 0 22 121 7 B 130 23 137 1 C 160 24 154 4 25 173 9 D 200 26 195 9 27 220 6 E 240 28 248 5 29 279...

Page 156: ...filter 1 Function Adaptive filter adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Mechanica...

Page 157: ...ode parameter No PB01 Filter tuning mode selection 0 0 0 Parameter No 60 Setting Filter adjustment mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values ...

Page 158: ...r No PB01 turns to 0002 or 0000 Decrease the response until vibration or unusual noise is resolved End Yes No No Yes Increase the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set parameter No PB01 to 0001 If assumption fails after tuning is execut...

Page 159: ...achine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency gain decreasing depth and width Mechanical system response level Machine resonance point Frequency Notch depth Notch frequency Frequency Notch width Notch depth You can u...

Page 160: ...ion may increase if you set a wrong resonance frequency or a too deep notch If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A deeper notc...

Page 161: ...rameter No PB02 0 0 0 Parameter No PB02 Vibration suppression control tuning mode Setting Vibration Suppression Control Tuning Mode Automatically Set Parameter 0 Vibration suppression control OFF Note 1 Vibration suppression control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values PO...

Page 162: ...ed Execute or re execute vibration suppression control tuning Set parameter No PB02 to 0001 Decrease the response until vibration of workpiece end device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using the machine analyzer or from machine end vibration waveform set the vibration su...

Page 163: ...tor machine analyzer or external FFT equipment 1Hz 90deg 100Hz Gain characteristic Phase Vibration suppression control vibration frequency Anti resonance frequency Parameter No PB19 Vibration suppression control resonance frequency Parameter No PB20 Resonance of more than 100Hz is not the target of control b When vibration can be confirmed using monitor signal or external sensor t t Motor end vibr...

Page 164: ...cy can be confirmed using the machine analyzer or external FFT device do not set the same value but set different values to improve the vibration suppression performance A vibration suppression control effect is not produced if the relationship between the model loop gain parameter No PB07 value and vibration frequency is as indicated below Make setting after decreasing PG1 e g reduce the response...

Page 165: ...ction parameter No PB23 Parameter No PB23 Low pass filter selection 0 Automatic setting initial value 1 Manual setting parameter No PB18 setting 7 6 Gain changing function This function can change the gains You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation 7 6 1 Applications This function is used when 1 You want to inc...

Page 166: ...6 GD2B Parameter No PB29 PG2 Parameter No PB08 PG2B Parameter No PB30 VG2 Parameter No PB09 VG2B Parameter No PB31 VIC Parameter No PB10 VICB Parameter No PB32 CDS Parameter No PB27 VRF1 Parameter No PB19 VRF1B Parameter No PB33 VRF2 Parameter No PB20 VRF2B Parameter No PB34 Command pulse frequency Droop pulses Model speed Control command of controller Comparator Changing Valid GD2 value Valid PG2...

Page 167: ...fter changing PB30 PG2B Gain changing position loop gain 2 rad s Used to set the value of the after changing position loop gain 2 PB31 VG2B Gain changing speed loop gain 2 rad s Used to set the value of the after changing speed loop gain PB32 VICB Gain changing speed integral compensation ms Used to set the value of the after changing speed integral compensation PB26 CDP Gain changing selection Us...

Page 168: ...in the first digit and second digit If you set 1 in the first digit here you can use the control command from controller is valid for gain changing Gain changing selection Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB32 settings 0 Invalid 1 Control command from controller is valid 2 Command frequency Parameter No PB27 setting 3 Droop pulse value...

Page 169: ...Gain changing speed integral compensation 50 ms PB26 CDP Gain changing selection 0001 Changed by ON OFF of Input signal PB28 CDT Gain changing time constant 100 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Used to set the value of the after changing vibration suppression control vibration frequency setting Hz PB34 VRF2B Gain changing vibration suppression c...

Page 170: ...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 selection 0003 Changed by droop pulses PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Changing operation CDT 100ms 0 Droop pulses pulses Change of each gain CDS CDS Before chang...

Page 171: ...7 16 7 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 172: ...E1 Overload warning 1 15 Memory error 2 EEP ROM E3 Absolute position counter warning 16 Encoder error 1 At power on E4 Parameter warning 17 Board error E6 Servo forced stop warning 19 Memory error 3 Flash ROM E7 Controller forced stop warning 1A Motor combination error E8 Cooling fan speed reduction warning 20 Encoder error 2 E9 Main circuit off warning 24 Main circuit error EC Overload warning 2 ...

Page 173: ...rative error 30 Overload 1 50 Overload 2 51 The alarm can be deactivated by switching power off then on or by the error reset command CPU reset from the servo system controller For details refer to section 8 1 When an alarm occurs the trouble ALM switches off and the dynamic brake is operated to stop the servomotor At this time the display indicates the alarm No The servo motor comes to a stop Rem...

Page 174: ...switched on after disconnection of all cables but the control circuit power supply cable Change the servo amplifier 1A Motor combination error Wrong combination of servo amplifier and servo motor Wrong combination of servo amplifier and servo motor connected Use correct combination 1 Encoder connector CN2 disconnected Connect correctly 2 Encoder cable faulty Wire breakage or shorted Repair or chan...

Page 175: ...erative option Change the servo amplifier 1 Small acceleration deceleration time constant caused overshoot to be large Increase acceleration deceleration time constant 2 Servo system is instable to cause overshoot 1 Re set servo gain to proper value 2 If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant 31 Overspeed S...

Page 176: ...Change the cable 34 Receive error 1 SSCNET communication error Continuously communication error with about 3 5ms interval 4 Noise entered the servo amplifier Take noise suppression measures 5 Optical characteristic of SSCNET cable deteriorated because vinyl tape and or wire sheath which contains migrating plasticizer adhered to the cable Remove the vinyl tape and or wire sheath which contains migr...

Page 177: ...piration Refer to section 2 5 Change the cooling fan of the servo amplifier Foreign matter caught in the cooling fan stopped rotation Remove the foreign matter 47 Cooling fan error The cooling fan of the servo amplifier stopped or its speed decreased to or below the alarm level The power supply of the cooling fan failed Change servo amplifier 1 Servo amplifier is used in excess of its continuous o...

Page 178: ...alue is small Increase set value and adjust to ensure proper operation 5 Servo motor shaft was rotated by external force 1 When torque is limited increase the limit value 2 Reduce load 3 Use servo motor that provides larger output 6 Machine struck something 1 Review operation pattern 2 Install limit switches 7 Encoder faulty Change the servo motor 8 Wrong connection of servo motor Servo amplifier ...

Page 179: ...on Cause Action 1 Battery cable is open Repair cable or changed 92 Open battery cable warning Absolute position detection system battery voltage is low 2 Battery voltage supplied from the servo amplifier to the encoder fell to about 3V or less Detected with the encoder Change battery 1 Droop pulses remaining are greater than the in position range setting Remove the cause of droop pulse occurrence ...

Page 180: ... E8 Cooling fan speed reduction warning The speed of the servo amplifier decreased to or below the warning level This warning is not displayed with MR J3 70B 100B among servo amplifiers equipped with a cooling fan The power supply of the cooling fan is broken Change servo amplifier E9 Main circuit off warning Servo on command was issued with main circuit power off Switch on main circuit power EC O...

Page 181: ...8 10 8 TROUBLESHOOTING MEMO ...

Page 182: ...230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 0 8 kg 1 76 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Terminal signal layout Screw size M4 Tightening torque 1 2 N m 10 6 lb in For 3 phase or 1 phase 200 to 230VAC L1 L2 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 For 1 phase 100 to 120VAC Mounting hole process...

Page 183: ... the 3 phase or 1 phase 200 to 230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 1 0 kg 2 21 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Terminal signal layout Screw size M4 Tightening torque 1 2 N m 10 6 lb in P C D L11 L21 U V W CNP3 CNP2 For 3 phase or 1 phase 200 to 230VAC L1 L2 N P1 P2 CNP1 For 1 phase 100 ...

Page 184: ...5 Approx 68 With MR J3BAT 6 mounting hole 6 42 Mass 1 4 kg 3 09 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Terminal signal layout Screw size M4 Tightening torque 1 2 N m 10 6 lb in 3 M5 screw Approx 60 Approx 6 Approx 12 42 0 3 Approx 60 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in ...

Page 185: ...pprox 80 6 Approx 68 Mass 1 7 kg 3 75 lb L1 L2 L3 N P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Terminal signal layout P1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in Approx 60 42 0 3 Approx 12 Approx 6 Approx 60 Mounting hole process drawing 3 M5 screw ...

Page 186: ...n wind direction Approx 68 6 85 With MR J3BAT 6 Mass 2 3 kg 5 07 lb U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Terminal signal layout PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Approx 90 78 0 3 Approx 6 Approx 6 3 M5 screw Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in ...

Page 187: ...nting hole With MR J3BAT Approx 68 6 Mass 2 1 kg 4 63 lb L1 L2 L3 N P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Terminal signal layout P1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in Approx 90 78 0 3 Approx 6 Approx 6 3 M5 screw Mounting hole process drawing ...

Page 188: ...que 1 2 N m Terminal signal layout PE terminal C U P1 P2 Built in regenerative resistor lead terminal fixing screw Terminal screw M3 5 Note Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m 10 6 lb in 7 08 lb in 10 6 lb in 10 6 lb in Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier manufactured...

Page 189: ... layout PE terminal C U P1 P2 Terminal screw M3 5 Note Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Built in regenerative resistor lead terminal fixing screw 10 6 lb in 10 6 lb in 10 6 lb in 7 08 lb in Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier manufactured in April 2007 or later Scr...

Page 190: ...R J3 11KB 4 18 0 40 MR J3 15KB 4 18 0 40 MR J3 22KB 4 19 0 42 Mass kg lb Mounting hole process drawing L1 L2 L3 U V W P1 P C N V W N L1 L2 L3 P Terminal signal layout C U P1 L11 L21 Screw size Tightening torque lb in N m Screw size 3 0 M8 6 0 M4 1 2 M4 1 2 Servo amplifier Screw size Tightening torque N m Ib in Mounting screw M10 26 5 234 5 Tightening torque lb in N m TE L11 L21 M6 MR J3 11KB 4 MR ...

Page 191: ...7 4 8 13 4 15 6 7 9 3 17 6 0 2 8 2 3 1 7 4 8 13 4 15 6 7 9 3 17 6 0 2 20 9 0 2 8 2 Miniature delta ribbon MDR system 3M a One touch lock type Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D Each type of dimension Connector Shell kit A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 ...

Page 192: ...on Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Each type of dimension Connector Shell kit A B C D E F 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 27 4 3 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 ...

Page 193: ...9 12 9 OUTLINE DRAWINGS MEMO ...

Page 194: ... will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque When you carry out adhesion mounting of the servo amplifier make circumference temperature into 0 to 45 or use it at 75 or smaller effective load ratio 1000 100 10 1 0 1 0 50 150 200 250 300 100 Note Load ratio Operation time s During operation During servo lock MR J3 10B 1 1000 1...

Page 195: ...f operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30r min or less low speed operation status the servo amplifier may fail even when the electronic thermal relay protection is not activated Fig 10 1 Electronic thermal relay protection characteristics ...

Page 196: ...rvo motor Note 1 Power supply capacity kVA At rated torque With servo off m2 HF MP053 0 3 25 15 0 5 HF MP13 0 3 25 15 0 5 MR J3 10B 1 HF KP053 13 0 3 25 15 0 5 HF MP23 0 5 25 15 0 5 MR J3 20B 1 HF KP23 0 5 25 15 0 5 HF MP43 0 9 35 15 0 7 MR J3 40B 1 HF KP43 0 9 35 15 0 7 HF SP52 4 1 0 40 15 0 8 HF SP51 1 0 40 15 0 8 MR J3 60B 4 HC LP52 1 0 40 15 0 8 HF MP73 1 3 50 15 1 0 HF KP73 1 3 50 15 1 0 MR J...

Page 197: ...1M 4 16 0 530 45 11 0 HC LP15K2 4 22 0 640 45 13 0 HC LP15K1 4 22 0 640 45 13 0 MR J3 15KB HC LP15K1M 4 22 0 640 45 13 0 HC LP22K2 4 33 0 850 55 17 0 HC LP20K1 4 30 1 775 55 15 5 HC LP25K1 37 6 970 55 19 4 MR J3 22KB HC LP22K1M 4 33 0 850 55 17 0 Note 1 Note that the power supply capacity will vary according to the power supply impedance This value assumes that the power factor improving reactor i...

Page 198: ...e Refer to Table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat di...

Page 199: ...eed rate mm min in min JM Servo motor inertial moment kg cm 2 oz in 2 JL Load inertia moment converted into equivalent value on servo motor shaft kg cm 2 oz in 2 Brake time constant s te Delay time of control section s For 7kW or less servo there is internal relay delay time of about 30ms For 11k to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a delay o...

Page 200: ...0 1000 1500 2000 11K1M 15K1M 22K1M 701M Time constant ms HA LP1000r min series HA LP1500r min series Speed r min 0 0 500 1000 1500 2000 80 60 40 20 11K2 15K2 22K2 502 702 Time constant ms Time constant ms 0 0 52 500 1000 1500 2000 202 200 152 102 160 120 80 40 302 Speed r min HA LP2000r min series HC LP series b 400V class servo motor Time constant ms Speed r min 5024 0 1000 2000 3000 0 075 0 060 ...

Page 201: ...value the built in dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact Mitsubishi The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor Servo motor Servo amplifier HF KP HF MP HF SP 1 HF SP 2 HC RP HC UP HC LP HA LP 1 HA LP 1M HA LP 2 MR J3 10B 1 30 30 MR J3 20B 1 30 30 MR J3 4...

Page 202: ...e flexing life The flexing life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values 1 107 5 107 1 108 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 a b Flexing life times 4 7 10 20 40 70 100 200 Flexing radius mm a Long flexing life encoder cable Long flexing life motor power cable Long flexing life motor brak...

Page 203: ...d to approx 0A in 1 to 2ms MR J3 500B 44A Attenuated to approx 20A in 20ms MR J3 700B 88A Attenuated to approx 20A in 20ms MR J3 11KB MR J3 15KB MR J3 22KB 235A Attenuated to approx 20A in 20ms 30A Attenuated to approx 0A in 3ms MR J3 60B4 100B4 100A Attenuated to approx 5A in 10ms MR J3 200B4 120A Attenuated to approx 12A in 20ms 40 to 50A Attenuated to approx 0A in 2ms MR J3 350B4 500B4 66A Atte...

Page 204: ...t the voltage between P and N is safe with a voltage tester and others 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 CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 11 1 Cable connector sets As the cables and connectors used with this servo purchase ...

Page 205: ...ttachment Note CN4 Servo amplifier CN5 CN1A CN1B CN2 CN3 Servo motor HF MP HF KP 21 22 23 19 20 3 4 5 6 7 8 13 14 9 10 11 12 To 24VDC power supply for electromagnetic brake 31 Encoder connector Brake connector Power supply connector Servo motor HF SP 24 25 27 26 28 29 30 Power supply connector Brake connector Encoder connector Junction type cable length more than 10m IP20 CN4 Battery MR J3BAT To n...

Page 206: ...us page a From previous page b No Product Model Description Application 1 Servo amplifier power supply connector CNP1 connector 54928 0610 Molex CNP2 connector 54927 0510 Molex CNP3 connector 54928 0310 Molex Supplied with servo amplifiers of 1kW or less in 100V class and 200V class Applicable cable example Wire size 0 14mm2 AWG26 to 2 5mm2 AWG14 Cable finish OD to 3 8mm REC Lever 54932 0000 Molex...

Page 207: ...1 131 WAGO JAPAN 3 Motor power supply cable MR PWS1CBL M A1 L Cable length 2 5 10m IP65 Load side lead 4 Motor power supply cable MR PWS1CBL M A1 H Cable length 2 5 10m Power supply connector HF MP series HF KP series Refer to section 11 1 3 for details IP65 Load side lead Long flex life 5 Motor power supply cable MR PWS1CBL M A2 L Cable length 2 5 10m IP65 Opposite to load side lead 6 Motor power...

Page 208: ...CBL03M A2 L Cable length 0 3m Brake connector HF MP series HF KP series Refer to section 11 1 4 for details IP55 Opposite to load side lead 15 Encoder cable MR J3ENCBL M A1 L Cable length 2 5 10m IP65 Load side lead 16 Encoder cable MR J3ENCBL M A1 H Cable length 2 5 10m Encoder connector HF MP series HF KP series Refer to section 11 1 2 1 for details IP65 Opposite to load side lead Long flex life...

Page 209: ...aight plug CM10 SP2S L Socket contact CM10 22SC S2 100 DDK For HF SP series IP67 28 Power supply connector set MR PWCNS4 Plug CE05 6A18 10SD D BSS Cable clamp CE3057 10A 1 D DDK Example of applicable cable Applicable wire size 2mm2 AWG14 to 3 5mm2 AWG12 Cable finish D 10 5 to 14 1mm For HF SP51 81 For HF SP52 152 IP67 29 Power supply connector set MR PWCNS5 Plug CE05 6A22 22SD D BSS Cable clamp CE...

Page 210: ...ilar product 37 Junction terminal block Recommend ed PS7DW 20V14B F YOSHIDA ELECTRIC INDUSTRY CO LTD MR J2HBUS M Junction terminal block PS7DW 20V14B F is not available from us as option For using the junction terminal block our option MR J2HBUS M is necessary Refer to section 11 7 for details 38 Break connector set MR BKCN Plug D MS3106A10SL 4S D190 DDK For cable connector YS010 5 8 Daiwa Dengyo ...

Page 211: ... Servo amplifier 2 1 Servo motor HF MP HF KP MR J3ENCBL M A2 L MR J3ENCBL M A2 H 2 1 Servo motor HF MP HF KP 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 MR J3ENCBL M A1 H MR J3ENCBL M A2 L MR J3ENCBL M A2 H 1 3 7 9 4 2 8 6 10 5 Note Signal layo...

Page 212: ...L40M 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 Length Cable Model 2m 5m 10m 20m 30m 40m 50m...

Page 213: ...Note Signal layout View seen from wiring side or 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT Note Signal layout View seen from wiring side MRR LG P5 MR BAT MDR MD MDR MD Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Housing 1 172161 9 Crimping pin 170359 1 Tyco Electronics or ...

Page 214: ...7 9 SD 1 2 8 9 P5G MR MRR SHD P5E BAT BAT Note Plate MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Servo amplifier side Encoder side P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD 1 2 8 9 P5G MR MRR MDR MD SHD P5E 6 CONT BAT BAT Note Plate Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system When fabricating the cable use t...

Page 215: ...ex Encoder side connector Housing 1 172161 9 Connector pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industries 3 MR J3JCBL03M A1 L MR J3JCLB03M 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 Protective Structure Flex Life Application MR J3JCBL...

Page 216: ...t 1473226 1 Cable clamp 316454 1 Tyco Electronics MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD Signal layout View seen from wiring side CONT Connector 1674320 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 Tyco Electronics 9 SHD 7 MDR 5 MR 3 P5 1 CONT 8 MD 6 P5G 4 MRR 2 BAT View seen from wiring Signal layout b Internal wiring diagram P5 LG 7 8 MR MRR 1 2 1...

Page 217: ...onnector Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex MR J3ENSCBL M L MR J3ENSCBL M H 1 3 7 9 4 2 8 6 10 5 Note Signal layout View seen from wiring side or 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT Note Signal layout View seen from wiring side MRR LG P5 MR BAT Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is con...

Page 218: ...2 MR MRR 3 4 4 8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT MR J3ENSCBL50M H MR J3ENSCBL40M H MR J3ENSCBL30M H MR J3ENSCBL20M H c When fabricating the encoder cable When fabricating the cable prepare the following parts and tool and fabricate it according to the wiring diagram in b Refer to section 11 8 for the specifications of the used cable Parts Tool Description Connector set MR J3SCNS Option Serv...

Page 219: ... SP servo motor a Connection of servo amplifier and servo motor Servo amplifier 1 2 Servo motor Note Encoder cable MR J3BTCBL03M 3 Battery CN2 Note For the detector cable refer to 1 2 3 and 4 of this section Cable Model 1 For CN2 Connector 1 Junction Connector 2 For Battery Connector MR J3BTCBL03M Receptacle 36210 0100PL Shell kit 536310 3200 008 3M Or Connector set 54599 1019 Molex Plug 36110 300...

Page 220: ... lead MR PWS2CBL M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor Servo amplifier 1 CNP3 connector supplied with servo amplifier Servo motor HF MP HF KP MR PWS1CBL M A2 L MR PWS1CBL M A2 H MR PWS2CBL03M A2 L CNP3 1 Servo motor HF MP HF KP MR PWS1CBL M A1 L MR PWS1CBL M A1 H MR PWS2CBL03M A1 L or Cable Model 1 For Motor P...

Page 221: ... MP HF KP servo motor Load side lead MR PWS2CBL M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor 1 Servo motor HF MP HF KP 24VDC power supply for electromagnetic brake MR BKS1CBL M A2 L MR BKS1CBL M A2 H MR BKS2CBL03M A2 L 1 Servo motor HF MP HF KP MR BKS1CBL M A1 L MR BKS1CBL M A1 H MR BKS2CBL03M A1 L or Cable Model 1 F...

Page 222: ... A 5 10 20 Standard Using outside panel standard cable Note MR J3BUS M B 30 40 50 Long flex Using long distance cable Note For cable of 30m or less contact our company 2 Specifications Description SSCNET cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET cable length 0 15m 0 3 to 3m 5 to 20m 30 to 50m Minimum bend radius 25mm Enforced covering cord 50mm Cord 25mm Enforced covering cord 50mm C...

Page 223: ... 100 L Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table shown in 1 of this section for cable length L Distortion dimension mm SSCNET cable A B MR J3BUS5M A to MR J3BUS20M A 100 30 MR J3BUS30M B to MR J3BUS50M B 150 50 Unit mm A A L Note Protective tube B B Note Dimension of co...

Page 224: ...00 300 500 MR J3 350B 100 300 500 MR J3 500B 130 300 500 MR J3 700B 170 300 500 Regenerative power W Servo amplifier Built in regenerative resistor MR RB1H 4 82 MR RB3M 4 120 MR RB3G 4 47 Note 1 MR RB5G 4 47 MR RB34 4 26 Note 1 MR RB54 4 26 MR J3 60B4 20 100 300 MR J3 100B4 20 100 300 MR J3 200B4 100 300 500 MR J3 350B4 100 300 500 MR J3 500B4 130 300 500 MR J3 700B4 170 300 500 Note 2 Regenerativ...

Page 225: ... cycle Down Driving Regenerative Tpsd2 t2 t3 t4 t1 Tpsa2 Tpsd1 Tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy J 1 T1 JL JM 9 55 104 N0 1 Tpsa1 TU TF E1 2 0 1047 N0 T1 Tpsa1 2 T2 TU TF E2 0 1047 N0 T2 t1 3 T3 JL JM 9 55 104 N0 1 Tpsd1 TU TF E3 2 0 1047 N0 T3 Tpsd1 4 8 T4 TU E4 0 No regeneration 5 T5 JL JM 9 5...

Page 226: ...he 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 period tf s to select the necessary regenerative option PR W ER tf 3 Parameter setting Set parameter No PA02 according to the option to be used Selection of regenerati...

Page 227: ... a cooling fan to cool it 00 MR RB60 4 FA MR RB60 4 with a cooling fan to cool it 00 MR RB6K 4 FA MR RB6K 4 with a cooling fan to cool it 00 4 Connection of the regenerative option POINT When the MR RB50 MR RB51 MR RB3M 4 MR RB3G 4 MR RB5G 4 MR RB34 4 MR RB54 4 is used a cooling fan is required to cool it The cooling fan should be prepared by the customer For the sizes of wires used for wiring ref...

Page 228: ... MR RB3G 4 MR RB5G 4 forcibly cool it with a cooling fan 92 92 minimum air flow 1 0m3 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA For the MR RB50 MR RB3M 4 MR RB3G 4 MR RB5G 4 install the cooling fan as shown for cooling fan installation D...

Page 229: ...lifier built in regenerative resistor 5m or less Note 2 Note 1 When using the MR RB51 MR RB3G 4 MR RB5G 4 MR RB34 4 MR RB54 4 forcibly cool it with a cooling fan 92 92 minimum air flow 1 0m3 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA When...

Page 230: ...e resistor lead terminal fixing screw For the MR RB51 MR RB3G 4 MR RB5G 4 MR RB34 4 or MR RB54 4 install the cooling fan as shown for cooling fan installation Depth 10 or less Screw hole already machined Cooling fan installation screw hole dimensions 82 5 40 82 5 133 2 M3 screw hole Terminal block Thermal relay Installation surface Horizontal installation Vertical installation Top Bottom Unit mm C...

Page 231: ... depends on the resistor type The thermal sensor is not mounted on the attached regenerative resistor An abnormal heating of resistor may be generated at a regenerative circuit failure Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs The detection level of the thermal sensor varies according to the ...

Page 232: ... capability The G3 and G4 terminals are for the thermal protector G3 G4 is opened when the regenerative option overheats abnormally G3 G4 C P C P P1 Servo amplifier Do not remove the short bar Configure up a circuit which shuts off main circuit power when thermal protector operates Note Regenerative option Note Specifications of contact across G3 G4 Maximum voltage 120V AC DC Maximum current 0 5A ...

Page 233: ...Approx 20 LD 1 6 LC G3 G4 P C 6 mounting hole MR RB TE1 Terminal block G3 G4 P C Terminal screw M3 Tightening torque 0 5 to 0 6 N m 4 43 to 5 31 lb in Mounting screw Screw size M5 Tightening torque 3 2 N m 28 32 lb in Variable dimensions Mass Regenerative option LA LB LC LD kg lb MR RB032 30 15 119 99 0 5 1 1 MR RB12 40 15 169 149 1 1 2 4 ...

Page 234: ...Unit mm in 7 10 90 100 B A 318 82 5 101 5 Cooling fan mounting screw 2 M4 screw Wind blows in the arrow direction MR RB3G 4 c MR RB50 MR RB51 MR RB54 4 MR RB5G 4 Terminal block G3 G4 P C Terminal screw M4 Tightening torque 1 2 N m 10 62 lb in Mounting screw Screw size M6 Tightening torque 5 4 N m 47 79 lb in Variable dimensions Regenerative option A B Mass kg Ib MR RB50 MR RB51 17 217 MR RB54 4 5 ...

Page 235: ...6K 4 11 24 3 Unit mm in 2 10 mounting hole 10 43 480 500 427 10 30 215 2 3 10 230 TE1 G4 G3 C P 260 230 15 82 5 82 5 82 5 Cooling fan mounting screw 4 M3 screw e GRZG400 1 5 GRZG400 0 9 GRZG400 0 6 GRZG400 5 0 GRZG400 2 5 GRZG400 2 0 standard accessories Variable dimensions Regenerative brake A C K Mounting screw size Tightening torque N m lb in Mass kg lb GRZG400 1 5 GRZG400 0 9 10 5 5 39 GRZG400...

Page 236: ...minal screw M3 Tightening torque 0 5 to 0 6 N m 4 43 to 5 31 lb in G3 G4 P C Mounting screw Screw size M5 Tightening torque 3 24 N m 28 32 lb in Regenerative option Mass kg lb MR RB1H 4 1 1 2 4 Unit mm in TE1 6 2 149 173 6 Approx 24 15 36 40 6 mounting hole ...

Page 237: ...om the ambient temperature condition of the servo amplifier between 0 C to 55 C Configure the circuit to shut down the power supply with the alarm output of the brake unit and resistor unit under abnormal condition Use the brake unit with a combination indicated in section 11 3 1 For executing a continuous regenerative operation use FR RC H power regeneration converter or FR CV H power regeneratio...

Page 238: ...6 MR J3 500B4 MR J3 700B4 MR J3 11KB4 FR BU2 H55K FR BR H55K 1 3 91 8 MR J3 11KB4 MR J3 15KB4 MR J3 22KB4 FR BU2 H75K MT BR5 H75K 1 7 5 6 5 MR J3 22KB4 11 3 2 Brake unit parameter setting Normally when using the FR BU2 H changing parameters is not necessary Whether a parameter can be changed or not is listed below Parameter No Name Change possible impossible Remarks 0 Brake mode switchover Impossi...

Page 239: ... is connected to the P and C terminals For the servo amplifier of 11k to 22kW do not connect a supplied regenerative resistor to the P and C terminals 3 Always connect between P1 and P2 terminals P1 and P for the servo amplifier of 11k to 22kW Factory wired When using the power factor improving DC reactor refer to section 11 13 4 Connect the P and N terminals of the brake unit to a correct destina...

Page 240: ...ults in alarm occurrence or malfunction Always connect the master and slave terminals MSG and SD of the two brake units Do not connect the servo amplifier and brake units as below Connect the cables with a terminal block to distribute as indicated in this section N P Brake unit Servo amplifier P N N P Brake unit Connecting two cables to P and N terminals N P Brake unit Servo amplifier P N N P Brak...

Page 241: ... of 11k and 15kW Factory wired When using the power factor improving DC reactor refer to section 11 13 4 Connect the P and N terminals of the brake unit to a correct destination Wrong connection results in servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110VAC_5A 220VAC_3A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 6 Contact rating 23...

Page 242: ...o section 11 13 3 Connect the P and N terminals of the brake unit to a correct destination Wrong connection results in servo amplifier and brake unit malfunction 4 For the servo amplifier of 400V class a step down transformer is required 5 Contact rating 1a contact 110VAC_5A 220VAC_3A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 6 Contact rating 230VAC_0 3A 3...

Page 243: ...amplifier Brake unit 5m or less 5m or less Servo amplifier Brake unit 10m or less 10m or less P N P N P PR PR P N P PR P PR Twist Resistor unit Resistor unit P N Twist P 4 Cables a Cables for the brake unit For the brake unit HIV cable 600V grade heat resistant PVC insulated wire is recommended 1 Main circuit terminal Cable size Crimping terminal N P PR Brake unit Main circuit terminal screw size ...

Page 244: ...r Terminal block 6mm Sheath Core Wire the stripped cable after twisting to prevent the cable from becoming loose In addition do not solder it Screw size M3 Tightening torque 0 5N m to 0 6N m Cable size 0 3mm 2 to 0 75 mm 2 Screw driver Small flat blade screwdriver Tip thickness 0 4mm Tip width 2 5mm b Cables for connecting the servo amplifier and a distribution terminal block when connecting two s...

Page 245: ...D8 6 Japan Solderless Terminal a FR BU2 30K 1 FVD5 5 6 Japan Solderless Terminal c FR BU2 55K 1 FVD14 6 Japan Solderless Terminal b MR J3 22KB FR BU2 55K 1 FVD14 8 Japan Solderless Terminal b 400V MR J3 500B4 FR BU2 H30K 1 FVD5 5 S4 Japan Solderless Terminal c class MR J3 700B4 FR BU2 H30K 1 FVD5 5 S4 Japan Solderless Terminal c MR J3 11KB4 FR BU2 H30K 1 FVD5 5 6 Japan Solderless Terminal c FR BU2...

Page 246: ... H brake unit Unit mm FR BU2 15K Rating plate 5 hole Screw size M4 68 6 56 6 5 18 5 52 62 4 132 5 FR BU2 30K FR BU2 H30K 129 5 5 59 18 5 Rating plate 52 2 5 hole Screw size M4 5 108 6 6 96 FR BU2 55K FR BU2 H55K H75K 18 5 Rating plate 52 72 5 142 5 5 6 158 6 170 2 5 hole Screw size M4 ...

Page 247: ...n Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass kg FR BR 15K 170 100 450 410 20 432 220 3 2 6 15 FR BR 30K 340 270 600 560 20 582 220 4 10 30 200V class FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 FR BR H30K 340 270 600 560 20 582 220 4 10 30 400V class FR BR H55K 480 410 700 620 40 670 450 3 2 12 70 3 MT BR5 H resistor unit Unit mm Resistor unit Resistance value Approximate mass kg 200...

Page 248: ...er They are applied to the servo amplifiers of the 5k to 22kW Power regeneration converter Nominal Regenerative Power kW Servo Amplifier FR RC 15K 15 MR J3 500B MR J3 700B FR RC 30K 30 MR J3 11KB MR J3 15KB FR RC 55K 55 MR J3 22KB FR RC H15K 15 MR J3 500B4 MR J3 700B4 FR RC H30K 30 MR J3 11KB4 MR J3 15KB4 FR RC H55K 55 MR J3 22KB4 0 50 75 100 150 500 300 200 100 50 30 20 Continuous energization ti...

Page 249: ...jumpers across RX R SX S and TX T If the jumpers remain removed the FR RC H will not operate 2 When using servo amplifiers of 5kW and 7kW always remove the lead of built in regenerative resistor connected to P terminal and C terminal 3 When setting not to output Trouble ALM with parameter change configure power supply circuit for turning magnetic contactor off after detecting an occurrence of alar...

Page 250: ...RC H15K FR RC 30K FR RC H30K 340 270 600 582 195 10 10 8 3 2 90 31 68 343 FR RC 55K FR RC H55K 480 410 700 670 250 12 15 15 3 2 135 55 121 3 4 Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole having the f...

Page 251: ... connected to the same DC power supply line When using the power regeneration common converter set parameter No PA02 to 01 1 Model Symbol Voltage class None 200V class H 400V class Symbol Capacity kW 7 5K 7 5 11K 11 15K 15 22K 22 30K 30 37K 37 55K 55 Capacity 2 Selection The power regenerative common converter FR CV can be used for the servo amplifier of 200V class with 750 to 22kW and that of 400...

Page 252: ...r of connected servo amplifiers 6 Total of connectable servo amplifier capacities kW 11 15 18 5 27 5 Total of connectable servo motor rated currents A 90 115 145 215 Maximum servo amplifier capacity kW 11 15 15 22 When using the FR CV H always install the dedicated stand alone reactor FR CVL H Power regeneration common converter Dedicated stand alone reactor FR CV 7 5K AT FR CVL 7 5K FR CV 11 K AT...

Page 253: ...t will shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For the FR CV the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 5 Configure a sequence that wi...

Page 254: ...ay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV H is ready 4 For the FR CV H the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 5 Configure a sequence that will make a stop with the emergency stop input of the...

Page 255: ...le indicates the connection wire sizes of the DC power supply P N terminals between the FR CV H and servo amplifier The used wires are based on the 600V vinyl wires Total of servo amplifier capacities kW Wires mm 2 1 or less 2 2 3 5 5 5 5 7 8 11 8 15 22 22 22 2 Grounding For grounding use the wire of the size equal to or greater than that indicated in the following table and make it as short as po...

Page 256: ... 27 5kW P N P N P N 22mm2 8mm2 3 5mm2 22mm2 8mm2 5 5mm2 3 5mm2 Junction terminals Wire as short as possible Second unit 22mm assuming that the total of servo amplifier capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW Third unit 8mm assuming that the total of servo amplifier capacities is 7kW since 3 5kW 2 0kW 5 5kW Fourth unit 3 5mm assuming that the total of servo amplifier capacities is 2kW since...

Page 257: ... amplifier capacities is 7kW since 3 5kW 2 0kW 5 5kW Fourth unit 3 5mm2 assuming that the total of servo amplifier capacities is 2kW since 2 0kW 2 0kW Servo amplifier 15kW 5 Other precautions a Always use the FR CVL H as the power factor improving reactor Do not use the FR BAL or FR BEL b The inputs outputs main circuits of the FR CV H and servo amplifiers include high frequency components and may...

Page 258: ...tic contactor S N20 S N35 S N50 S N65 S N95 S N95 S N125 Power regeneration common converter FR CV H Item 22K 30K 37K 55K Total of connectable servo amplifier capacities kW 11 15 18 5 27 5 Maximum servo amplifier capacity kW 11 15 15 22 Total of connectable servo motor rated currents A 43 57 71 110 Short time rating Total capacity of applicable servo motors 300 torque 60s Note1 Output Regenerative...

Page 259: ...the power supply voltage is restricted to 1 phase 380VAC to 463VAC 50Hz 60Hz 1 Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated and is built in the 7kW or less servo amplifier Since it is not built in the 11kW or more servo amplifier purchase it separately if required Assign the dyn...

Page 260: ...ervo on 2 For the servo amplifiers from 11k to 22kW be sure to connect P1 P Factory wired When using the power factor DC reactor refer to section 11 13 3 Assign the dynamic brake interlock DB in the parameters No PD07 to PD09 4 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers 5 Refer to section 1 3 for the power supply spec...

Page 261: ...operation delay time Electro magnetic brake interlock MBR Base circuit ON OFF Servo motor speed Alarm Main circuit Control circuit ON OFF Power RA1 Dynamic brake ON OFF Invalid ON Valid OFF Invalid Valid Invalid ON Valid OFF Note 1 When powering OFF the RA1 of external dynamic brake circuit will be turned OFF and the base circuit is turned OFF earlier than usual before an output shortage occurs On...

Page 262: ...D 5 C E G F 2 3 Terminal block Screw M3 5 Screw M4 B A 5 E 13 14 E GND a b Unit mm Tightening torque 1 2 N m 10 6 lb in Tightening torque 0 8 N m 7 lb in Dynamic brake A B C D E F G Mass kg Ib Connection wire mm 2 DBU 11K 200 190 140 20 5 170 163 5 2 4 41 5 5 DBU 15K 22K 250 238 150 25 6 235 228 6 13 23 5 5 ...

Page 263: ...25 150 10 200 170 178 5 179 5 15 260 280 43 10 2 7mounting hole 195 228 26 26 210 2 3 Mass 6 7 kg a TE1 Tightening torque 0 8 N m 7 lb in Screw M3 5 b 13 14 Terminal block W V U Tightening torque 1 2 N m 10 6 lb in Screw M4 TE2 Wire mm2 Dynamic brake a b U V W DBU 11K 2 5 5 DBU 15K 22K 2 5 5 ...

Page 264: ...er to section 11 14 2 c 2 Connection of MR J2HBUS M cable and junction terminal block LG DI1 1 2 DOC MO1 3 4 LZ 8 LB 7 9 SD Shell INP 5 6 10 DICO DICO LA LG DI2 11 12 MBR MO2 13 14 LZR 18 LBR 17 19 DI3 15 16 20 EM1 AMR LAR Shell Shell Shell 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 LG DI1...

Page 265: ...11 62 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawings of junction terminal block Unit mm TB E 6 36 5 27 8 18 8 7 62 44 11 54 63 4 5 4 5 5 4 60 50 9 3 27 M3 5L M3 6L 1 42 6 2 ...

Page 266: ...nfiguration a Components To use this software the following components are required in addition to the servo amplifier and servo motor Model Note 1 Description Note 2 Personal computer IBM PC AT compatible where the English version of Windows R 98 Windows R Me Windows R 2000 Professional WindowsR XP Professional and WindowsR XP Home Edition operates Processor PentiumR 133MHz or more WindowsR 98 Wi...

Page 267: ...r transportation of more than 24 batteries requires packing compliant with the Packing Standard 903 When a self certificate is necessary for battery safety tests contact our branch or representative For more information consult our branch or representative As of July 2007 1 Purpose of use for MR J3BAT This battery is used to construct an absolute position detection system Refer to section 12 3 for...

Page 268: ...t dimensions fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws 4 screws supplied and install the servo amplifier to the control box The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions The heat sink outside mounting attachment of MR J...

Page 269: ...o amplifier Attachment Servo amplifier Punched hole Control box a Assembling the heat sink outside mounting attachment b Installation to the control box 4 Outline dimension drawing 236 280 Approx 260 20 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 270: ...omagnetic brake lead Encoder cable 2 Control power supply lead Note C P Return converter N Regenerative option 8 Return converter 4 Regenerative option lead Cooling fan BU BV BW 6 Cooling fan lead Power supply 7 Thermal OHS1 OHS2 Thermal Note There is no L3 for 1 phase 100 to 120VAC power supply The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wirin...

Page 271: ... 0 f 5 5 AWG10 k MR J3 60B4 MR J3 100B4 2 AWG14 1 25 AWG16 1 25 AWG16 2 AWG14 MR J3 200B4 2 AWG14 MR J3 350B4 2 AWG14 g 2 AWG14 g MR J3 500B4 Note 2 MR J3 700B4 Note 2 5 5 AWG10 a 1 25 AWG16 h 5 5 AWG10 a 2 AWG14 g 2 AWG14 Note 3 1 25 AWG16 Note 3 MR J3 11KB4 Note 2 8 AWG8 l 8 AWG8 l 3 5 AWG12 j MR J3 15KB4 Note 2 14 AWG6 c 1 25 AWG16 g 22 AWG4 d 5 5 AWG10 j 2 AWG14 1 25 AWG16 MR J3 22KB4 Note 2 1...

Page 272: ... YF 1 E 4 YNE 38 DH 113 DH123 YPT 60 21 Note 1 e 38 6 YF 1 E 4 YET 60 1 TD 112 TD 124 YPT 60 21 Note 1 f R60 8 YF 1 E 4 YET 60 1 TD 113 TD 125 g FVD2 4 h FVD2 M3 YNT 1614 j FVD5 5 6 k FVD5 5 8 YNT 1210S l FVD8 6 DH 111 DH121 m FVD14 8 DH 112 DH122 n FVD22 8 YF 1 E 4 YNE 38 DH 113 DH123 Japan Solderless Terminal Note 1 Coat the part of crimping with the insulation tube 2 Some crimping terminals may...

Page 273: ...50 0 2mm 2 14 7 pairs 40 0 08 105 or less 0 88 8 0 Note 3 J14B0238 0 2 7P 2 to 10 AWG22 6 3 pairs 7 0 26 53 or less 1 2 7 1 0 3 Note 3 VSVP 7 0 26 Equivalent to AWG 22 3P Ban gi shi 16823 MR J3ENSCBL M L 20 30 AWG23 12 6 pairs 12 0 18 63 3 or less 1 2 8 2 0 3 Note 3 20276 VSVCAWG 23 6P Ban gi shi 15038 2 to 10 AWG22 6 3 pairs 70 0 08 56 or less 1 2 7 1 0 3 Note 3 ETEF SVP 70 0 08 Equivalent to AWG...

Page 274: ...20A 30A frame 20A K5 35 MR J3 500B4 30A frame 30A 30A frame 30A K5 50 S N18 MR J3 700B4 50A frame 40A 50A frame 30A K5 65 S N20 MR J3 11KB4 60A frame 60A 50A frame 50A K5 100 S N25 MR J3 15KB4 100A frame 75A 60A frame 60A K5 150 S N35 MR J3 22KB4 225A frame 125A 100A frame 100A K5 175 600 S N65 Note This servo amplifier is UL C UL listed when using a Class T fuse Therefore when using the servo amp...

Page 275: ... 100B FR BEL 2 2K Fug 11 1 130 65 110 1 6 115 6 12 M4 30 M5 1 2 2 65 MR J3 200B FR BEL 3 7K 150 75 102 2 0 135 6 12 M4 40 M5 1 7 3 75 MR J3 350B FR BEL 7 5K 150 75 126 2 0 135 6 12 M5 40 M5 2 3 5 07 3 5 AWG12 MR J3 500B FR BEL 11K 170 93 132 2 3 155 6 14 M5 50 M5 3 1 6 83 5 5 AWG10 MR J3 700B 8 AWG8 MR J3 11KB FR BEL 15K 170 93 170 2 3 155 6 14 M8 56 M5 3 8 8 38 22 AWG4 MR J3 15KB FR BEL 22K Fig 1...

Page 276: ...amplifiers or more be sure to connect a power factor improving reactor to each servo amplifier If using only one power factor improving reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated Z 3 phase 200 to 230VAC or 3 phase 380 to 480VAC NFB FR BAL H Servo amplifier MR J3 B 4 R S T X Y Z L1 L2 L3 MC 1 phase 200v to 230VAC NFB FR BAL Servo am...

Page 277: ...0K 290 240 301 219 190 5 25 M8 M8 43 94 80 MR J3 60B4 FR BAL H1 5K 160 145 140 87 70 0 2 5 7 5 M4 M3 5 5 3 11 68 MR J3 100B4 FR BAL H2 2K 160 145 140 91 75 0 2 5 7 5 M4 M3 5 5 9 13 01 MR J3 200B4 FR BAL H3 7K 220 200 190 90 70 0 2 5 10 M5 M3 5 8 5 18 74 MR J3 350B4 FR BAL H7 5K 220 200 192 120 100 5 10 M5 M4 14 30 87 MR J3 500B4 FR BAL H11K 280 255 226 130 100 5 12 5 M6 M5 18 5 40 79 MR J3 700B4 M...

Page 278: ...alfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted ...

Page 279: ... main circuit cables and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Magnetic induction noise Static induction noise Noises transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply ca...

Page 280: ... O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier may...

Page 281: ... to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cab...

Page 282: ...M4 screw 11 3 6 C A 6 22 17 5 35 35 L or less 10 30 7 24 0 0 2 24 0 3 0 B 0 3 2 5 hole installation hole Note Screw hole for grounding Connect it to the earth plate of the control box Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 86 30 clamp A 2pcs A 70 AERSBAN ESET 70 56 clamp B 1pc B 45 ...

Page 283: ...o satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required number of passes as shown in Example 2 Place the line noise filters as close to the servo amplifier as possible for their best performance Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L2 Exam...

Page 284: ...e circuit voltage Surge current immunity Energy immunity Rated pulse power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA Power supply voltage Varistor AC Vrms DC V 8 20 s A 2ms J W A V pF V 100V class TND20V 431K 275 350 10000 1 time 195 710 1300 430 387 to 473 200V class TND20V 471K 300 385 7000 2 time 215 775 1200 470 423 to 517 400V class TND20V 102K 6...

Page 285: ...ded with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV L 1 M Servo amplifier Noise filter NV Ig1 Ign Iga Ig2 Igm Cable Cable General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 3 Ig2 Leakage current on the electric channel from the output terminals of the se...

Page 286: ... J3 350B MR J3 10B1 to MR J3 40B1 MR J3 60B4 to MR J3 350B4 15 MR J3 500B 4 30 MR J3 700B 4 50 MR J3 11KB 4 to MR J3 22KB 4 100 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions M NV Ig1 Iga Ig2 Igm Servo amplifier MR J3 40B 2mm2 5m 2mm2 5m Servo motor HF KP43 Use a leakage current breaker generally available Find the terms of E...

Page 287: ... MR J3 60B4 MR J3 100B4 TF3005C TX MR J3 200B4 to MR J3 700B4 TF3020C TX 6 13 23 MR J3 11KB4 TF3030C TX 7 5 16 54 MR J3 15KB4 TF3040C TX MR J3 22KB4 TF3060C TX 5 5 12 5 27 56 Note A surge protector is separately required to use any of these EMC filters 2 Connection example L1 L2 L3 1 1 L21 Servo amplifier 1 2 3 4 5 6 E MC Note 2 Surge protector 1 RAV 781BYZ 2 OKAYA Electric Industries Co Ltd Note ...

Page 288: ...65 4 Approx 41 4 5 5 7 258 4 273 2 288 4 300 5 3 M4 85 2 32 2 110 4 HF3030A UN HF 3040A UN J 2 H 2 G 1 F 2 E 1 D 2 3 L 6 K 3 L M C 1 B 2 A 5 C 1 Dimensions mm Model A B C D E F G H J K L M HF3030A UN 260 210 85 155 140 125 44 140 70 M5 M4 HF3040A UN 260 210 85 155 140 125 44 140 70 R3 25 length 8 M5 M4 ...

Page 289: ...F3100A UN 2 6 5 8 M8 2 6 5 145 1 165 3 M6 380 1 400 5 160 3 M8 TF3005C TX TX3020C TX TF3030C TX Unit mm 290 2 100 1 308 5 332 5 Approx 12 2 3 M4 16 16 6 R3 25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Approx 67 5 3 Approx 160 170 5 M4 3 M4 100 1 ...

Page 290: ... TF3060C TX Unit mm K 2 L J H 5 M6 C 2 D 1 B 5 A 5 Approx 17 3 M6 22 22 8 M M4 M4 G 2 3 M6 F 1 E 2 IN D 1 D 1 Dimensions mm Model A B C D E F G H J K L M TF3040C TX TF3060C TX 438 412 390 100 175 160 145 200 Approx 190 180 Approx 91 5 R3 25 length 8 M6 ...

Page 291: ...Surge protector 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 30 0 UL 1015AWG16 5 5 1 11 1 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 0 200 30 0 28 1 0 41 1 0 4 5 0 5 Unit mm 1 2 3 4 ...

Page 292: ...tem always detects the absolute position of the machine and keeps it battery backed independently of whether the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy Servo system controller Current pos...

Page 293: ...Approx 10 000 hours battery life with power off Battery storage period 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 2 Configuration Servo motor...

Page 294: ...not POINT The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand Before starting battery changing procedure make sure that the main circuit power is switched OFF with the control circuit power ON When batter...

Page 295: ...12 4 12 ABSOLUTE POSITION DETECTION SYSTEM 2 For MR J3 500B or more MR J3 350B4 or more Insert connector into CN4 ...

Page 296: ...onfigurator Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Diagnostics in the menu opens the sub menu as shown below 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Press the Close button to close the absolute encoder data display window ...

Page 297: ...12 6 12 ABSOLUTE POSITION DETECTION SYSTEM MEMO ...

Page 298: ...J3 DU B 4 drive units Explanations on the following items are the same as those for servo amplifiers with 22kW or less For such explanations refer to the section indicated in the table Item Reference Startup Chapter 4 General gain adjustment Chapter 6 Special adjustment functions Chapter 7 Absolute position detection system Chapter 12 13 1 Functions and menus POINT Explanations on the following it...

Page 299: ...d Π٠o L11 L21 L1 L2 L3 P1 P2 C L11 L21 L L L Current detecti Power supply Control power supply Base amplifier Voltage detection MC CN1 I F CHARGE lamp Converter NFB Cooling fan CPU Trouble warning forced stop CN40 Converter unit protection coordination CN40 Power factor improving DC CNP1 MC drive Regenerative option Regenerative TR Diode stak Thyristor ...

Page 300: ...urrent detector NFB Power supply Note CN40A CN40B CN5 USB USB Personal computer CN4 MR J3BAT Controller or drive unit Drive unit or cap CN1A CN1B CN3 D A Analog monitor 2channel Digital I O control Servo motor Drive unit L11 L11 L21 L21 Cooling fan Base amplifier U V W M CN2 Thermal OHS1 Current detection Virtual encoder Position command input Model position Model speed Virtual motor I F Control E...

Page 301: ...r wiring connector pcs Note Digital I O connector pcs To Use The AC Servo Safely manuals MR J3 CR55K MR J3 CR55K4 1 2 1 1 1 Note Magnetic contactor control connector is mounted to CNP1 of the converter unit before shipping 2 Drive unit Model Drive unit units Connection conductor pcs Eyebolt pcs To Use The AC Servo Safely manuals MR J3 DU30KB MR J3 DU37KB MR J3 DU30KB4 to MR J3 DU55KB4 1 2 2 1 3 Se...

Page 302: ...55kW Regenerative power Using regenerative option One MR RB139 1300W Three MR RB137 3900W One MR RB136 4 1300W Three MR RB138 4 3900W Protective function Regenerative overvoltage shutoff overload shutoff electronic thermal protector Regenerative alarm protection undervoltage instantaneous power failure protection Structure Force cooling open IP00 0 to 55 non freezing During operation 32 to 131 non...

Page 303: ...rcurrent shut off overload shutoff electronic thermal protector Servo motor overheat protection encoder error protection undervoltage Instantaneous power failure protection overspeed protection Excessive error protection Structure Force cooling open IP00 0 to 55 non freezing During operation 32 to 131 non freezing 20 to 65 non freezing Ambient temperature In storage 4 to 149 non freezing In operat...

Page 304: ... Overcurrent shut off overload shutoff electronic thermal protector Servo motor overheat protection encoder error protection undervoltage Instantaneous power failure protection overspeed protection Excessive error protection Structure Force cooling open IP00 0 to 55 non freezing During operation 32 to 131 non freezing 20 to 65 non freezing Ambient temperature In storage 4 to 149 non freezing In op...

Page 305: ... output current 55kW A5 POWER AC200V 230V 50 60Hz INPUT OUTPUT SERIAL 2 Model a Converter unit 3 phase 380 to 480VAC 3 phase 200 to 230VAC Series Rated output 55kW Symbol Power supply None 4 Power supply Indicates converter unit b Drive unit SSCNET compatible 37K Symbol Power supply Series None 4 Symbol Rated output kW 30K 30 Rated output 37 200V class 400V class Power supply 45K 45 55K 55 37 30 I...

Page 306: ...cted depending on the production time of the drive unit Please refer to app 5 1 200V class Servo motor HA LP Converter unit Drive unit 1000r min 1500r min 2000r min MR J3 DU30KB 30K1 30K1M 30K2 MR J3 CR55K MR J3 DU37KB 37K1 37K1M 37K2 2 400V class Servo motor HA LP Converter unit Drive unit 1000r min 1500r min 2000r min MR J3 DU30KB4 25K14 30K14 30K1M4 30K24 MR J3 DU37KB4 37K14 37K1M4 37K24 MR J3 ...

Page 307: ...with drive unit Magnetic contactor control connector CNP1 Connect to the operation coil of the magnetic contactor Display The 3 digit seven segment LED shows the servo status and alarm number For manufacturer setting connector CN6 The connector is for manufacturer setting Although the shape is similar to analog monitor connector CN6 of the drive unit do not connect anything including an analog mon...

Page 308: ...circuit power Motor power supply terminals TE1 Connect to U V W of the servo motor Display The 3 digit seven segment LED shows the servo status and alarm number Used to set the axis No of drive unit Rotary axis setting switch SW1 USB communication connector CN5 Connect with the personal computer Battery holder Contains the battery for absolute position data backup Encoder connector CN2 Used to con...

Page 309: ...ns the battery for absolute position data backup Encoder connector CN2 Used to connect the servo motor encoder SSCNET cable connector CN1B Used to connect the rear axis drive unit For the final axis puts a cap I O signal connector CN3 Used to connect digital I O signals More over an analog monitor is output SSCNET cable connector CN1A Used to connect the servo system controller or the front axis d...

Page 310: ...om the front of the servo amplifier whether the charge lamp is off or not 1 MR J3 CR55K 4 MR J3 DU30KB MR J3 DU37KB MR J3 DU45KB4 or MR J3 DU55KB4 Here the method for removing and reinstalling the terminal block cover using the figure of converter unit as an example For a drive unit the shape of the main unit is different However the removal and reinstallation of the terminal block can be performe...

Page 311: ... 30k TO 55kW b How to reinstall the terminal block cover A B C D 1 2 Mounting screw 1 Put the terminal block cover on and match the screw holes of the cover fit with those of the main unit 2 Install the installing screws into the screw holes A B C D ...

Page 312: ...MPLIFIERS WITH A LARGE CAPACITY 30k TO 55kW 2 MR J3 DU30KB4 or MR J3 DU37KB4 a Upper terminal block cover 1 How to open A A Pull up the cover using the axis A A as a support When pulled up to the top the cover is fixed ...

Page 313: ...RVO AMPLIFIERS WITH A LARGE CAPACITY 30k TO 55kW 2 How to close Setting tab A A Close the cover using the axis A A as a support Setting tab Press the cover against the terminal box until the installing knobs click ...

Page 314: ... A LARGE CAPACITY 30k TO 55kW b Lower terminal block cover 1 How to open Hold the bottom of the terminal block cover with both hands B B Pull up the cover using the axis B B as a support When pulled up to the top the cover is fixed ...

Page 315: ... 30k TO 55kW 2 How to close Setting tab Setting tab Hold the bottom of the terminal block cover with both hands B B Close the cover using the axis B B as a support Setting tab Press the cover against the terminal box until the installing knobs click ...

Page 316: ... factor improving DC reactor MR DCL K P1 P2 L21 L11 Magnetic contactor MC No fuse breaker NFB Line noise filter FR BLF No fuse breaker NFB Regenerative option The MR Configurator is required for parameter setting Personal computer C L Note 1 The L and L connection conductors used to connect a converter unit to a drive unit are standard accessories The converter unit is attached to the drive unit a...

Page 317: ...r combustible matter from entering the converter unit drive unit Do not block the intake exhaust ports of the converter unit drive unit Otherwise a fault may occur Do not subject the converter unit drive unit to drop impact or shock loads as they are precision equipment Do not install or operate a faulty converter unit drive unit When the product has been stored for an extended period of time cons...

Page 318: ...ront view 100mm or more 120mm or more 30mm or more 30mm or more Cooling fan wind direction Air intake 2 Mounting dimensional diagram Unit mm Dimensions Drive unit model W1 W2 W3 W4 W5 A MR J3 DU30KB 37KB 45KB4 55KB4 300 260 20 281 9 5 M6 MR J3 DU30KB4 37KB4 240 120 60 222 9 M5 9 5 Converter unit punched hole Drive unit punched hole 4 M6 screw 300 20 260 281 Approx 9 5 Approx 20 4 M6 screw W1 W3 W2...

Page 319: ... is involved in inspection should be fully competent to do the work Otherwise you may get an electric shock For repair and parts replacement contact your safes representative POINT Do not test the converter unit drive unit with a megger measure insulation resistance or it may become faulty It is recommended to make the following checks periodically 1 Check for loose terminal block screws Retighten...

Page 320: ...ulting 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 output due to a fault disabling the forced stop EM1 and other protective circuits Converter uni...

Page 321: ...trol axis selection Refer to section 3 13 The pins with the same signal name are connected in the drive unit 13 3 1 Magnetic contactor control connector CNP1 WARNING Always connect the magnetic contactor wiring connector to the converter unit If the connector is not connected an electric shock may occur since CNP1 1 and L11 are always conducting By enabling the control function of the magnetic con...

Page 322: ...3 2 1 CNP1 2 and L21 conduct in the converter unit Then the control circuit power is supplied to turn ON the magnetic contactor and the main circuit power is supplied to the converter unit Either when an alarm occurs on the converter unit or the drive unit while the control function of the magnetic contactor is enabled or when the forced stop EM1 of the converter unit or the drive unit is turned O...

Page 323: ...cause a fire when the converter unit or the drive unit malfunctions Use the trouble signal to switch power off Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire Connect the power supply phases U V W of the servo amplifier and servo motor correctly Not doing so can cause the servo motor to run abnormally Do not connect a 3 phase 200V power s...

Page 324: ...erter unit Drive unit L1 L2 L3 L11 L21 NFB 1 MC1 2 MC2 CN40 CN40A CN2 Dynamic brake Option Servo motor thermal relay RA3 OHS1 BW BV BU M OHS2 V U W CN40B 24VDC power supply V U W Servo motor NFB TE2 2 L L TE2 1 C P1 P2 Power factor improving DC reactor Option Note 2 L11 L21 G4 G3 P C G4 G3 P C S R G4 G3 P C Cooling fan Cooling fan Cooling fan S R S R CNP1 CN1 1 DICOM 5 DOCOM 6 DICOM RA2 2 ALM 7 EM...

Page 325: ...M 15 DOCOM 5 DICOM RA1 Regenerative option Note 1 Regenerative option Note 1 RA1 RA2 RA3 Converter unit Motor thermal relay Operation ready Drive unit EM1 OFF ON SK RA4 Controller forced stop MC Note 3 Forced stop Note 3 Note 3 Cooling fan Cooling fan Cooling fan Cooling fan Note 4 Stepdown transformer MR J3CDL05M cable 24VDC Dynamic brake Option Dynamic brake Option 24VDC Note 1 For the MR RB138 ...

Page 326: ... BW BV BU M OHS2 V U W CN40B 24VDC power supply V U W Servo motor NFB TE2 2 L L TE2 1 C P1 P2 Power factor improving DC reactor Option Note 2 L11 L21 G4 G3 P C G4 G3 P C S R G4 G3 P C Cooling fan Cooling fan Cooling fan S R S R CNP1 CN1 1 DICOM 5 DOCOM 6 DICOM RA2 2 ALM 7 EM1 9 DOCOM CN3 EM1 3 20 SD Plate DICOM 10 ALM 15 DOCOM 5 DICOM RA1 RA3 RA1 RA2 EM1 SK Converter unit Motor thermal relay Opera...

Page 327: ...erative option Note 1 Note 3 Note 3 Cooling fan Cooling fan Cooling fan Cooling fan RA1 RA2 RA3 Converter unit Motor thermal relay Operation ready Drive unit EM1 SK RA4 Controller forced stop MC Note 3 Forced stop OFF ON MC Note 5 Power factor improving DC reactor Option 24VDC 24VDC Note 4 Stepdown transformer Note 1 For the MR RB138 4 For the MR RB138 4 three units are used as one set permissible...

Page 328: ...nals of the drive unit Use the connection bar which is supplied with the drive unit to connect Grounding PE Connect this terminal to the protective earth PE terminals of the servo motor and control box for grounding Note The permissible tension applied to any of the terminal blocks TE1 1 TE1 2 TE2 2 is 350 N 2 Drive unit Description Connection Target Application Abbreviation Note Terminal Block MR...

Page 329: ...o use the supplied connection conductors and connect the L and L of the drive unit to those of the converter unit as shown below Never use connection conductors other than the ones supplied with the drive unit Both units are shown without the front covers L L L L Connection conductors Drive unit Converter unit ...

Page 330: ...le connector wiring section 1 Converter unit CN6 Leave this open CN40 Connect to CN40A of the drive unit CN3 Leave this open CHARGE CNP1 CN1 CN1 Digital I O connector Model 17JE 23090 02 D8A K11 CG D sub 9 pin or equivalent DDK DICOM WNG 9 DOCOM 5 2 4 6 7 3 1 8 DOCOM EM1 DICOM ALM CNP1 Magnetic contactor wiring connector Model GFKC 2 5 2 STF 7 62 Phoenix Contact 1 MC1 2 MC2 ...

Page 331: ...nces and connector layouts of the MR J3 DU30KB MR J3 DU37KB MR J3 DU45KB4 MR J3 DU55KB4 The frames of the CN2 and CN3 connectors are connected to the PE earth terminal in the amplifier Connector for the front axis of CN1A SSCNET cable Connector for the rear axis of CN1B SSCNET cable CN3 I O signal connector Refer to section 3 4 CN5 USB connector Refer to section 11 8 CN2 Encoder connector Refer to...

Page 332: ...s off when power is switched off or the protective circuit is activated Without alarm occurring ALM turns on within about 1 5s after power on DO Warning WNG CN1 8 When warning has occurred WNG turns on DO Digital I F common DOCOM CN1 5 CN1 9 Common terminal for the ALM and WNG output signals of the converter unit Separated from LG Pins are connected internally For the source interface connect of 2...

Page 333: ...elay or photocoupler can be driven Install a diode for an inductive load or install an inrush current suppressing resistor for a lamp load Permissible current 40mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the servo amplifier Refer to section 3 7 3 for the source output Converter unit ALM etc Load DOCOM 24VDC 10 150mA If polarity of diode is reversed converter u...

Page 334: ...on the main circuit power supply the warning disappears and the drive unit will operate properly 1 When control function of magnetic contactor is enabled and the status remains at ready on The main circuit power is not shut off with servo off ON OFF Main circuit power supply ON OFF Base circuit ON OFF Servo on command from controller 3s 95ms 10ms ON OFF Converter unit control power supply ON OFF D...

Page 335: ...uence When an alarm occurs turn OFF the magnetic contactor by the external sequence and shut off the main circuit power supply 3s 95ms 10ms ON OFF Main circuit power supply ON OFF Base circuit ON OFF Servo on command from controller ON OFF Converter unit control power supply ON OFF Drive unit control power supply ...

Page 336: ...he driver unit However the alarm cannot be deactivated unless its cause is removed b Converter unit control power supply Drive unit control power supply Main circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Servo on command from controller Drive unit alarm Reset command from controller Base circuit OFF ON OFF 1 5s 50ms or more Converter unit alarm OFF OFF ON OFF 3s 3s a d Alarm occur...

Page 337: ...r CPU reset command However the alarm cannot be deactivated unless its cause is removed 50ms or more Converter unit control power supply Drive unit control power supply Main circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Servo on command from controller Drive unit alarm Reset command from controller Base circuit OFF ON OFF 1 5s Converter unit alarm 3s 3s Alarm occurrence OFF a a a ...

Page 338: ...upply ON OFF ON OFF ON OFF ON OFF ON OFF Servo on command from controller Drive unit alarm Reset command from controller Base circuit OFF ON OFF 1 5s 50ms or more Converter unit alarm OFF OFF ON OFF 3s 3s a d Alarm occurrence ON Alarm occurrence c ON OFF e a in Figure b c in Figure d in Figure e in Figure Even if an alarm occurs in the converter when the drive unit is at servo off the drive unit d...

Page 339: ... deactivated in the drive unit OFF ON OFF 1 5s 50ms or more OFF 3s 3s Alarm occurrence Converter unit control power supply Drive unit control power supply Main circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Servo on command from controller Drive unit alarm Reset command from controller Base circuit Converter unit alarm a b a in Figure b in Figure When an alarm occurs on the drive u...

Page 340: ...ed Converter main circuit off warning ON OFF Main circuit power supply ON OFF Forced stop EM1 Invalid ON Valid OFF Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake release 2 When CNP1 is invalid When the forced stop is input in the converter unit the drive unit in operation stops and Main circuit off warning E9...

Page 341: ...t is activated and to activate the forced stop of the converter unit as the forced stop of the drive unit is activated Shut off the power supply by the external sequence as soon as the forced stop is activated Electromagnetic brake interlock MBR 10ms 3s 3s Invalid ON Valid OFF Base circuit ON OFF Servo motor speed Forced stop command from controller or forced stop EM1 ON OFF Main circuit power sup...

Page 342: ...LP30K1 HA LP37K1 HA LP30K1M HA LP37K1M HA LP30K2 HA LP37K2 HA LP25K14 HA LP30K14 HA LP37K14 HA LP37K1M4 HA LP45K1M4 HA LP50K1M4 HA LP45K24 HA LP55K24 Motor power supply terminal block screw size M8 M10 Earth screw size M6 M6 CM10 R10P Encoder connector U V OHS2 BU W BW BV OHS1 Earth terminal M6 screw Motor power supply terminal block U V W M8 screw Cooling fan terminal block BU BV BW M4 screw Ther...

Page 343: ...0V class 3 phase 200 to 230VAC 50Hz 60Hz 65 50Hz 85 60Hz 0 20 50Hz 0 22 60Hz HA LP30K1 37K1 37K1M 120 50Hz 175 60Hz 0 65 50Hz 0 80 60Hz HA LP30K1M4 30K24 37K24 400V class 65 50Hz 85 60Hz 0 12 50Hz 0 14 60Hz HA LP30K14 37K14 37K1M4 45K1M4 50K1M4 45K24 55K24 3 phase 380 to 460VAC 50Hz 3 phase 380 to 480VAC 60Hz 110 50Hz 150 60Hz 0 20 50Hz 0 22 60Hz Cooling fan BU BV BW Motor thermal relay OHS1 OHS2 ...

Page 344: ...he MODE UP or DOWN button once to move the next screen Current alarm Sixth alarm in past Status display UP MODE Button Alarm Basic parameters Effective load ratio Peak load ratio Bus voltage V First alarm in past Parameter No PA02 Parameter No PA01 Parameter error No Parameter No PA19 Parameter No PA18 External I O signal display Output signal forced output Diagnosis Software version high Software...

Page 345: ...layed Status display Symbol Unit Description Indication range Ready off The ready off is displayed during initialization or alarm occurrence in the forced stop status or when the bus voltage is not established roF Status Ready on The ready on is displayed when the servo was switched on after completion of initialization and the servo amplifier is ready to operate ron Bus voltage d V The converter ...

Page 346: ...ternal I O signal Lit ON Extinguished OFF For details refer to 2 of this section Output signal forced output Allows external I O signal to be switched on off forcibly For details refer to 3 of this section Software version low Indicates the version of the software Software version high Indicates the system number of the software 2 External I O signal display The ON OFF states of the digital I O si...

Page 347: ...put signal to be switched on off independently of the converter status This function is used for wiring check of output signal When turning CN1 8 on and off External I O signal display screen Press SET for more than 2 seconds CN1 8 CN1 8 CN1 2 Press MODE once Press UP once The signal under the lit LED is switched on off Indicates ON OFF of the trouble ALM signal Lit ON extinguished OFF Press MODE ...

Page 348: ...at overvoltage A 33 occurred Flickers at alarm occurrence Indicates that the last alarm is overload A 50 Indicates that the second alarm in the past is overvoltage A 33 Indicates that the third alarm in the past is undervoltage A 10 Alarm history Indicates that the fourth alarm in the past is undervoltage A 10 Indicates that the fifth alarm in the past is undervoltage A 10 Indicates that the sixth...

Page 349: ...e regenerative options MR RB137 Displayed alternately 2 MR RB137 3 pcs are used Note Press MODE three time The parameter number is displayed For parameter No PA01 PA and 01 are displayed alternately Press UP or DOWN to change the number Press MODE twice The set value of the specified parameter number flickers In this case the lower three digits 0000 of the set value 0000 are displayed Press MODE o...

Page 350: ...ting and then switch it on again or perform the controller reset Never change parameters for manufacturer setting 13 5 1 Parameter list No Symbol Name Initial value Unit PA01 REG Regenerative option 0000h PA02 MCC Magnetic contactor drive output selection 0001h PA03 For manufacturer setting 0001h PA04 0 PA05 100 PA06 0 PA07 100 PA08 DMD Status display selection 0000h PA09 BPS Alarm history clear 0...

Page 351: ...output of the magnetic contactor drive power supply 0 No used 1 Used 0 0 0 0001h Refer to Name and function column PA03 For manufacturer setting 0001h PA04 Do not change this value by any means 0 PA05 100 PA06 0 PA07 100 PA08 DMD Status display selection Used to select the status display shown at power on Status display of converter unit display section at power on 0 Status 1 Bus voltage 2 Effecti...

Page 352: ...power off then on to deactivate the alarm The alarms marked in the alarm deactivation column of the table can be deactivated by pressing the RES key of the converter unit side parameter unit or switching on the reset signal RES Alarm deactivation Display Name Power Error A 91 Overheat warning Display Name OFF ON reset Excessive regenerative load A 10 Undervoltage A E0 warning A 12 Memory error1 RA...

Page 353: ...s section Display Name Definition Cause Action 1 Instantaneous control power failure occurred for more than 60ms 2 Shortage of power supply capacity caused the power supply voltage to drop at start etc Review the power supply A 10 Undervoltage Power supply voltage dropped 3 Failure of the part in the converter unit Checking method Alarm A 10 occurs if power is switched on after connectors disconne...

Page 354: ...rmally The alarm occurs even after removal of the built in regenerative resistor or regenerative option Change the converter unit 1 Regenerative option is not used Use the regenerative option 2 Though the regenerative option is used the parameter No PA01 setting is 00 not used Set correctly 3 Lead of regenerative option is open or disconnected 1 Change lead 2 Connect correctly 4 Regenerative trans...

Page 355: ...verheated A 3A Inrush current suppressor circuit error Inrush current suppressor circuit error 3 Inrush current suppressor circuit faulty Change the converter unit 1 The power supply was turned on and off continuously by overloaded status Review operation pattern 2 Ambient temperature of converter unit is over 55 Review environment so that ambient temperature is 0 to 55 A 45 Main circuit device ov...

Page 356: ... display and check the regenerative load ratio 1 Reduce frequency of positioning 2 Change regenerative option for the one with larger capacity 3 Reduce load A E1 Over load warning There is a possibility that overload alarm 1 or 2 may occur Load increased to 85 or more of overload alarm 1 or 2 occurrence level Cause checking method Refer to A 50 51 Refer to A 50 A 51 A E6 Converter forced stop warn...

Page 357: ...rning 2 Remedies for alarms CAUTION When any alarm has occurred eliminate its cause ensure safety then reset the alarm and restart operation Otherwise injury may occur As soon as an alarm occurs mark servo off and power off the main circuit and control circuit POINT The alarm can be deactivated by switching power off then on or by the error reset command CPU reset from the servo system controller ...

Page 358: ...ause Action 9C Converter warning A warning occurred in the converter unit during the servo on command Check the warning of the converter unit and take the action following the remedies for warnings of the converter unit Refer to section 13 6 1 3 1 The forced stop of the converter unit is made valid Deactivate the forced stop of the converter unit E9 Main circuit off warning The forced stop of the ...

Page 359: ...direction Terminal block layout Terminal cover removed Mass 25 kg Approx 55 16 lb TE1 1 TE2 2 P1 L1 L2 L3 P2 TE3 L11 L21 PE TE1 2 C Terminal block signal layout Terminal block screw M6 Tightening torque 3 0 N m 26 6 lb in L L Terminal block screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal block screw M10 Tightening torque 10 0 N m 88 5 lb in Terminal block screw M10 Tightening torque 10 0 N ...

Page 360: ...n hole Cooling fan wind direction Terminal block layout Terminal cover removed Mass 26 kg Approx 57 32 lb TE1 TE2 1 TE3 L11 L21 PE Terminal block signal layout Terminal block screw M6 Tightening torque 3 0 N m 26 6 lb in L L Terminal block screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal block screw M10 Tightening torque 10 0 N m 88 5 lb in Terminal block screw M10 Tightening torque 10 0 N m...

Page 361: ...ction Terminal block layout Terminal cover removed Mass 18 kg Approx 39 68 lb TE1 TE2 TE3 L11 L21 PE Terminal block signal layout Terminal block screw M6 Tightening torque 3 0 N m 26 6 lb in L L Terminal block screw M4 Tightening torque 1 2 N m 10 6 lb in Terminal block screw M8 Tightening torque 6 0 N m 53 1 lb in Terminal block screw M8 Tightening torque 6 0 N m 53 1 lb in Mounting screw Screw s...

Page 362: ...chine which generates unbalanced torque e g a vertical lift application so that the unbalanced torque is not more than 70 of the rated torque 10000 1000 100 10 1 0 100 200 250 During rotation Note 2 Operation time s Load ratio Converter unit 10000 1000 100 10 1 0 100 200 250 During servo lock During rotation Note 2 Operation time s Note 1 Load ratio Drive unit Note 1 If operation that generates to...

Page 363: ...e frequencies of use during operation When designing an enclosed control box use the values in the table considering the worst operating conditions The generated heat in Table 13 1 does not include heat produced during regeneration Table 13 1 Power supply capacity and generated heat per servo amplifier at rated output Power Supply Capacity kVA Note Drive unit generated heart W Converter unit Drive...

Page 364: ...o τ 13 1 Lmax Maximum coasting distance mm V0 Machine rapid feed rate mm min in min JM Servo motor inertial moment kg cm 2 oz in 2 JL Load inertia moment converted into equivalent value on servo motor shaft kg cm 2 oz in 2 Brake time constant s te Delay time of control section s For 7kW or less servo there is internal relay delay time of about 30ms For 11k to 22kW servo there is delay time of abou...

Page 365: ...500 HA LP37K1M4 HA LP45K1M4 HA LP50K1M4 Speed r min Time constant ms HA LP1500r min series 0 045 0 04 0 035 0 03 0 025 0 02 0 015 0 01 0 005 0 500 1000 1500 0 2000 HA LP30K2 HA LP37K2 Speed r min Time constant ms 0 045 0 04 0 035 0 03 0 025 0 02 0 015 0 01 0 005 0 500 1000 1500 0 2000 HA LP45K24 HA LP55K24 HA LP37K24 HA LP30K24 Speed r min Time constant ms HA LP2000r min series Fig 13 3 Dynamic br...

Page 366: ...hen the maximum permissible voltage 200V class 253VAC 400V class 528VAC is applied at the power supply capacity of 2500kVA and the wiring length of 1m Inrush currents A0 p Converter unit Drive unit Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J3 DU30KB MR J3 CR55K MR J3 DU37KB 163A Attenuated to approx 20A in 180ms 18A Attenuated to approx 0A in 100ms MR J3 DU30KB4 MR...

Page 367: ... Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less Refer to the section below for details Cable connector sets Refer to section 11 1 Junction terminal block Refer to section 11 7 MR Configurator Refer to section 11 8 Battery Refer to section 11 9 Relays...

Page 368: ...Shell kit 10320 52F0 008 3M or equivalent Connector PCR S20FS Shell kit PCR LS20LA1 Honda Tsushin Kogyo 2 Connector set MR J2CN1 A Refer to 2 of this section 3 Termination connector MR J3 TM 4 Encoder cable MR J3ENSCBL M L Cable length 2 5 10 20 30m IP67 Standard life 5 Encoder cable MR J3ENSCBL M H Cable length 2 5 10 20 30 40 50m For HA LP series Refer to section 11 1 2 4 for details IP67 Long f...

Page 369: ...0 20 Plate 1 11 2 12 3 13 4 14 5 15 6 16 Plate 7 17 8 18 9 19 10 20 ACD2 ACD2 ACD3 ACD3 PAL PAL ACD1 ACD1 LG LG GOF GOF PMC PMC PSD PSD LG LG PRD PRD SD 10120 3000PE Connector 10320 52F0 008 Shell kit PCR S20FS Connector PCR LS20LA1 Case Drive unit side Converter unit side Table 13 2 Recommended wire Characteristics of one core Model Length m ft Core size mm2 Number of Cores Structure Wires mm Con...

Page 370: ... J3 DU37KB 1300 3900 MR J3 DU30KB4 MR J3 DU37KB4 MR J3 CR55K4 MR J3 DU45KB4 MR J3 DU55KB4 1300 3900 Note 1 The composite resistor value of three options is 1 3 The resistor value of one option is 4 2 The composite resistor value of three options is 5 The resistor value of one option is 15 2 Parameter setting POINT Always set parameter No PA02 of the drive unit to 00 Not used since the regenerative...

Page 371: ...res flame resistant and keep them away from the regenerative option The G3 and G4 terminals act as a thermal sensor G3 G4 are opened when the regenerative option overheats abnormally Always twist the wires for connection with the converter unit and connect the wires within the overall distance of 5m a MR RB139 MR RB136 4 Converter unit P1 P2 Note 1 Power factor improving DC reactor Option C Servo ...

Page 372: ...or G4 G3 Cooling fan 5m or less Note 3 Power supply 24VDC power supply Servo motor thermal relay OHS1 OHS2 R S Regenerative option G4 G3 Cooling fan R S Regenerative option G4 G3 Cooling fan R S Note 4 Note 4 Note 4 Note 1 When using the Power factor improving DC reactor remove the short bar across P1 P2 2 G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5V 4 8VDC Maximum ...

Page 373: ... 10 10 2 10 hole Regenerative option R Note 2 G4 G3 C P 260 230 215 197 MR RB137 MR RB138 4 Terminal block signal layout TE1 Terminal screw M5 Tightening torque 2 0 N m 17 7 lb in Mounting screw Screw size M8 Tightening torque 13 2 N m 117 lb in 2 3 15 S Note 2 Cooling fan Note 1 Note 1 One cooling fan for MR RB136 4 MR RB138 4 2 For MR RB138 4 R is R400 and S is S400 ...

Page 374: ...control circuit power supply Operation timing is the same as that for servo amplifiers with 22kW or less Refer to section 11 6 1 Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated When using the external dynamic brake assign the dynamic brake interlock DB to any of CN3 9 CN3 13 and CN...

Page 375: ...stop Operation ready Drive unit OFF ON Note 5 Forced stop RA4 RA2 Note 1 Terminals 13 14 are N O contact outputs When the dynamic brake has stuck terminals 13 14 are opened Therefore configure up the circuit to prevent servo on in the external sequence 2 For converter unit and servo amplifier 400 V class stepdown transformer is required for coil voltage of magnetic contactor more than 200 V class ...

Page 376: ...ning torque 2 0 N m 17 7 lb in Mounting screw Screw size M8 Tightening torque 13 2 N m 117 lb in Terminal screw M5 Tightening torque 0 8 N m 7 1 lb in TE2 230 15 10 370 10 390 330 30 30 10 TE2 TE1 15 230 15 15 260 235 220 15 2 3 U V W a b1314 U V W a b 13 14 2 10 installation hole DBU 37K Mass kg lb 11 24 25 8 17 64 Dynamic brake DBU 55K 4 ...

Page 377: ... in consideration of voltage drop To comply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 140 or more for wiring Table 13 4 Recommended wire Wires mm2 Converter unit Drive unit 1 L1 L2 L3 2 L11 L21 3 U V W P1 P2 4 P2 C 5 BU BV BW 6 OHS1 OHS2 MR J3 DU30KB Note 2 50 AWG1 0 d Note 1 60 AWG2 0 b Note 1 MR J3 CR55K MR J3 DU37KB Note 2 60 AWG2 0 d Note 1 80 AWG3 0 b Note 1 2 A...

Page 378: ...fuses magnetic contactors Always use one no fuse breakers and one magnetic contactor with one drive unit No fuse breaker Fuse Converter unit Drive unit Power factor improving DC reactor is not used Power factor improving DC reactor is used Note Class Current A Voltage AC V Magnetic Contactor MR J3 DU30KB 400A frame 250A 225A frame 225A 450 S N150 MR J3 CR55K MR J3 DU37KB 400A frame 300A 225A frame...

Page 379: ...kg lb MR J3 DU30KB MR DCL30K MR J3 CR55K MR J3 DU37KB MR DCL37K 255 215 80 232 M12 9 5 20 94 MR J3 DU30KB4 MR DCL30K4 205 75 175 6 5 14 33 MR J3 DU37KB4 MR DCL37K4 225 197 7 15 43 MR J3 CR55K4 MR J3 DU45KB4 MR DCL45K4 240 200 212 7 5 16 54 MR J3 DU55KB4 MR DCL55K4 135 260 215 80 232 M8 9 5 20 94 H or less X D or less Terminal cover Terminal screw Terminal block M3 5 screw For thermal sensor P1 P2 ...

Page 380: ...ply side and output side of the converter unit drive unit and also in suppressing high frequency leakage current zero phase current especially within 0 5MHz to 5MHz band The filters are used with the converter power supply wires L1 L2 L3 and drive unit power wires U V W 1 Usage Pass the 3 phase wires through four line noise filters When using the line noise filters with the power wires passing the...

Page 381: ...verter unit Drive unit Cable Iga Ig2 Igm M General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the drive unit Found from Fig 13 4 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 13 4 Ign Leakage current when a filter is connected to the i...

Page 382: ... current breaker designed for suppressing harmonics surges Find the terms of Equation 13 2 from the diagram Ig1 1000 5 95 0 475 mA Ig2 1000 5 105 0 525 mA Ign 0 not used Iga 5 mA Igm 2 5 mA Insert these values in Equation 13 2 Ig 10 0 475 0 5 1 0 525 2 5 85 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 85 mA or more A leakage cur...

Page 383: ...A UN 9 18 MR J3 CR55K4 MR J3 DU30KB4 to MR J3 DU55KB4 TF3150C TX 5 5 31 Note Surge protector is separately required to use any of these EMC filters 2 Connection example 1 2 3 4 5 6 E NFB Note 1 Power supply Note 2 Surge protector 1 RAV 781BYZ 2 OKAYA Electric Industries Co Ltd Note 2 Surge protector 2 RAV 781BXZ 4 OKAYA Electric Industries Co Ltd 1 2 3 1 2 3 L1 L2 L3 L11 L21 Converter unit MC Driv...

Page 384: ...TH A LARGE CAPACITY 30k TO 55kW 3 Outline drawing HF3200A UN Unit mm 500 5 480 1 3 6 5 3 M10 M8 3 6 5 Length 8 TF3150C TX Unit mm 150 1 150 1 150 1 452 5 500 3 3 M8 3 M8 M4 M8 M4 M4 8 R 4 25 Length 12 for M8 110 2 210 2 227 260 3 ...

Page 385: ...bnormal condition Use the brake unit with a combination indicated in 1 of this section For executing a continuous regenerative operation use FR RC H power regeneration converter or FR CV H power regeneration common converter Connect the brake unit to the bus of the converter unit L and L of TE2 1 for use As compared to the MR RB regenerative brake option the brake unit can return larger power Use ...

Page 386: ...r ECL Alarm history clear C1 For manufacturer setting Impossible Do not change the parameter 3 Connection example POINT Connecting PR terminal of the brake unit to L terminal of the converter unit results in a brake unit malfunction Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit a Combination with FR BR H resistor unit POINT To use brake units with a paral...

Page 387: ... 6 DICOM 2 ALM 7 EM1 9 DOCOM Note 2 RA2 N P BUE SD PR B C A SD MSG Note 4 Note 7 FR BU2 H FR BR H P PR TH2 TH1 Note 6 Terminal block Note 12 Note 11 Note 10 N P BUE SD PR B C A SD MSG FR BU2 H Note 6 FR BR H P PR L11 L21 Note 5 P1 P2 Note 3 L L Note 9 RA1 RA2 RA3 Drive unit Converter unit Controller forced stop RA4 Servo motor thermal relay Note 8 MC SK Note 2 Forced stop EM1 Operation ready OFF O...

Page 388: ...r is required 6 Contact rating 1b contact 110VAC_5A 220VAC_3A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 7 Contact rating 230VAC_0 3A 30VDC_0 3A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 8 Connect the thermal relay censor of the servo motor 9 Do not connect more than one cable to each...

Page 389: ...ircuit to turn OFF the forced stop EM1 of the drive unit and the converter unit at the same time 3 Always connect between P1 and P2 terminals Factory wired When using the power factor improving DC reactor refer to section 13 9 6 4 Connect P and N terminals of the brake unit to a correct destination Wrong connection results in the converter unit and brake unit malfunction 5 For the converter unit a...

Page 390: ...ke unit results in alarm occurrence or malfunction Always connect the master and slave terminals MSG and SD of the two brake units Do not connect the converter unit and brake units as below Connect the cables with a terminal block to distribute as indicated in this section N P Brake unit Brake unit Converter unit L L N P Connecting two cables to P and N terminals N P Brake unit Brake unit Converte...

Page 391: ...M 7 EM1 9 DOCOM Note 2 RA2 L11 L21 Note 5 P1 P2 Note 3 L L Note 9 RA1 RA2 RA3 Drive unit Converter unit Controller forced stop RA4 Servo motor thermal relay Note 8 MC SK Note 2 Forced stop EM1 Operation ready OFF ON RA5 RA6 N P BUE SD PR B C A SD MSG Note 4 Note 7 FR BU2 H MT BR5 H P PR TH2 TH1 Note 6 Note 12 Note 11 Note 10 Terminal block SK RA3 Note 7 N P BUE SD PR B C A SD MSG Note 4 FR BU2 H T...

Page 392: ...red 11 Connect MSG and SD terminals of the brake unit to a correct destination Wrong connection results in the converter unit and brake unit malfunction 12 For connecting L and L terminals of TE2 1 of the converter unit to the terminal block use the cable indicated in 3 d of this section c Precautions for wiring The cables between the converter unit and the brake unit and between the resistor unit...

Page 393: ...m Sheath Core Wire the stripped cable after twisting to prevent the cable from becoming loose In addition do not solder it Screw size M3 Tightening torque 0 5N m to 0 6N m Cable size 0 3mm 2 to 0 75 mm 2 Screw driver Small flat blade screwdriver Tip thickness 0 4mm Tip width 2 5mm 2 Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake un...

Page 394: ...2 55K 2 38 S6 Japan Solderless Terminal Note 2 R38 6S NICHIFU Note 2 a 400V MR J3 CR55K4 FR BU2 H55K 2 FVD14 6 Japan Solderless Terminal b class FR BU2 H75K 2 38 S6 Japan Solderless Terminal Note 2 R38 6S NICHIFU Note 2 a Note 1 Symbols in the applicable tool field indicate the following applicable tools Servo amplifier side crimping terminals Crimping terminal Symbol Crimping terminal Body Head D...

Page 395: ...sistor unit Unit mm 2 C Control circuit terminal Main circuit terminal W1 1 35 35 204 Hanging bolt C C W 5 A hanging bolt is placed on two locations Indicated below Note Note Note Ventilation ports are provided on both sides and the top The bottom is open Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass kg 200V class FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 400V class FR BR H55K 480 410...

Page 396: ...CAPACITY 30k TO 55kW c MT BR5 H resistor unit Unit mm Resistor unit Resistance value Approximate mass kg 200V class MT BR5 55K 2 0 50 400V class MT BR5 H75K 6 5 70 4 15 mounting hole 300 75 75 450 7 5 7 5 M6 M4 193 189 480 510 37 60 21 10 NP ...

Page 397: ...13 100 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k TO 55kW MEMO ...

Page 398: ...ed loop gain PB10 VIC Speed integral compensation PA11 to PA13 PB11 VDC Speed differential compensation PA14 POL Rotation direction selection PB12 For manufacturer setting PA15 ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1 For manufacturer setting PB14 NHQ1 Notch form selection 1 PB15 NH2 Machine resonance suppression filter 2 PA16 to PA18 PB16 NHQ2 Notch form selection...

Page 399: ...facturer setting PC10 MOD2 Analog monitor 2 output PD14 DOP3 Function selection D 3 PC11 MO1 Analog monitor 1 offset For manufacturer setting PC12 MO2 Analog monitor 2 offset PC13 MOSDL PD15 to PD32 Analog monitor feedback position output standard data Low PC14 MOSDH Analog monitor feedback position output standard data High PC15 to PC16 For manufacturer setting PC17 COP4 Function selection C 4 PC...

Page 400: ...COM LZ DI2 MO2 EM1 LG LBR LA LB LZR LAR DI3 App 3 Twin type connector Outline drawing for 721 2105 026 000 WAGO Unit mm D C 2 7 20 8 5 8 10 6 15 1 2 9 26 45 4 75 25 2 75 A 4 A B 721 2105 026 000 721 2205 026 000 Size mm A B C D 5 20 5 5 25 7 5 30 7 5 7 75 Model Driver slot Wire inserting hole Detecting hole Latch Coding finger ...

Page 401: ...Power supply connector DDK CE05 6A22 22SD D BSS Connector and Back shell CE3057 12A 1 D Cable clump MR PWCNS3 Power supply connector DDK CE05 6A32 17SD B BSS Connector and Back shell CE3057 20A 1 D265 Cable clump Power supply connector DDK CE05 6A32 17SD D BSS Connector and Back shell CE3057 20A 1 D Cable clump MR PWCNS1 Power supply connector DDK CE05 6A22 23SD B BSS Connector and Back shell CE30...

Page 402: ...tion of IGBT to Cause 2 of alarm No 32 indicated as Display in the remedies list for alarms Section 8 3 Addition of POINT Section 11 1 1 Partial figure addition Section 11 2 3 Addition of sentence when using with 11KB or more for parameter No PA02 00 Addition of FA Section 11 2 5 d Addition Section 11 5 Addition Section 11 6 Addition Section 11 7 Error correction Section 11 10 Addition Section 11 ...

Page 403: ...Note 3 addition of explanation to Note 2 Addition of explanation to Note 2 Change of description to Mounting closely is available for a combination of servo amplifiers of 200V 3 5kW or less Addition of CAUTION Addition of MR J3 500B4 and 700B4 Addition of MR J3 60B4 to 350B4 Addition of Note 7 Change of description for Note 7 Change of description for Note 7 addition of Note 9 Addition of sentence...

Page 404: ...7 from for manufacturer setting to Automatic setting parameter Change of parameter No PC06 from for manufacturer setting to function selection C 3 Addition of Note for parameter No PC01 Change of parameter No PC06 from for manufacturer setting to function selection C 3 Addition of Note4 for parameter No PC09 Change of setting description for parameter No PC10 Addition of Note4 Addition of paramete...

Page 405: ...ription Change of CN2 connection diagram to RoHS compliant parts Addition of connector set Deletion of 20 to 30m from table Addition of regenerative brake options for MR J3 500B4 and 700B4 Addition of regenerative option capable for MR J3 60B4 to 350B4 Addition of inverse efficiency and capacitor charging for MR J3 350B4 Addition of parameter setting due to addition of regenerative option Addition...

Page 406: ... MR J3 500B4 and 700B4 Addition of MR J3 60B4 to 350B4 compliant products deletion of Note from TX series Addition of TF3005C TX Addition of description for 30kW or more in WARNING Addition of POINT New addition of the details for 30kW or more Change of notation magnet contactor to magnetic contactor Change of description I O signal connector to Digital I O connector addition of rating plate Chang...

Page 407: ...efinition and cause Division of Load ratio graph for MR J3 B 4 and MR J3 CR55K 4 Addition of notation supplied with converter unit for 7 and 8 Addition of Note Revision of connection diagram change of Note 2 addition of Note 5 Addition of mass table Deletion of notation for UL C UL from body paragraph Deletion of Note Change of body paragraph Change of Iga display range in the diagram Change of pa...

Page 408: ...inted in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 J3 Series MR J3 B Servo Amplifier Instruction Manual C ...

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