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Mitsubishi Electric MELSERVO MR-J3 A Series, Instruction Manual

The Mitsubishi Electric MELSERVO MR-J3 A Series is a high-performance servo amplifier that guarantees precise control and efficient functionality. Maximize your product's potential by accessing the comprehensive Instruction Manual available for free download exclusively at manualshive.com, providing you with all the guidance you need for seamless operation.

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7 -  4 

7. GENERAL GAIN ADJUSTMENT 

 
7.2.2 Auto tuning mode operation 

The block diagram of real-time auto tuning is shown below. 

Servo
motor

Command

Automatic setting

Loop gains

PG1,VG1

PG2,VG2,VIC

Current 

control

Current feedback

Load inertia 
moment

Encoder

Position/speed 
feedback

Real-time auto 
tuning section

Speed feedback

Load inertia 

moment ratio 

estimation section

Gain 
table

Parameter No. PB06
Load inertia moment 
ratio estimation value

Set 0 or 1 to turn on.

Switch

Response 
setting

Gain adjustment mode 
selection

Parameter No. PA08 Parameter No. PA09

0 0 0

 

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always 
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of 
estimation are written to parameter No. PB06 (the ratio of load inertia moment to servo motor). These results 
can be confirmed on the status display screen of the servo configuration software section. 
If the value of the load inertia 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 loop gains are automatically set on the basis of the internal gain tale. 
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At 
power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an 
initial value. 
 

POINT 

 

If sudden disturbance torque is imposed during operation, the estimation of the 

inertia moment ratio may malfunction temporarily. In such a case, choose the 
"auto tuning mode 2" (parameter No. PA08: 0002) and set the correct load 
inertia moment ratio in parameter No. PB06. 

When any of the auto tuning mode 1 and auto tuning mode settings is changed 

to the manual mode 2 setting, the current loop gains and load inertia moment 
ratio estimation value are saved in the EEP-ROM. 

 

Summary of Contents for MELSERVO MR-J3 A Series

Page 1: ...Servo Amplifier Instruction Manual General Purpose Interface MR J3 첸A MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC 01072007 SH NA 030038 Version ES INDUSTRIAL AUTOMATION ...

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: ...fier is charged and you may get an electric shock 2 To prevent fire note the following CAUTION Do not install the servo amplifier servo motor and regenerative resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative resistor is used us...

Page 4: ...peration 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 or less non condensing Ambient humidity In storage 90 RH or less non condensing Ambience Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt A...

Page 5: ... U M V W U V W Servo Amplifier Servo Motor Servo Amplifier Do not connect AC power directly to the servo motor Otherwise a fault may occur The surge absorbing diode installed on the DC output signal relay of the servo amplifier must be wired in the specified direction Otherwise the emergency stop EMG and other protective circuits may not operate Servo Amplifier Control output signal Servo Amplifie...

Page 6: ...ical structure e g where a ballscrew and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault use a servo motor with electromagnetic brake or an externa...

Page 7: ...very 10 years when used in general environment Please consult our sales representative 7 General instruction To illustrate details the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards When the equipment is operated the covers and safety guards must be installed as specified Operation must be performed in accordance with th...

Page 8: ... 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 servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter s...

Page 9: ...ply with the EMC directive For specific EMC directive conforming 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 directi...

Page 10: ... an electric shock always connect the protective earth PE terminals marked of the servo amplifier to the protective earth PE of the control box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminal...

Page 11: ...izes of the cables described in section 12 11 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been...

Page 12: ...ivalent capability 3 Short circuit rating This servo amplifier conforms to the circuit whose peak current is limited to 5000A or less Having been subjected to the short circuit tests of the UL in the alternating current circuit the servo amplifier conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging sect...

Page 13: ...3 500A4 T 50 AC600 MR J3 350A 70 AC250 MR J3 700A4 65 MR J3 500A 125 MR J3 11KA4 100 MR J3 700A 150 MR J3 15KA4 150 MR J3 11KA 200 MR J3 22KA4 175 MR J3 15KA 250 MR J3 22KA T 350 6 Attachment of a servo motor For the flange size of the machine side where the servo motor is installed refer to CONFORMANCE WITH UL C UL STANDARD in the Servo Motor Instruction Manual 7 About wiring protection For insta...

Page 14: ...f you use the General Purpose AC servo MR J3 A for the first time Always purchase them and use the MR J3 A safely Relevant manuals Manual name Manual No MELSERVO J3 Series To Use the AC Servo Safely IB NA 0300077 MELSERVO Servo Motor Instruction Manual Vol 2 SH NA 030041 EMC Installation Guidelines IB NA 67310 ...

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

Page 16: ... 2 3 2 I O Signal connection example 3 10 3 2 1 Position control mode 3 10 3 2 2 Speed control mode 3 12 3 2 3 Torque control mode 3 13 3 3 Explanation of power supply system 3 14 3 3 1 Signal explanations 3 14 3 3 2 Power on sequence 3 15 3 3 3 CNP1 CNP2 CNP3 wiring method 3 17 3 4 Connectors and signal arrangements 3 24 3 5 Signal explanations 3 27 3 6 Detailed description of the signals 3 37 3 ...

Page 17: ...ctual operation 4 6 4 2 6 Trouble at start up 4 7 4 3 Startup in speed control mode 4 9 4 3 1 Power on and off procedures 4 9 4 3 2 Stop 4 9 4 3 3 Test operation 4 10 4 3 4 Parameter setting 4 11 4 3 5 Actual operation 4 11 4 3 6 Trouble at start up 4 12 4 4 Startup in torque control mode 4 13 4 4 1 Power on and off procedures 4 13 4 4 2 Stop 4 13 4 4 3 Test operation 4 14 4 4 4 Parameter setting ...

Page 18: ...nge the stopping pattern 5 50 6 DISPLAY AND OPERATION SECTIONS 6 1 to 6 20 6 1 Overview 6 1 6 2 Display sequence 6 2 6 3 Status display 6 3 6 3 1 Display transition 6 3 6 3 2 Display examples 6 4 6 3 3 Status display list 6 5 6 3 4 Changing the status display screen 6 6 6 4 Diagnostic mode 6 7 6 5 Alarm mode 6 9 6 6 Parameter mode 6 10 6 6 1 Parameter mode transition 6 10 6 6 2 Operation example 6...

Page 19: ... 9 1 to 9 10 9 1 Alarms and warning list 9 1 9 2 Remedies for alarms 9 2 9 3 Remedies for warnings 9 8 10 OUTLINE DRAWINGS 10 1 to 10 12 10 1 Servo amplifier 10 1 10 2 Connector for CN1 10 10 11 CHARACTERISTICS 11 1 to 11 10 11 1 Overload protection characteristics 11 1 11 2 Power supply equipment capacity and generated loss 11 3 11 3 Dynamic brake characteristics 11 6 11 3 1 Dynamic brake operati...

Page 20: ...cations 13 3 13 2 1 Communication overview 13 3 13 2 2 Parameter setting 13 4 13 3 Protocol 13 5 13 3 1 Transmission data configuration 13 5 13 3 2 Character codes 13 6 13 3 3 Error codes 13 7 13 3 4 Checksum 13 7 13 3 5 Time out operation 13 8 13 3 6 Retry operation 13 8 13 3 7 Initialization 13 9 13 3 8 Communication procedure example 13 9 13 4 Command and data No list 13 10 13 4 1 Read commands...

Page 21: ...e absolute position data at detection of stroke end 14 20 14 8 Examples of use 14 21 14 8 1 MELSEC FX 2N 32MT FX 2N 1PG 14 21 14 8 2 MELSEC A1SD75 14 33 14 8 3 MELSEC QD75 14 46 14 9 Absolute position data transfer errors 14 55 14 9 1 Corrective actions 14 55 14 9 2 Error resetting conditions 14 57 14 10 Communication based ABS transfer system 14 58 14 10 1 Serial communication command 14 58 14 10...

Page 22: ...s makes home position return unnecessary at power on or alarm occurrence by setting a home position once 1 Position control mode An up to 1Mpps high speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 262144 pulses rev resolution The position smoothing function provides a choice of two different modes appropriate for a machine so a smoother ...

Page 23: ... position control Model speed control Pulse input Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder CN2 MR J3BAT Optional battery for absolute position detection system Current detection Model speed CON1 CN5 USB CN3 RS 422 CN6 D A D I O control Servo on Start Failure etc Analog 2 channels USB Personal computer RS 422 Controller A...

Page 24: ...rake Current detector Control circuit power supply Electro magnetic brake Servo motor Current detection Model position control Model speed control Pulse input Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder Model speed Analog 2 channels Optional battery for absolute position detection system Personal computer Controller Analog ...

Page 25: ...hannels I F USB RS 422 D A A D USB RS 422 D I O control Servo on Start Failure etc CN1 Analog 2 channels Personal computer Controller Regenerative option CN2 L1 L2 L3 L11 L21 NFB MC P C U V W U V W M B1 B2 N P1 Servo amplifier Power factor improving DC reactor CHARGE lamp Regene rative TR Current detector Servo motor Cooling fan Control circuit power supply Base amplifier Voltage detection Overcur...

Page 26: ...048576 B 1 to 1048576 1 10 A B 2000 In position range setting 0 to 10000 pulse command pulse unit Error excessive 3 revolutions Position control mode Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10VDC Rated speed Speed fluctuation ratio 0 01 or l...

Page 27: ... 2000 In position range setting 0 to 10000 pulse command pulse unit Error excessive 3 revolutions Position control mode Torque limit Set by parameter setting or external analog input 0 to 10VDC maximum torque Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10VDC Rated speed Speed fluctuation ratio 0 01 or less load fluctuation 0 to 100 ...

Page 28: ... Adaptive filter Servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration P S T Section 8 2 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased P S T Section 8 5 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting a servo co...

Page 29: ...ced on off independently of the servo status Use this function for output signal wiring check etc P S T Section 6 8 Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command VC or analog speed limit VLA of 0V S T Section 6 4 Test operation mode JOG operation positioning operation motor less operation DO forced output Howev...

Page 30: ...er supply Note 2 1 1 phase 100 to 120VAC Power supply With no regenerative resistor PX Indicates a servo amplifier of 11 to 22kW that does not use a regenerative resistor as standard accessory Symbol Description 4 3 phase 380 to 480VAC Rated output kW Symbol 350 3 5 500 5 700 7 11K 11 15K 15 22K 22 Rating plate MR J3 11KA 4 to 22KA 4 Rating plate MR J3 100A or less MR J3 60A4 100A4 MR J3 200A 350A...

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

Page 32: ...peration section Used to perform status display diagnostic alarm and parameter setting operations I O signal connector CN1 Used to connect digital I O signals Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Used to connect the servo motor encoder Battery holder Contains the battery for absolute position data back...

Page 33: ...eration section Used to perform status display diagnostic alarm and parameter setting operations I O signal connector CN1 Used to connect digital I O signals Encoder connector CN2 Used to connect the servo motor encoder Battery holder Contains the battery for absolute position data backup Battery connector CN4 Used to connect the battery for absolute position data backup Protective earth PE termin...

Page 34: ... analog monitor I O signal connector CN1 Used to connect digital I O signals Servo motor power connector CNP3 Connect the servo motor Control circuit connector CNP2 Connect the control circuit power supply regenerative option Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Used to connect the servo motor encoder ...

Page 35: ...SET Operation section Used to perform status display diagnostic alarm and parameter setting operations I O signal connector CN1 Used to connect digital I O signals Encoder connector CN2 Used to connect the servo motor encoder Battery holder Contains the battery for absolute position data backup Battery connector CN4 Used to connect the battery for absolute position data backup Protective earth PE ...

Page 36: ...ions Used to change the display or data in each mode Used to set data Used to change the mode MODE UP DOWN SET Analog monitor connector CN6 Outputs the analog monitor USB communication connector CN5 Connect with the personal computer RS 422 communication connector CN3 Connect with the personal computer I O signal connector CN1 Used to connect digital I O signals Encoder connector CN2 Used to conne...

Page 37: ...er Section 12 8 Chapter 13 I O signal connector CN1 Used to connect digital I O signals Section 3 2 Section 3 4 Encoder connector CN2 Used to connect the servo motor encoder Battery connector CN4 Used to connect the battery for absolute position data backup Section 3 4 Section 12 1 Section 12 9 Chapter 14 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not re...

Page 38: ...each mode MODE UP DOWN SET USB communication connector CN5 Connect with the personal computer Section 12 8 Analog monitor connector CN6 Outputs the analog monitor Section 3 2 Section 3 4 RS 422 communication connector CN3 Connect with the personal computer Section 12 8 Chapter 13 I O signal connector CN1 Used to connect digital I O signals Section 3 2 Section 3 4 Battery unit holder Contains the b...

Page 39: ...nt cover make sure that the charge lamp is off more than 15 minutes after power off Otherwise you may get an electric shock 1 For MR J3 350A4 MR J3 500A 4 MR J3 700A 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 Pull out the front cover to remove ...

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

Page 42: ...actor FR BEL Analog monitor CN1 CN2 CN4 Junction terminal block CN6 P1 P2 U V W Servo amplifier Servo motor Note1 Battery unit MR J3BAT L1 L2 L3 Note2 Note2 MR Configurator Personal computer Note 1 The battery unit 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 3 A 1 phase 200V to 2...

Page 43: ...1 CN2 CN4 Junction terminal block CN6 U V W Servo amplifier Servo motor Note 1 Battery unit MR J3BAT L1 L2 MR Configurator Personal computer Power factor improving reactor FR BAL Note 2 R S Note 1 The battery unit 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 For the specification of power supply refe...

Page 44: ...ote 2 Power factor improving DC reactor FR BEL H Note 3 Power supply Note 2 R S T CN5 CN3 CN1 CN2 CN4 CN6 MR Configurator Personal computer C L21 L11 W V U P1 P2 L1 L2 L3 Note 1 The battery unit 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 F...

Page 45: ...log monitor CN2 CN4 CN1 Junction terminal block CN6 MR Configurator Personal computer Servo motor Note1 Battery unit MR J3BAT L3 Note2 L11 L2 L1 Note3 R S T Note 1 The battery unit 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 For MR J3 350A ...

Page 46: ...ower factor improving DC reactor FR BEL H Note 3 Power supply Note 2 R S T P1 P2 U V W CN5 CN3 CN2 CN4 CN1 CN6 MR Configurator Personal computer L1 L2 L3 C L11 L22 P Note 1 The battery unit 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 For th...

Page 47: ... option Note2 Power factor improving DC reactor FR BEL Note1 Battery unit MR J3BAT Junction terminal block MR Configurator Analog monitor Personal computer Servo motor Note 1 The battery unit 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 For ...

Page 48: ...actor FR BEL Servo amplifier Regenerative option Note1 Battery unit MR J3BAT Servo motor Junction terminal block MR Configurator Personal computer Analog monitor Note 1 The battery unit 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 For the sp...

Page 49: ... contactor MC Line noise filter FR BLF Power factor improving DC reactor FR BEL Note2 Regenerative option Junction terminal block Note1 Battery unit MR J3BAT Servo motor Note 1 The battery unit 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 Fo...

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: ...stalling the servo amplifiers closely leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case make circumference temperature into 0 to 45 or use it at 75 or a smaller effective load ratio 40mm or more Control box 100mm or more 40mm or more 10mm or more Control box Leaving clearance Mounting closely 1mm 1mm 100mm or more 30mm or more 30mm ...

Page 52: ...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 and cable...

Page 53: ...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 000hours 2 to 3 years Servo amplifier Absolute position battery Refer...

Page 54: ... 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 emergency stop EMG and other protective circuits RA DOCOM DICOM 24VDC Servo Amplifier Control output signal RA DOCOM DICOM 24VDC C...

Page 55: ...sed with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply to MR J3 10A to MR J3 350A RA NFB MC L1 L2 L3 RA P1 P2 P SK MC ON OFF MC L11 L21 N D C U V W CNP1 CNP3 PE CNP2 U V W 2 3 4 1 M CN2 24VDC Emergency stop Servo amplifier Note 1 Note 2 Emergency stop Servo on Servo motor Note 5 Motor Note 3 Encoder cable Encoder Trouble DOCOM DICOM DOCOM Note 4 Note 4 CN1 EMG SON C...

Page 56: ...able Encoder Trouble SON DOCOM DICOM DOCOM Note 4 Note 4 CN1 EMG CN1 ALM 1 phase 200 to 230VAC Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to section 12 13 2 Always connect P D Factory wired When using the regenerative option refer to section 12 2 3 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of t...

Page 57: ... 3 Encoder cable Encoder Trouble DOCOM DICOM DOCOM Note 4 Note 4 CN1 EMG SON CN1 ALM 1 phase 100 to 120VAC 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 12 2 3 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cabl...

Page 58: ...ncoder cable Note 5 Trorble DOCOM CN1 CN1 Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to section 12 13 2 Always connect P D Factory wired When using the regenerative option refer to section 12 2 3 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable 4 For the sink I O interface For the source ...

Page 59: ...ergency stop Servo on Note 2 DOCOM DICOM DOCOM Note 4 Note 4 CN1 EMG SON CN1 ALM 3 phase 200 to 230VAC Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to section 12 13 2 When using the regenerative option refer to section 12 2 3 For encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable 4 For the sink I...

Page 60: ... Cooling fan BU BV Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to section 12 13 2 When using the regenerative option refer to section 12 2 3 For the encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable 4 For the sink I O interface For the source I O interface refer to section 3 8 3 5 Refer to sect...

Page 61: ...te 4 Note 4 CN1 EMG SON CN1 ALM 3 phase 200 to 230VAC Note 1 Always connect P P1 Factory wired When using the power factor improving DC reactor refer to section 12 13 2 When using the regenerative option refer to section 12 2 3 For the encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable 4 For the sink I O interface For the source I O interface refe...

Page 62: ...upply Trouble DOCOM DICOM DOCOM Note 4 Note 4 CN1 EMG SON CN1 ALM 3 phase 380 to 480VAC Note 1 Always connect P P1 Factory wired When using the power factor improving DC reactor refer to section 12 13 2 When using the regenerative option refer to section 12 2 3 For the encoder cable use of the option cable is recommended Refer to section 12 1 for selection of the cable 4 For the sink I O interface...

Page 63: ...igurator CN5 Positioning module Note 4 24VDC power supply Note 11 10m max Note 8 Note 3 5 Emergency stop Servo on Reset Proportion control Torque limit selection Forward rotation stroke end Reverse rotation stroke end Analog torque limit 10V max torque Personal computer 10m max Note 5 Upper limit setting 2m max Note 10 USB cable option Servo amplifier Note 7 Note 7 Plate Note 7 Note 7 Plate Note 2...

Page 64: ...rd Reverse rotation stroke end LSP LSN Normally closed contacts 6 Trouble ALM turns on in normal alarm free condition When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the ope...

Page 65: ...ctive earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits 3 The emergency stop switch normally closed contact must be installed 4 Supply 24VDC 10 300...

Page 66: ...0 Note 1 To prevent an electric shock always connect the protective earth PE terminal of the terminal marked servo amplifier to the protective earth PE of the control box 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will be faulty and will not output signals disabling the emergency stop EMG and other protective circuits 3 The emergency stop switch n...

Page 67: ...e resistor 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 350A4 500A 4 700A 4 MR J3 350A4 500A 4 700A 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: ...n circuit power supply the warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on SON about 1 to 2s after the main circuit power supply is switched on Therefore when SON is switched on simultaneously with the main circuit power supply the base circuit will switch on in about 1 to 2s and the ready RD will switch on in further about 5ms making ...

Page 69: ...the display shows the servo emergency stop warning AL E6 During ordinary operation do not use the external emergency stop EMG to alternate stop and run The servo amplifier life may be shortened Also if the forward rotation start ST1 and reverse rotation start ST2 are on or a pulse train is input during an emergency stop the servo motor will rotate as soon as the warning is reset During an emergenc...

Page 70: ...ed 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 after ...

Page 71: ...he sheath has been stripped the cable can be used as it is 7mm Sheath Core Twisted wire Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together Cable size Bar terminal typ...

Page 72: ...ter the sheath has been stripped the cable can be used as it is 8 to 9mm Sheath Core Twisted wire Use the cable after stripping the sheath and twisting the core At this time take care to avoid a short caused by the loose wires of the core and the adjacent pole Do not solder the core as it may cause a contact fault Alternatively a bar terminal may be used to put the wires together Cable size Bar te...

Page 73: ...e to be inserted to the connector depending on wire size or bar terminal configuration In this case change the wire type or correct it in order to prevent the end of bar terminal from widening and then insert it How to connect a cable to the servo amplifier power supply connector is shown below a When using the supplied cable connection lever 1 The servo amplifier is packed with the cable connecti...

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 Approx R0 3 3 to 3 5 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: ...sert the cable into PC4 6 STF 7 62 CRWH or PC4 3 STF 7 62 CRWH connector Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 5 to 0 6N m 4 425 to 5 31 lb in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm 2 or less two...

Page 77: ...nnector layouts of the other servo amplifiers P C D L11 L21 L1 U L2 L3 N P1 P2 V W 2 4 6 8 10 12 14 16 18 20 22 24 1 3 5 7 9 11 13 15 17 19 21 23 27 29 31 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 25 50 2 LG 1 MO2 3 MO1 CN6 CN1 CN5 CN6 CN3 CN1 CN2 CN5 USB connector Refer to section 12 8 CN3 RS 422 connector Refer to section 13 1 The frames of the CN1 connectors is connected to...

Page 78: ...11 I PG PG PG 12 OPC OPC OPC 13 14 15 I SON SON SON SON SON SON PD03 16 I SP2 SP2 SP2 SP2 SP2 SP2 PD04 17 I PC PC ST1 ST1 ST1 RS2 RS2 RS2 PC PD05 18 I TL TL ST2 ST2 ST2 RS1 RS1 RS1 TL PD06 19 I RES RES RES RES RES RES PD07 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP SA SA SA INP PD13 23 O ZSP ZSP ZSP ZSP ZSP ZSP PD14 24 O INP INP SA SA SA INP PD15 25 ...

Page 79: ...iting speed LSN Reverse rotation stroke end RD Ready CR Clear ZSP Zero speed SP1 Speed selection 1 INP In position SP2 Speed selection 2 SA Speed reached PC Proportion control ALM Trouble ST1 Forward rotation start WNG Warning ST2 Reverse rotation start BWNG Battery warning TL Torque limit selection OP Encoder Z phase pulse open collector RES Reset MBR Electromagnetic brake interlock EMG Emergency...

Page 80: ...ifier DI 1 Reset RES CN1 19 Turn RES on for more than 50ms to reset the alarm Some alarms cannot be deactivated by the reset RES Refer to section 9 1 Turning RES on in an alarm free status shuts off the base circuit The base circuit is not shut off when 1 is set in parameter No PD20 This signal is not designed to make a stop Do not turn it ON during operation DI 1 To start operation turn LSP LSN o...

Page 81: ...irection Forward rotation start ST1 CN1 17 0 0 Stop servo lock 0 1 CCW 1 0 CW 1 1 Stop servo lock Reverse rotation start ST2 CN1 18 Note 0 off 1 on If both ST1 and ST2 are switched on or off during operation the servo motor will be decelerated to a stop according to the parameter No PC02 setting and servo locked When 1 is set in parameter No PC23 the servo motor is not servo locked after decelerat...

Page 82: ...and 4 parameter No PC08 1 0 1 Internal speed command 5 parameter No PC09 1 1 0 Internal speed command 6 parameter No PC10 1 1 1 Internal speed command 7 parameter No PC11 Note 0 off 1 on Torque control mode Used to select the limit speed for operation When using SP3 make it usable by making the setting of parameter No PD03 to PD08 PD10 to PD12 Note Input signals SP3 SP2 SP1 Speed limit 0 0 0 Analo...

Page 83: ...s operated Turn EMG on short between commons in the emergency stop state to reset that state DI 1 Clear CR CN1 41 Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or more The delay amount set in parameter No PB03 position command acceleration deceleration time constant is also cleared When the parameter No PD22 setting is 1 the pulses...

Page 84: ... the parameter No PD03 to PD08 PD10 to PD12 to make it usable This signal allows selection of the acceleration deceleration time constant at servo motor rotation in the speed control mode or torque control mode The S pattern acceleration deceleration time constant is always uniform Note STAB2 Acceleration deceleration time constant 0 Acceleration time constant parameter No PC10 Deceleration time c...

Page 85: ...en the number of droop pulses is in the preset in position range The in position range can be changed using parameter No PA10 When the in position range is increased may be kept connected during low speed rotation INP turns on when servo on turns on DO 1 Speed reached SA CN1 24 SA turns off when servo on SON turns off or the servomotor speed has not reached the preset speed with both forward rotat...

Page 86: ...servo motor speed has reached ON level and ZSP turns on to the point when it is accelerated again and has reached OFF level is called hysteresis width Hysteresis width is 20r min for the MR J3 A servo amplifier DO 1 Electromagnetic brake interlock MBR Set the parameter No PD13 to PD16 PD18 or parameter No PA04 to make this signal usable Note that ZSP will be unusable MBR turns off when the servo i...

Page 87: ...n alarm AL 50 Overload 1 0 1 1 AL 51 Overload 2 AL 24 Main circuit error 1 0 0 AL 32 Overcurrent AL 31 Overspeed AL 35 Command pulse frequency alarm 1 0 1 AL 52 Error excessive AL 16 Encoder error 1 AL 1A Monitor combination error AL 20 Encoder error 2 1 1 0 AL 25 Absolute position erase Alarm code Note 0 off 1 on DO 1 Variable gain selection CDPS CDPS is on during gain changing DO 1 Absolute posi...

Page 88: ...across NP DOCOM In the differential receiver system max input frequency 1Mpps Forward rotation pulse train across PG PP Reverse rotation pulse train across NG NP The command pulse train form can be changed using parameter No PA13 DI 2 3 Output signals Control mode Signal Symbol Connect or pin No Functions Applications I O division P S T Encoder Z phase pulse Open collector OP CN1 33 Outputs the ze...

Page 89: ...r of I O interface points to be used Connect the positive terminal of the 24VDC external power supply 24VDC 10 Open collector power input OPC CN1 12 When inputting a pulse train in the open collector system supply this terminal with the positive power of 24VDC Digital I F common DOCOM CN1 46 CN1 47 Common terminal for input signals such as SON and EMG Pins are connected internally Separated from L...

Page 90: ...details b Connections and waveforms 1 Open collector system Connect as shown below SD OPC PP NP DOCOM 24VDC Servo amplifier Approx 1 2k Approx 1 2k The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No PA13 has been set to 0010 Their relationships with transistor ON OFF are as follows ON OFF ON OFF ON OFF ON OF...

Page 91: ...and reverse rotation pulse trains parameter No PA13 has been set to 0010 The waveforms of PP PG NP and NG are based on that of the ground of the differential line driver PP PG NP NG Forward rotation pulse train Reverse rotation pulse train Forward rotation command Reverse rotation command 2 In position INP INP turns on when the number of droop pulses in the deviation counter falls within the prese...

Page 92: ...orque By setting parameter No PA11 forward torque limit or parameter No PA12 reverse torque limit torque is always limited to the maximum value during operation A relationship between the limit value and servo motor torque is shown below 0 100 100 CW direction Max torque CCW direction Torque Torque limit value in parameter No PA12 Torque limit value in parameter No PA11 A relationship between the ...

Page 93: ... valid Note External Input Signals Validated Torque Limit Values TL1 TL Limit Value Status CCW driving CW regeneration CW driving CCW regeneration 0 0 Parameter No PA11 Parameter No PA12 Parameter No PA11 TLA Parameter No PA12 Parameter No PA11 Parameter No PA12 Parameter No PA11 0 1 TLA Parameter No PA12 TLA TLA Parameter No PA11 Parameter No PC35 Parameter No PA12 Parameter No PA11 Parameter No ...

Page 94: ...tation direction according to forward rotation start ST1 and reverse rotation start ST2 combination Note 1 External input signals Note 2 Rotation direction Analog speed command VC ST2 ST1 Polarity 0V Polarity Internal speed commands 0 0 Stop Servo lock Stop Servo lock Stop Servo lock Stop Servo lock 0 1 CCW CW CCW 1 0 CW Stop No servo lock CCW CW 1 1 Stop Servo lock Stop Servo lock Stop Servo lock...

Page 95: ...and value 0 0 0 Analog speed command VC 0 0 1 Internal speed command 1 parameter No PC05 0 1 0 Internal speed command 2 parameter No PC06 0 1 1 Internal speed command 3 parameter No PC07 1 0 0 Internal speed command 4 parameter No PC08 1 0 1 Internal speed command 5 parameter No PC09 1 1 0 Internal speed command 6 parameter No PC10 1 1 1 Internal speed command 7 parameter No PC11 Note 0 off 1 on T...

Page 96: ...e The following table indicates the torque generation directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 when the analog torque command TC is used Note External input signals Rotation direction Torque control command TC RS2 RS1 Polarity 0V Polarity 0 0 Torque is not generated Torque is not generated 0 1 CCW reverse rotation in driving mode forward rotati...

Page 97: ...analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown below When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100r min greater than the desired speed limit value Forward rotation CCW Reverse rotation CW 10 Rated speed r min CCW direction 0 10 VC applied volta...

Page 98: ... 1 Internal speed limit 1 parameter No PC05 0 1 0 Internal speed limit 2 parameter No PC06 0 1 1 Internal speed limit 3 parameter No PC07 1 0 0 Internal speed limit 4 parameter No PC08 1 0 1 Internal speed limit 5 parameter No PC09 1 1 0 Internal speed limit 6 parameter No PC10 1 1 1 Internal speed limit 7 parameter No PC11 Note 0 off 1 on When the internal speed limits 1 to 7 are used to command ...

Page 99: ...changed in the zero speed status To ensure safety change control after the servo motor has stopped When position control mode is changed to speed control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below ON OFF ON O...

Page 100: ... signals SP2 SP1 Speed command value 0 0 Analog speed command VC 0 1 Internal speed command 1 parameter No PC05 1 0 Internal speed command 2 parameter No PC06 1 1 Internal speed command 3 parameter No PC07 Note 0 off 1 on By making speed selection 3 SP3 usable by setting of parameter No PD03 to PD08 PD10 to PD12 you can choose the speed command values of analog speed command VC and internal speed ...

Page 101: ...de 1 Torque control mode Note 0 off 1 on The control mode may be changed at any time A change timing chart is shown below 10V 0 ON OFF Torque control mode Servo motor speed Control change LOP Note Speed control mode Speed control mode Analog torque command TC Load torque Forward rotation in driving mode Note When the start ST1 ST2 is switched off as soon as the mode is changed to speed control the...

Page 102: ...ce For the source I O interface refer to section 3 8 3 b Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set by the internal speed command 1 and the speed set by the analog speed limit VLA as indicated in the following table Note External input signals SP1 Speed command value 0 Analog speed limit VLA 1 Internal speed limit 1 parameter No PC05 Note ...

Page 103: ...r the servo motor has stopped When position control mode is changed to torque control mode droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown below 0V 10V ON OFF ON OFF Servo motor speed Zero speed ZSP Control change LOP Zero s...

Page 104: ...rm occurs 2 Changes depending on the operating status 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent AL 32 overload 1 AL 50 or overload 2 AL 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the al...

Page 105: ... 4 5 6 7 8 9 33 34 5 4 3 6 1 7 CN3 P S T LA LAR LB LBR LZ LZR OP LG SDP SDN RDP RDN LG LG RA CN6 P S T MO1 MO2 LG 3 2 1 RA CN5 P S T CN2 P S T USB D D GND 3 2 4 7 8 MR MRR MD MDR LG CN1 P S T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG 28 LG 30 LG SD E M 15VDC RS 422 24VDC Note 3 Note 3 Note 2 Servo amplifier Approx 5 6k Approx 5 6k Approx 100 Approx 1 2k Approx 100 Approx 1 2k Case Isolated Differential l...

Page 106: ...tion and make connection with the external equipment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Refer to section 3 8 3 for the source input DICOM VCES 1 0V ICEO 100 A TR 24VDC 10 5 6k For transistor Approx 5mA Switch 300mA Servo amplifier SON etc 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Install a diode D for an inductive...

Page 107: ... 5V VOL 0 5V Note Note Pulse train input interface is comprised of a photo coupler Therefore it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line 2 Input pulse condition 0 9 0 1 tc tHL tc tLH tF tLH tHL 0 1 s tc 0 35 s tF 3 s PP PG NP NG b Open collector system 1 Interface Servo amplifier 24VDC OPC PP NP DOCOM SD Approx 1 2k Max input pulse...

Page 108: ...Max output current 35mA LA LB LZ LAR LBR LZR LG SD LA LB LZ LAR LBR LZR SD Servo amplifier Servo amplifier Am26LS32 or equivalent High speed photocoupler 150 100 2 Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more OP Time cycle T is determined by the settings of parameter No PA15 and PC19 5 Analog input Input impedance 10 to 12k Upper limit setting 2k 15VDC P15R VC etc L...

Page 109: ...DI 1 input signals and DO 1 output signals are of source type Perform wiring according to the following interfaces 1 Digital input interface DI 1 SON etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 300mA 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 ...

Page 110: ...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 CN1 connector 3M connector Screw Screw Ground plate Cable 2 For CN2 connector 3M or Molex connector Screw Cable Ground plate ...

Page 111: ...section indicates the connection of the motor power supply 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 12 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 se...

Page 112: ...R 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 a Relay connector for extension cable Note b Relay connector for motor power supply cable Note Use of the following connectors is recommended w...

Page 113: ...r the cables used for wiring Electromagnetic brake MBR Servo motor Emergency stop EMG Note Servo amplifier U V W B1 B2 U V W 24VDC power supply for electromagnetic brake 50m or less M Trouble ALM When the power supply connector and the electromagnetic brake connector are separately supplied Servo motor Servo amplifier M U V W B1 B2 U V W Electromagnetic brake MBR Emergency stop EMG Note 24VDC powe...

Page 114: ...tors 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 203 CE05 2A22 23PD B HC RP353 503 CE05 2A24 10PD B HC UP72 152 CE05 2A22 23PD B The connector for power is shared HC UP202 to 502 CE05 2A24 10PD B MS3102A10SL 4P HC LP52 to 152 CE05 2A22 23P...

Page 115: ...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 1 B1 Note A B1 Note B V 2 B2 Note B B2 Note C W D earth E B1 Note F B2 Note G Note For the motor with electromagnetic brake supply electromagn...

Page 116: ...1 B1 B2 24VDC power supply for electromagnetic brake RA3 24VDC power supply OHS2 OHS1 Servo motor thermal relay Note 3 Emergency stop EMG Trouble ALM Electromagnetic brake MBR Note 1 When using the external dynamic brake refer to section 12 6 2 The servo motor with cooling fan for single phase has no BW terminal 3 Configure the power supply circuit which turns off the magnetic contactor after dete...

Page 117: ...3 24VDC power supply Servo motor thermal relay Note 3 Emergency stop EMG Trouble ALM Electromagnetic brake MBR Note 1 When using the external dynamic brake refer to section 12 6 2 The servo motor with cooling fan for single phase has no BW terminal 3 Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal 4 For the cooling fan power supply r...

Page 118: ...0 10 SHD 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 Thermal sensor terminal block OHS1 OHS2 M4 screw Cooling fan terminal block BU BV M4 screw Encoder connector CM10 R10P Earth terminal M6 screw Motor pow...

Page 119: ...ower supply terminal block U V W M8 screw BW BU BV OHS2 OHS1 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 OHS2 BU W BW BV OHS1 Terminal...

Page 120: ...inal 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 OHS2 BU W BW BV OHS1 Terminal block signal arrangement BV U V W BU BW OHS1OHS2 ...

Page 121: ...Hz 0 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 1 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 t...

Page 122: ...ty and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 Set 1 in parameter No PA04 to make the electromagnetic brake interlock MBR valid 2 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 3...

Page 123: ... Tb to about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed Electromagnetic brake MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on SON Electromagnetic brake operation delay time Tb Coasting 0 r min 95ms 95ms 2 Emergency stop EMG ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF Emergency...

Page 124: ...lock MBR ON OFF Base circuit Servo motor speed No ON Yes OFF Trouble ALM 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 Trouble ALM No ON Yes OFF ON OFF Main circuit power supply Dynamic br...

Page 125: ... MR BKS1CBL M A1 L MR BKS1CBL M A2 L MR BKS1CBL M A1 H MR BKS1CBL M A2 H Note 1 B1 B2 Trouble ALM Servo motor 10m or less Emergency stop EMG 24VDC power supply for electromagnetic brake Note 2 Electromagnetic brake MBR Note 1 Connect a surge absorber as close to the servo motor as possible 2 There is no polarity in electromagnetic brake terminals B1 and B2 When fabricating the motor brake cable MR...

Page 126: ...ble To be fabricated Trouble ALM Emergency stop EMG Note 1 2m or less 24VDC power supply for electromagnetic brake Servo motor Note 3 Electromagnetic brake MBR Note 1 Connect a surge absorber as close to the servo motor as possible 2 Use of the following connectors is recommended when ingress protection IP65 is necessary Relay Connector Description Protective Structure a Relay connector for extens...

Page 127: ...o 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 Control box Servo amplifier L1 L2 L3 L11 L21 CN1A CN1B Line filter NFB MC Protective earth PE CN2 U V W Outer box Servo motor Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the ...

Page 128: ...ronment of the servo amplifier and servo motor Refer to section 4 1 3 Parameter setting Set the parameters as necessary such as the used control mode and regenerative option selection Refer to chapter 5 and sections 4 2 4 4 3 4 and 4 4 4 Test operation of servo motor alone in test operation mode For the test operation with the servo motor disconnected from the machine and operated at the speed as ...

Page 129: ...amplifier Servo motor 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 P P1 ...

Page 130: ...cted across P1 P2 For 11kW or more P P1 Refer to section 12 13 P1 P2 Servo amplifier Note Power factor improving DC reactor Note Always disconnect the wiring across P1 P2 For 11kW or more P P1 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 CN1 connector This function can be used to perform a wiring check Refer to sec...

Page 131: ...m if power is switched on at the servo motor speed of 3000r min or higher position mismatch may occur due to external force or the like Power must therefore be switched on when the servo motor is at a stop 2 Power off 1 Make sure that a command pulse train is not input 2 Switch off the Servo on SON 3 Switch off the main circuit power supply and control circuit power supply 4 2 2 Stop In any of the...

Page 132: ...se rotation stroke end LSN 3 When a pulse train is input from the command device the servo motor starts rotating 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 Test operation with servo motor and machine connected In this step connect the servo motor with the machine and ...

Page 133: ... position control mode Regenerative option selection Absolute position detection system selection Setting of command input pulses per revolution Electronic gear setting Auto tuning selection and adjustment In position range setting Torque limit setting Command pulse input form selection Servo motor rotation direction selection Encoder output pulse setting Gain filter parameter No PB If satisfactor...

Page 134: ...dy to operate 2 Check the external I O signal indication section 6 7 to see if the servo on SON is ON 1 Servo on SON is not input Wiring mistake 2 External 24VDC power is not supplied to DICOM Section 6 7 Servo motor does not rotate 1 Wiring mistake a For open collector pulse train input 24VDC power is not supplied to OPC b LSP and LSN are not on 2 No pulses is input Section 6 3 3 Enter input comm...

Page 135: ...eter No PA06 CDV parameter No PA07 P C cumulative command pulses electronic gear cumulative feedback pulses 3 When using parameter No PA05 to set the number of pulses per servo motor one rotation 262144 FBP parameter No PA05 P C 4 C M cumulative feedback pulses travel per pulse machine position Check for a position shift in the following sequence 1 When Q P Noise entered the pulse train signal wir...

Page 136: ...ch off the main circuit power supply and control circuit power supply 4 3 2 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to section 13 11 13 for the servo motor equipped with electromagnetic brake a Servo on SON OFF The base circuit is shut off and the servo motor coasts b Alarm occurrence When an alarm occurs the base circui...

Page 137: ...ommand device and the Forward rotation start ST1 or Reverse rotation start ST2 is switched on the servo motor starts rotating 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 Test operation with servo motor and machine connected In this step connect the servo motor with the...

Page 138: ...owing items Control mode selection select the speed control mode Regenerative option selection Auto tuning selection and adjustment Torque limit setting Encoder output pulse setting Gain filter parameter No PB If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in depth gain adjustment using this parameter group This parameter group must also be set when...

Page 139: ...the servo on SON is ON 1 Servo on SON is not input Wiring mistake 2 External 24VDC power is not supplied to DICOM Section 6 7 Call the status display and check the input voltage of the analog speed command VC Analog speed command is 0V Section 6 3 Call the external I O signal display section 6 7 and check the ON OFF status of the input signal LSP LSN ST1 or ST2 is off Section 6 7 Check the interna...

Page 140: ... selection RS1 or Reverse rotation selection RS2 2 Switch off the Servo on SON 3 Switch off the main circuit power supply and control circuit power supply 4 4 2 Stop In any of the following statuses the servo amplifier interrupts and stops the operation of the servo motor Refer to section 3 11 3 for the servo motor equipped with electromagnetic brake a Servo on SON OFF The base circuit is shut off...

Page 141: ...and device and the Forward rotation start RS1 or Reverse rotation start RS2 is switched on the servo motor starts rotating 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 Test operation with servo motor and machine connected In this step connect the servo motor with the ma...

Page 142: ...llowing items Control mode selection select the torque control mode Regenerative option selection Torque limit setting Encoder output pulse setting Gain filter parameter No PB If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning execute in depth gain adjustment using this parameter group This parameter group must also be set when the gain switching function is us...

Page 143: ... is shorted 1 Power on Alarm occurs Refer to chapter 9 and remove cause Chapter 9 Alarm occurs Refer to chapter 9 and remove cause Chapter 9 2 Switch on servo on SON Servo motor shaft is free Call the external I O signal display section 6 7 and check the ON OFF status of the input signal 1 Servo on SON is not input Wiring mistake 2 External 24VDC power is not supplied to DICOM Section 6 7 Call the...

Page 144: ... at the time of introduction 5 1 Basic setting parameters No PA POINT For any parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 5 1 1 Parameter list Control Mode No Symbol Name Initial Value Unit Position Speed Torque PA01 STY Control mode 0000h PA02 REG Regenerative option 0000h PA03 ABS Absolute po...

Page 145: ...ed Parameter No PA19 Setting Setting Operation Basic Setting Parameters No PA Gain Filter Parameters No PB Extension Setting Parameters No PC I O Setting Parameters No PD Reference 0000h Write Reference 000Bh initial value Write Reference 000Ch Write Reference 100Bh Write Parameter No PA19 only Reference 100Ch Write Parameter No PA19 only 5 1 3 Selection of control mode Parameter Control Mode No S...

Page 146: ...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 FR BU2 H FR RC H FR CV H 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required ...

Page 147: ...n incremental system 1 Used in absolute position detection system ABS transfer by DI0 2 Used in absolute position detection system ABS transfer by communication Parameter No PA03 0 0 0 5 1 6 Using electromagnetic brake interlock MBR Parameter Control Mode No Symbol Name Initial Value Unit Setting Range Position Speed Torque PA04 AOP1 Function selection A 1 0000h Refer to the text POINT This parame...

Page 148: ...07 is made valid When the setting is other than 0 that value is used as the command input pulses necessary to rotate the servo motor one turn At this time the electronic gear is made invalid CDV FBP Command pulse train Pt Other than 0 0 Initial value CMX Deviation counter Electronic gear Parameter No PA06 PA07 Number of command input pulses per revolution Parameter No PA05 Motor Encoder Pt Servo m...

Page 149: ...celeration time constants The following specification symbols are required to calculate the electronic gear 1 Concept of electronic gear The machine can be moved at any multiplication factor to input pulses CDV FBP Command pulse train Pt Other than 0 0 Initial value CMX Deviation counter Electronic gear Parameter No PA06 No PA07 Number of command input pulses per revolution Parameter No PA05 Motor...

Page 150: ...5 12544 Servo motor 262144 pulse rev CDV CMX Pt 262144 102760448 703125 0 01 625 12544 360 5 1 Since CMX is not within the setting range in this status it must be reduced to the lowest term When CMX has been reduced to a value within the setting range round off the value to the nearest unit CDV CMX 102760448 703125 822083 6 5625 822084 5625 Hence set 822084 to CMX and 5625 to CDV POINT For unlimit...

Page 151: ...ession 5 4 Accordingly the set values of 1 b in this section are CMX 822084 CDV 5625 3 Setting for use of QD75 The QD75 also has the following electronic gear parameters Normally the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency differential 1Mpulse s open collector 200kpulse s AP Number of pulses per motor revolution AL Moving distance...

Page 152: ...ncy pulse s 200k 1M 200k 1M Feedback pulse revolution pulse rev 262144 262144 Servo amplifier Electronic gear CMX CDV 8192 125 8192 625 16384 375 16384 1875 Command pulse frequency kpulse s Note 200k 1M 200k 1M Number of pulses per servo motor revolution as viewed from QD75 pulse rev 4000 20000 6000 30000 AP 1 1 1 1 AL 1 1 1 1 Minimum command unit 1pulse AM 1 1 1 1 AP 4000 20000 6000 30000 AL 100 ...

Page 153: ...o PA08 Select the gain adjustment mode Gain adjustment mode setting 2 3 1 Setting 0 Manual mode Automatically set parameter No Note Gain adjustment mode Interpolation mode Auto tuning mode 1 Auto tuning mode 2 PB06 PB08 PB09 PB10 Parameter No PA08 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10 0 0 0 Note The parameters have the following names Parameter No Name PB06 Ratio of load inertia moment to s...

Page 154: ...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 10 In position range Parameter Control Mode No Symbol Name Initial Value Unit Setting Range Position Speed Torque PA10 INP In position range 100 pulse 0 to 65535 Set the range where In position INP is output in th...

Page 155: ...ameter and parameter No PA12 reverse rotation torque limit is the maximum output voltage 8V 1 Forward rotation torque limit parameter No PA11 Set this parameter on the assumption that the maximum torque is 100 Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode Set this parameter to 0 0 to generate no torque 2 Reverse rotation torque limit...

Page 156: ... or negative logic can be chosen Arrow or in the table indicates the timing of importing a pulse train A and B phase pulse trains are imported after they have been multiplied by 4 Selection of command pulse input form Setting Pulse train form Forward rotation command Reverse rotation command 0010h Forward rotation pulse train Reverse rotation pulse train NP PP 0011h Pulse train sign PP L H NP 0012...

Page 157: ...tion CCW Reverse rotation CW 5 1 14 Encoder output pulse Parameter Control Mode No Symbol Name Initial Value Unit Setting Range Position Speed Torque PA15 ENR Encoder output pulse 4000 pulse rev 1 to 100000 POINT This parameter is made valid when power is switched off then on after setting Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater th...

Page 158: ...vided 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 phase output pulses 8192 pulse 8 262144 4 1 3 When outputting pulse train similar to command pulses Set parameter No PC19 to 2 The feedback pulses from the servo motor encoder are processed and output ...

Page 159: ...Q1 Notch form selection 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 ...

Page 160: ...t Notch frequency Frequency Frequency 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 posit...

Page 161: ...achine end position Automatic adjustment Droop pulse Command Machine end position Vibration suppression control tuning mode 0 0 0 0000h 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 Paramet...

Page 162: ...s given from a synchronizing detector synchronous operation can be started smoothly if started during line operation Synchronizing detector Start Servo amplifier Servo motor Without time constant setting Servo motor speed Start With time constant setting ON OFF t PB04 FFC Feed forward gain Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nea...

Page 163: ...cally used Note The setting range of 50000 applies to the servo amplifier whose software version is A3 or later The setting range of the servo amplifier whose software version is older than A3 is 20 to 20000 When the software version of MR Configurator is A3 or earlier 20001 or more cannot be set Use the display operation section of the servo amplifier to set 20001 or more 823 rad s 20 to 50000 No...

Page 164: ...nction column PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid 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 Deep 1 2 3 Shallow to ...

Page 165: ... resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Setting parameter No PB02 vibration suppression control tuning mode to 1 automatically changes this parameter When parameter No PB02 is set to 2 this parameter can be set manually 100 0 Hz 0 1 to 100 0 PB21 For manufacturer setting 0 00 PB22 Do not change this value by any...

Page 166: ...eed Parameter No PB27 setting 0 0 Gain changing condition 0 Valid at more than condition Valid when gain changing CDP is ON 1 Valid at less than condition Valid when gain changing CDP is OFF 0000h Refer to Name and function column PB27 CDL Gain changing condition Used to set the value of gain changing condition command frequency droop pulses servo motor speed selected in parameter No PB26 The set ...

Page 167: ...ameter No PA08 3 33 7 ms 0 1 to 5000 0 PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Set the vibration frequency for vibration suppression 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 th...

Page 168: ...parameter No PB25 according to the machine used 1 For step input Command 3t t t Time t Input position command Position command after filtering for primary delay Position command after filtering for linear acceleration deceleration Position command acceleration deceleration time constant parameter No PB03 2 For trapezoidal input For trapezoidal input linear acceleration deceleration the setting ran...

Page 169: ...eed command 6 500 r min PC10 SC6 Internal speed limit 6 Internal speed command 7 800 r min PC11 SC7 Internal speed limit 7 Analog speed command maximum speed 0 r min PC12 VCM Analog speed limit maximum speed PC13 TLC Analog torque command maximum output 100 0 PC14 MOD1 Analog monitor output 1 0000h PC15 MOD2 Analog monitor output 2 0001h PC16 MBR Electromagnetic brake sequence output 100 ms PC17 Z...

Page 170: ...que limit 2 100 0 PC36 DMD Status display selection 0000h PC37 VCO Analog speed command offset 0 mV Analog speed limit offset PC38 TPO Analog torque command offset 0 mV Analog torque limit offset PC39 MO1 Analog monitor 1 offset 0 mV PC40 MO2 Analog monitor 2 offset 0 mV PC41 For manufacturer setting 0 PC42 0 PC43 0 PC44 0 PC45 0 PC46 0 PC47 0 PC48 0 PC49 0 PC50 0 ...

Page 171: ...mmands 1 to 7 0 ms 0 to 50000 PC03 STC S pattern acceleration deceleration time constant Used to smooth start stop of the servo motor Set the time of the arc part for S pattern acceleration deceleration STA Acceleration time constant parameter No PC01 STB Deceleration time constant parameter No PC02 STC S pattern acceleration deceleration time constant parameter No PC03 Speed command Servo motor S...

Page 172: ...ernal speed limits 500 r min 0 to instan taneous permi ssible speed Internal speed command 3 Used to set speed 3 of internal speed commands PC07 SC3 Internal speed limit 3 Used to set speed 3 of internal speed limits 1000 r min 0 to instan taneous permi ssible speed Internal speed command 4 Used to set speed 4 of internal speed commands PC08 SC4 Internal speed limit 4 Used to set speed 4 of intern...

Page 173: ...The speed is as indicated below for motorless operation of test operation 0 r min 1 to 50000 Servo amplifier capacity W Servo motor speed r min 100V class 100 to 400 100 to 750 3000 200V class 1k to 37k 400V class 600 to 55k 2000 0 PC12 VCM Analog speed limit maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed limit VLA Set 0 to select the rated speed of the se...

Page 174: ...mit torque 8V is outputted at the torque highly limited 3 For 400V class servo amplifier the bus voltage becomes 8V 800V 0000h Refer to the Name and Function field PC15 MOD2 Analog monitor 2 output Used to selection the signal provided to the analog monitor 2 MO2 output Refer to section 5 3 3 0 0 0 Select the analog monitor 2 MO2 output The settings are the same as those of parameter No PC14 0001h...

Page 175: ...rvo motor rotation direction Set value CCW CW 0 1 A phase B phase A phase B phase A phase B phase A phase B phase 0000h Refer to the Name and Function field PC20 SNO Station number setting Used to specify the station number for serial communication Always set one station to one axis of servo amplifier If one station number is set to two or more stations normal communication cannot be made 0 statio...

Page 176: ...rvoltage status caused by the reduction of the input power supply voltage in the speed control mode the servo motor can be restarted by merely turning on the start signal without resetting the alarm 0 Invalid Undervoltage alarm AL 10 occurs 1 Valid Encoder cable communication system selection 0 Two wire type 1 Four wire type The following encoder cables are of 4 wire type MR EKCBL30M L MR EKCBL30M...

Page 177: ... limit is invalid the following parameters can be used Parameter No PB01 filter tuning mode Parameter No PB13 machine resonance suppression filter 1 Parameter No PB14 notch shape selection 1 Parameter No PB15 machine resonance suppression filter 2 Parameter No PB01 notch shape selection 2 0 Set value 0 1 2 Filtering time ms 0 0 444 0 888 3 1 777 4 3 555 5 7 111 VC VLA voltage averaging Used to set...

Page 178: ...s made valid when the acceleration deceleration selection STAB2 is turned ON Used to set the deceleration time required to reach Or min from the rated speed in response to the analog speed command and internal speed commands 1 to 7 0 ms 0 to 50000 PC32 CMX2 Command pulse multiplying factor numerator 2 Used to set the multiplier for the command pulse Setting 0 automatically sets the connected motor...

Page 179: ... Status display at power on Cumulative feedback pulses Cumulative feedback pulses servo motor speed Servo motor speed Servo motor speed analog torque command voltage Analog torque command voltage Analog torque command voltage cumulative feedback pulses 1 Depends on the first digit setting of this parameter Analog speed command offset Used to set the offset voltage of the analog speed command VC Fo...

Page 180: ...mit offset Used to set the offset voltage of the analog torque limit TLA 0 mV 999 to 999 PC39 MO1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor MO1 0 mV 999 to 999 PC40 MO2 Analog monitor 2 offset Used to set the offset voltage of the analog monitor MO2 0 mV 999 to 999 PC41 0 PC42 0 PC43 0 PC44 0 PC45 0 PC46 0 PC47 0 PC48 0 PC49 0 PC50 For manufacturer setting Do not...

Page 181: ...r 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 PC15 value Refer to 3 for the measurement point Setting Output item Description Setting Output item Description 0 Servo motor speed Max speed CW direction CCW...

Page 182: ...ection 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 D Bus voltage Note 4 400 V 0 8 V Note 1 Encoder pulse unit ...

Page 183: ...eed Current encoder Servo Motor Encoder Torque 5 3 4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation clear the alarm history using parameter No PC18 before starting operation Clearing the alarm history automatically returns to 0 After setting this parameter is made val...

Page 184: ...03h PD08 DI6 Input signal device selection 6 CN1 41 00202006h PD09 For manufacturer setting 00000000h PD10 DI8 Input signal device selection 8 CN1 43 00000A0Ah PD11 DI9 Input signal device selection 9 CN1 44 00000B0Bh PD12 DI10 Input signal device selection 10 CN1 45 00232323h PD13 DO1 Output signal device selection 1 CN1 22 0004h PD14 DO2 Output signal device selection 2 CN1 23 000Ch PD15 DO3 Out...

Page 185: ...signal BIN 1 Automatic ON Initial value BIN HEX Signal name 0 0 0 Initial value BIN HEX Proportion control PC Signal name Initial value BIN HEX Signal name Servo on SON External torque limit TL 0 0 0 0 Forward rotation stroke end LSP 0 0 0 0 0 0 Reverse rotation stroke end LSN For example to turn ON SON the setting is 4 0000h Refer to the Name and Function field PD02 For manufacturer setting Do no...

Page 186: ...e 1 Setting P S T 00 01 For manufacturer setting Note 2 02 SON SON SON 03 RES RES RES 04 PC PC 05 TL TL 06 CR CR CR 07 ST1 RS2 08 ST2 RS1 09 TL1 TL1 0A LSP LSP 0B LSN LSN 0C For manufacturer setting Note 2 0D CDP CDP 0E to 1F For manufacturer setting Note 2 20 SP1 SP1 21 SP2 SP2 22 SP3 SP3 23 LOP LOP LOP 24 CM1 25 CM2 26 STAB2 STAB2 27 to 3F For manufacturer setting Note 2 Note 1 P Position contro...

Page 187: ...de Torque control mode Select the input device of the CN1 18 pin 0 When Valid ABS transfer by DI0 has been selected for the absolute position detection system in parameter No PA03 the CN1 18 pin is set to the ABS transfer request ABSR Refer to section 14 5 0008 0805h Refer to the Name and Function field PD07 DI5 Input signal device selection 5 CN1 19 Any input signal can be assigned to the CN1 19 ...

Page 188: ...ignal device selection 9 CN1 44 Any input signal can be assigned to the CN1 44 pin The devices that can be assigned and the setting method are the same as in parameter No PD03 0 Position control mode Speed control mode Torque control mode Select the input device of the CN1 44 pin 0 0000 0B0Bh Refer to the Name and Function field PD12 DI10 Input signal device selection 10 CN1 45 Any input signal ca...

Page 189: ...turer setting Note 2 0E For manufacturer setting Note 2 0F CDPS Always OFF Always OFF 10 For manufacturer setting Note 2 11 ABSV Always OFF Always OFF 12 to 3F For manufacturer setting Note 2 Note 1 P Position control mode S Speed control mode T Torque control mode 2 For manufacturer setting Never set this value When Valid ABS transfer by DI0 has been selected for the absolute position detection s...

Page 190: ...r by DI0 has been selected for the absolute position detection system in parameter No PA03 the CN1 25 pin is set to the ABS transmission data ready ABST in the ABS transfer mode only Refer to section 14 5 0007h Refer to the Name and Function field PD17 For manufacturer setting Do not change this value by any means 0003h PD18 DO6 Output signal device selection 6 CN1 49 Any output signal can be assi...

Page 191: ...Base circuit not switched off How to make a stop when forward rotation stroke end LSP reverse rotation stroke end LSN is valid Refer to Section 5 4 3 0 Sudden stop 1 Slow stop 0000h Refer to the Name and Function field PD21 For manufacturer setting Do not change this value by any means 0000h PD22 DOP3 Function selection D 3 Set the clear CR 0 0 0 Clear CR selection 0 Droop pulses are cleared on th...

Page 192: ...eed Command pulse frequency error Error excessive Encoder error 1 Encoder error 2 Alarm display Note Alarm code CN1 pin 22 0 0 0 0 1 CN1 pin 23 0 0 1 1 0 1 CN1 pin 24 1 1 0 1 0 1 0 AL 19 Memory error 3 AL 37 Parameter error AL 33 Overvoltage AL 46 Servo motor overheat AL 10 Undervoltage 1 0 0 AL 1A Motor combination error Alarm code is output at alarm occurrence A parameter alarm AL 37 occurs if t...

Page 193: ...dden stop when the forward reverse rotation stroke end is made valid A slow stop can be made by changing the parameter No PD20 value Parameter No PD20 Setting Stopping method 0 initial value Sudden stop Position control mode Motor stops with droop pulses cleared Speed control mode Motor stops at deceleration time constant of zero 1 Slow stop Position control mode The motor is decelerated to a stop...

Page 194: ...ection and display data are described below MO UP DO SET MODE Display mode change Low High switching UP DOWN SET Display data scrolling Display data scrolling Display data determination Data clear Decimal LED Displays the decimal points alarm presence absence etc Lit to indicate the decimal point Decimal point Lit to indicate a negative when negative cannot be displayed Flickers to indicate alarm ...

Page 195: ... display VC automatic offset motor series ID display motor type ID display motor encoder ID display external encoder ID display parameter write inhibit next deactivation display Section 6 4 Current alarm display alarm history display parameter error No display point table error No display Section 6 5 Display and setting of basic setting parameters Display and setting of gain filter parameters Disp...

Page 196: ...gits of 16 data items such as the motor speed 6 3 1 Display transition After choosing the status display mode with the MODE button pressing the UP or DOWN button changes the display as shown below DOWN Regenerative load ratio Effective load ratio Peak load ratio Instantaneous torque Cumulative feedback pulse Within one revolution position 1 pulse unit Servo motor speed Within one revolution positi...

Page 197: ...Displayed data Item Status Servo amplifier display Forward rotation at 2500r min Servo motor speed Reverse rotation at 3000r min Reverse rotation is indicated by Load inertia moment 15 5 times 11252rev ABS counter 12566rev Lit Negative value is indicated by the lit decimal points in the upper four digits ...

Page 198: ...ctual value Press the SET button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper four digits are lit 99999 to 99999 Command pulse frequency n kpps The frequency of the position command input pulses is displayed The value displayed is not multiplied by the electronic gear CMX CDV 1500 to 1500 1 Torque control mode Analog s...

Page 199: ...timated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed 0 0 to 300 0 Bus voltage Pn V The voltage across P N of the main circuit converter is displayed 0 to 900 6 3 4 Changing the status display screen The status display item of the servo amplifier display shown at power on can be changed by changing the parameter No PC36 settings The item displayed in the ini...

Page 200: ...nals and displays the status as if the servo motor is running actually in response to the external input signal For details refer to section 6 9 4 Machine analyzer operation Merely connecting the servo amplifier allows the resonance point of the mechanical system to be measured The MR Configurator MRZJW3 SETUP211E is required for machine analyzer operation For details refer to section 12 8 Test op...

Page 201: ...r type Press the SET button to show the motor type ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual Encoder Press the SET button to show the encoder ID of the servo motor currently connected For indication details refer to the optional MELSERVO Servo Motor Instruction Manual For manufacturer setting For manufacturer sett...

Page 202: ...ates that there is no sixth alarm in the past Indicates no occurrence of parameter error AL 37 Parameter error No Indicates that the data of parameter No PA12 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the fourt...

Page 203: ...esponding parameter mode with the MODE button pressing the UP or DOWN button changes the display as shown below Parameter No PB01 Parameter No PA02 Parameter No PA01 I O setting parameters Parameter No PD01 Parameter No PD02 Parameter No PD29 Parameter No PD30 Parameter No PC01 Parameter No PC02 Parameter No PC49 Extension setting parameters Parameter No PC50 Parameter No PB02 Parameter No PB44 Pa...

Page 204: ...r times Select parameter No 8 with UP DOWN or MODE The parameter number is displayed UP DOWN or Press to change the number SET Press twice The set value of the specified parameter number flickers UP Press twice During flickering the set value can be changed UP DOWN or Use SET Press to enter 2 Speed control mode To shift to the next parameter press the UP or DOWN button When changing the parameter ...

Page 205: ...ower 4 digits The screen flickers Enter the setting Setting of upper 1 digits Press SET once Press MODE once Press SET once Press UP or DOWN to change the setting Press SET once Press MODE once Press MODE three times Press UP or DOWN to choose parameter No PA06 Note Note The example assumes that the status display screen that appears at power on has been set to the servo motor speed in parameter N...

Page 206: ... I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below CN1 16 CN1 41 CN1 22 CN1 48 CN1 19 CN1 15 CN1 44 CN1 43 CN1 23 CN1 25 CN1 49 CN1 24 CN1 18 CN1 17 CN1 33 CN1 45 CN1 42 Lit ON Extinguished OFF Input signals Output signals Always lit The LED segment corresponding to the pin is lit to indicate ON and is extinguished to indicat...

Page 207: ... LSN LSN No PD11 45 I LOP LOP LOP LOP LOP LOP No PD12 48 O ALM ALM ALM ALM ALM ALM CN1 49 O RD RD RD RD RD RD No PD18 Note 1 I Input signal O Output signal 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode b Symbol and signal names Symbol Signal name Symbol Signal ...

Page 208: ... RD CN1 49 ALM CN1 48 OP CN1 33 b Speed control mode EMG CN1 42 LOP CN1 45 ST2 CN1 18 ST1 CN1 17 Input Output LSP CN1 43 LSN CN1 44 SON CN1 15 RES CN1 19 SP1 CN1 41 SA CN1 22 TLC CN1 25 ZSP CN1 23 SA CN1 24 RD CN1 49 ALM CN1 48 OP CN1 33 SP2 CN1 16 Lit ON Extinguished OFF c Torque control mode EMG CN1 42 LOP CN1 45 RS1 CN1 18 RS2 CN1 17 Input Output SON CN1 15 RES CN1 19 SP1 CN1 41 VCN CN1 25 ZSP ...

Page 209: ... be performed in the servo off state servo on SON Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen Press UP twice Press SET for more than 2 seconds Switch on off the signal below the lit segment Indicates the ON OFF of the output signal The correspondences between segments and signals are as in the output signals of the external I O signal dis...

Page 210: ...eter No PA03 The servo configuration software is required to perform positioning operation Test operation cannot be performed if the servo on SON is not turned OFF 6 9 1 Mode change Call the display screen shown after power on Choose jog operation motor less operation in the following procedure Using the MODE button show the diagnostic screen When this screen appears jog feed can be performed Pres...

Page 211: ... start CW rotation Release to stop If the communication cable is disconnected during jog operation performed by using the servo configuration software the servo motor will be decelerated to a stop 2 Status display You can confirm the servo status during jog operation Pressing the MODE button in the jog operation ready status calls the status display screen With this screen being shown perform jog ...

Page 212: ...ly turned ON When setting the external stroke signal to automatic ON click the check box to make it valid When it is not checked turn ON LSN LSP externally e Move till a first Z phase signal turned ON in the moving direction Movement is made until the moving distance is reached and the first Z phase signal in the moving direction turns ON f Pulse move distance unit selection Command input pulse un...

Page 213: ...lay The status display can be monitored during positioning operation 6 9 4 Motor less operation Without connecting the servo motor you can provide output signals or monitor the status display as if the servo motor is running in response to external input signals This operation can be used to check the sequence of a host programmable controller or the like 1 Operation Turn SON off choose motor less...

Page 214: ...atio Automatically set parameters Manually set parameters Auto tuning mode 1 initial value 0001 Always estimated GD2 parameter No PB06 PG1 parameter No PB07 PG2 parameter No PB08 VG2 parameter No PB09 VIC parameter No PB10 Response level setting of parameter No PA09 Auto tuning mode 2 0002 PG1 parameter No PB07 PG2 parameter No PB08 VG2 parameter No PB09 VIC parameter No PB10 GD2 parameter No PB06...

Page 215: ...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 216: ...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 217: ...he load inertia 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 ...

Page 218: ...ure 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 level is achieved on vibration free level Acceleration deceleration repeated Requested performance satis...

Page 219: ...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 8 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 220: ... 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 221: ... gain PB08 VG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation b Adjustment procedure Step Operation Description 1 Brief adjust with auto tuning Refer to section 7 2 3 2 Change the setting of auto tuning to the manual mode Parameter No PA08 0003 3 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment If the estimate value with aut...

Page 222: ...equency of the speed loop is as indicated in the following expression Speed loop response frequency Hz Speed loop gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 2 3 Speed integral compensation parameter No PB10 To eliminate stationary deviation against a command the speed control loop is under proportional integral control For the speed integral compensation set the ...

Page 223: ... the 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 ...

Page 224: ...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 225: ...7 12 7 GENERAL GAIN ADJUSTMENT MEMO ...

Page 226: ...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 227: ...de parameter No PB01 Filter tuning mode selection Parameter No PB01 0 0 0 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 ...

Page 228: ...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 229: ...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 230: ...se 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 notch has a higher...

Page 231: ...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 232: ...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 233: ...ator machine analyzer or external FFT equipment 1Hz 90deg 100H 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 234: ...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 235: ...ction parameter No PB23 Parameter No PB23 Low pass filter selection 0 Automatic setting initial value 1 Manual setting parameter No PB18 setting 8 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 8 6 1 Applications This function is used when 1 You want to inc...

Page 236: ...o PB06 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 External signal CDP Comparator Changing Valid GD2 value Valid PG2 valu...

Page 237: ...after 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 U...

Page 238: ... digit If you set 1 in the first digit here you can use the gain changing CDP external input signal for gain changing The gain changing CDP can be assigned to the pins using parameters No PB13 to PB16 PB18 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 Gain changing CDP is ON 2 Command frequency Para...

Page 239: ... VICB 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 suppres...

Page 240: ...B30 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 chan...

Page 241: ...8 16 8 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 242: ...essive regeneration AL 12 0 0 0 Memory error1 RAM AL E0 warning AL 13 0 0 0 Clock error AL E1 Overload warning 1 AL 15 0 0 0 Memory error2 EEP ROM Absolute position counter Encoder error1 AL E3 warning AL 16 1 1 0 At power on AL E5 ABS time out warning AL 17 0 0 0 Board error Servo emergency stop Memory error3 AL E6 warning AL 19 0 0 0 Flash ROM Cooling fan speed AL 1A 1 1 0 Motor combination erro...

Page 243: ...motor At this time the display indicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this section The optional MR Configurator may be used to refer to the cause Display Name Definition Cause Action 1 Power supply voltage is low 2 There was an instantaneous control power failure of 60ms or longer 3 Shortage of power supply capacity caused the power ...

Page 244: ...fier and servo motor connected Use correct combination 1 Encoder connector CN2 disconnected Connect correctly 2 Encoder cable faulty Wire breakage or shorted Repair or change the cable AL 20 Encoder error 2 Communication error occurred between encoder and servo amplifier 3 Encoder fault Change the servo motor 1 Power input wires and servo motor power wires are in contact Connect correctly 2 Sheath...

Page 245: ...regenerative option faulty Change servo amplifier or regenerative option AL 30 Regenerative alarm Regenerative transistor fault 6 Regenerative transistor faulty Checking method 1 The regenerative option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative resistor or regenerative option Change the servo amplifier 1 Input command pulse frequency exceeded the ...

Page 246: ...cted 1 Change lead 2 Connect correctly Converter bus voltage input value has become the following MR J3 A 1 400VDC or more MR J3 A4 800VDC or more 4 Regenerative transistor faulty Change servo amplifier 5 Wire breakage of built in regenerative resistor or regenerative option 1 For wire breakage of built in regenerative resistor change servo amplifier 2 For wire breakage of regenerative option chan...

Page 247: ... Remove the foreign matter AL 47 Cooling fan alarm 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 AL 50 Overload 1 Load exceeded overload protection characteristic of servo amplifier 1 Servo amplifier is used in excess of its continuous output current 1 Reduce load 2 Review operatio...

Page 248: ... by power supply voltage drop 1 Review the power supply capacity 2 Use servo motor which provides larger output The difference between the model position and the actual servomotor position exceeds three rotations Refer to the function block diagram in section 1 2 4 Position loop gain 1 parameter No PB08 value is small Increase set value and adjust to ensure proper operation 5 Servo motor shaft was...

Page 249: ...ng 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 2 Command pulse entered after clearing of droop pulses Do not enter command pulse after cle...

Page 250: ...mplifiers equipped with a cooling fan The power supply of the cooling fan is broken Change servo amplifier AL E9 Main circuit off warning Servo on SON was switched on with main circuit power off Switch on main circuit power 1 PC ladder program wrong 1 Correct the program AL EA ABS servo on warning Servo on SON turned on more than 1s after servo amplifier had entered absolute position data transfer...

Page 251: ...9 10 9 TROUBLESHOOTING MEMO ...

Page 252: ...s data applies to 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 0 8 kg 1 764 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout For 3 phase 200 to 230VAC and 1 phase 230VAC L1 L2 N P1 P2 P C D L11 L21 U V W CNP3 ...

Page 253: ...200 to 230VAC and 1 phase 230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Note Note Mass 1 0 kg 2 205 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout P C D L11 L21 U V W CNP3 CNP2 For 3 phase 200 to 230VAC and 1 phase 230VAC L1 L2 N P1 P2 CNP1 Fo...

Page 254: ...P1 P2 P C D L11 L21 U V W FAN WIND DIRECTION 156 6 6 Approx 14 168 161 6 mounting hole Approx 25 5 Mass 1 4 kg 3 086 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout 3 M5 screw Approx 60 Approx 60 Approx 12 42 0 3 Mounting hole machining drawing Approx 6 Mounting screw Screw size M5 Tightening torque 3 24 N...

Page 255: ...rox 80 6 mounting hole Mass 1 7 kg 3 75 lb U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout PE terminal Approx 60 Approx 12 Approx 60 Approx 6 42 0 3 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in 3 M5 screw ...

Page 256: ...CTION 168 Approx 14 78 6 156 6 6 90 85 With MR J3BAT Approx 25 5 Mass 2 3 kg 5 071 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 3 M5 screw Mounting hole machining drawing Approx 6 Approx 6 78 0 3 Mounting screw Screw size M5 Tightening torque 3 24 N m 28 676 lb in ...

Page 257: ...rection 6 mounting hole With MR J3BAT Mass 2 1 kg 4 63 lb U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout PE terminal Approx 90 Approx 6 Approx 6 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in 3 M5 screw 78 0 3 ...

Page 258: ...ing torque 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 manuf...

Page 259: ...ue 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 260: ...KA 4 18 0 39 7 MR J3 15KA 4 18 0 39 7 MR J3 22KA 4 19 0 41 9 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 N m Screw size 3 0 M8 6 0 M4 1 2 M4 1 2 Tightening torque N m TE L11 L21 M6 MR J3 11KA 4 MR J3 15KA 4 MR J3 22KA 4 4 M10 Screw Mounting hole machining drawing 236 0 5 Approx 260 Approx 12 Approx 12 Mounting screw Screw size M5 Tigh...

Page 261: ...ndicated here D Each type of dimension Connector Shell kit A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Each type of dimension Connector Shell kit A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 ...

Page 262: ...10 11 10 OUTLINE DRAWINGS 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 ...

Page 263: ...10 12 10 OUTLINE DRAWINGS MEMO ...

Page 264: ...rque 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 a 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 10A 1 ...

Page 265: ...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 11 1 Electronic thermal relay protection characteristics ...

Page 266: ...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 10A 1 HF KP053 13 0 3 25 15 0 5 HF MP23 0 5 25 15 0 5 MR J3 20A 1 HF KP23 0 5 25 15 0 5 HF MP43 0 9 35 15 0 7 MR J3 40A 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 60A 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 267: ...1K1M 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 15KA 4 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 22KA 4 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 rea...

Page 268: ...osure Refer to Table 11 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 hea...

Page 269: ...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 11kW to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic ...

Page 270: ... 40 60 80 100 120 0 500 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 Time constant ms 0 400 800 1200 0 035 0 8014 15K14 0 030 0 025 0 0...

Page 271: ...e the dynamic brake under the load inertia moment ratio indicated in the following table If the load inertia moment is higher than this 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 ...

Page 272: ...ation speed 2 When the external dynamic brake is used 11 4 Encoder cable 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...

Page 273: ...to approx 0A in 1 to 2ms MR J3 500A 44A Attenuated to approx 20A in 20ms MR J3 700A 88A Attenuated to approx 20A in 20ms MR J3 11KA MR J3 15KA MR J3 22KA 235A Attenuated to approx 20A in 20ms 30A Attenuated to approx 0A in 3ms MR J3 60A4 100A4 100A Attenuated to approx 5A in 10ms MR J3 200A4 120A Attenuated to approx 12A in 20ms 40 to 50A Attenuated to approx 0A in 2ms MR J3 350A4 500A4 66A Attenu...

Page 274: ...amp is off more than 15 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 12 1 Cable connector sets As the cables and connectors used with this servo purchase the options indicated in this section ...

Page 275: ...y connector Personal computer CN5 CN3 CN1 CN2 4 7 1 2 3 5 Servo motor HF MP HF KP 6 20 21 22 23 8 9 10 11 12 13 18 19 14 15 16 17 CN6 CNP1 CNP2 CNP3 note 26 27 24 25 28 31 29 30 32 35 33 34 37 36 Servo motor HF SP Direct connection type cable length 10m or less IP65 Junction type cable length more than 10m IP20 Encoder connector Brake connector Power supply connector To next page a To next page b ...

Page 276: ...S AND AUXILIARY EQUIPMENT 29 30 31 Servo motor HC RP HC UP HC LP Encoder connector Brake connector Power supply connector 29 30 31 Terminal box Servo motor HA LP 38 35 39 40 From previous page a From previous page b ...

Page 277: ...nector Applicable cable example Wire size 0 2mm2 AWG24 to 5 5mm2 AWG10 Cable finish OD to 5mm REC Lever 54932 0000 Molex CNP1 connector 721 207 026 000 Plug WAGO CNP2 connector 721 205 026 000 Plug WAGO CNP3 connector 721 203 026 000 Plug WAGO Supplied with servo amplifiers of 2kW or less in 400V class Applicable cable example Wire size 0 08mm2 AWG28 to 2mm2 AWG14 Cable finish OD to 4 1mm REC Leve...

Page 278: ... 2 5 10m Power supply connector HF MP series HF KP series Refer to section 12 1 3 for details IP65 Opposite to load side lead Long flex life 12 Motor power supply cable MR PWS2CBL03M A1 L Cable length 0 3m Power supply connector HF MP series HF KP series Refer to section 12 1 3 for details IP55 Load side lead 13 Motor power supply cable MR PWS2CBL03M A2 L Cable length 0 3m Power supply connector H...

Page 279: ...r cable MR J3ENCBL M A2 L Cable length 2 5 10m IP65 Opposite to load side lead 23 Encoder cable MR J3ENCBL M A2 H Cable length 2 5 10m Encoder connector HF MP series HF KP series Refer to section 12 1 2 1 for details IP65 Opposite to load side lead Long flex life 24 Encoder cable MR J3JCBL03M A1 L Cable length 0 3m Encoder connector HF MP series HF KP series Refer to section 12 1 2 3 for details I...

Page 280: ...5mm2 AWG12 Cable finish D 10 5 to 14 1mm For HF SP51 81 For HF SP52 to 152 IP67 34 Power supply connector set MR PWCNS5 Plug CE05 6A22 22D D BSS Cable clamp CE3057 12A 1 D DDK Example of applicable cable Applicable wire size 5 5mm2 AWG10 to 8mm2 AWG8 Cable finish D 12 5 to 16mm For HF SP121 201 For HF SP202 to 502 IP67 35 Power supply connector set MR PWCNS3 Plug CE05 6A32 17SD D BSS Cable clamp C...

Page 281: ...pliant IP65 IP67 39 Power supply connector set MR PWCNS1 Plug CE05 6A22 23SD D BSS Cable clamp CE3057 12A 2 D DDK Example of applicable cable Applicable wire size 2mm2 AWG14 to 3 5mm2 AWG12 Cable finish 9 5 to 13mm For HC UP For HC LP For HC RP 40 Power supply connector set MR PWCNS2 Plug CE05 6A24 10SD D BSS Cable clamp CE3057 16A 2 D DDK Example of applicable cable Applicable wire size 5 5mm2 AW...

Page 282: ...or Servo amplifier 2 1 Servo motor HF MP HF KP MR J3ENCBL M A2 L MR J3ENCBL M A2 H CN2 2 1 Servo motor HF MP HF KP MR J3ENCBL M A1 L MR J3ENCBL M A1 H or Cable Model 1 For CN2 Connector 2 For Encoder Connector MR J3ENCBL M A1 L Receptacle 36210 0100PL Shell kit 536310 3200 008 3M Connector set 54599 1019 Molex MR J3ENCBL M A1 H MR J3ENCBL M A2 L 1 3 7 9 4 2 8 6 10 5 Note Signal layout View seen fr...

Page 283: ...0M 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 0 3m 2m 5m 10m 20m 30m 40m ...

Page 284: ...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 MDR MD MDR MD MR EKCBL M H 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 Connector pin 170359 1 Tyco...

Page 285: ...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 286: ...unction 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 J3JCBL03M A1 L...

Page 287: ...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 288: ...nnector Receptacle 36210 0100PL Shell kit 536310 3200 008 3M Connector set 54599 1019 Molex MR J3ENSCBL M L 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 MR J3ENSCBL M H Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is con...

Page 289: ...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 12 11 for the specifications of the used cable Parts Tool Description Connector set MR J3SCNS Option Ser...

Page 290: ... SP servo motor a Connection of servo amplifier and servo motor Servo amplifier 1 2 Servo motor Note Encoder cable CN2 MR J3BTCBL03M 3 Battery Note For the detector cable refer to 1 2 3 and 4 in 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 291: ...to load side lead MR PWS2CBL M A1 L 03 IP55 Standard For HF 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 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...

Page 292: ...2 19 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Internal wiring diagram AWG 19 Red AWG 19 White AWG 19 Black AWG 19 Green yellow U V W MR PWS1CBL M A1 H MR PWS1CBL M A2 H MR PWS2CBL03M A1 L MR PWS1CBL03M A2 L ...

Page 293: ...Opposite to load side lead MR BKS2CBL M A1 L 03 IP55 Standard For HF MP HF KP servo motor Load side lead MR BKS2CBL 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 BK...

Page 294: ...12 21 12 OPTIONS AND AUXILIARY EQUIPMENT 2 Internal wiring diagram AWG 20 AWG 20 B1 B2 MR BKS1CBL M A1 H MR BKS1CBL M A2 H MR BKS2CBL03M A1 L MR BKS1CBL03M A2 L ...

Page 295: ...MR J3 350A 100 300 500 MR J3 500A 130 300 500 MR J3 700A 170 300 500 Regenerative power W Servo amplifier Built in regenerative resistor MR RB1H 4 82 Note 1 MR RB3M 4 120 Note 1 MR RB3G 4 47 Note 1 MR RB5G 4 47 Note 1 MR RB34 4 26 Note 1 MR RB54 4 26 MR J3 60A4 20 100 300 MR J3 100A4 20 100 300 MR J3 200A4 100 300 500 MR J3 350A4 100 300 500 MR J3 500A4 130 300 500 MR J3 700A4 170 300 500 Note 2 R...

Page 296: ... 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 297: ...rvo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J Es Ec Calculate the power consumption of the regenerative option on the basis of single cycle operation period tf s to select the necessary regenerative option PR W ER tf 12 1 3 Parameter setti...

Page 298: ...The G3 and G4 terminals act as a thermal sensor G3 G4 is disconnected when the regenerative option overheats abnormally D P C G4 G3 C P Servo amplifier Regenerative option Note2 5m or less Always remove the lead from across P D Cooling fan Note 1 Note 1 When using the MR RB50 MR RB3M 4 MR RB3G 4 or MR RB5G 4 forcibly cool it with a cooling fan 1 0m3 min 92 or so 2 Make up a sequence which will swi...

Page 299: ... fan Note 1 Servo amplifier Regenerative option 5m or less Note 1 When using the MR RB51 MR RB3G 4 MR RB5G 4 MR RB34 4 or MR RB54 4 forcibly cool it with a cooling fan 1 0m3 min 92 or so 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 usi...

Page 300: ...nal 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 Cooling fan installation screw hole dimensions Cooling fan 82 5 40 82 5 133 2 M3 screw hole for fan installation Depth 10 or less Screw hole already machined Recommended fan Toyo Denki s TL396A or equivalent Terminal block Thermal relay Installation surface Horizontal installation Vertical ...

Page 301: ...ds 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 settin...

Page 302: ...nerative 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 curre...

Page 303: ...x 6 LA LB TE1 6 6 156 168 144 12 LD 1 6 LC MR RB 6 mounting hole G3 G4 P C 5 Approx 12 MR RB12 40 15 169 149 1 1 2 4 b MR RB30 MR RB31 MR RB32 MR RB34 4 MR RB3M 4 MR RB3G 4 Unit mm Terminal block G3 G4 P C Terminal screw M4 Tightening torque 1 2 N m 10 62 lb in Mounting screw Screw M6 Tightening torque 5 4 N m 47 79 lb in Variable dimensions Regenerative option A B Mass kg Ib MR RB30 MR RB31 17 33...

Page 304: ...7 30 7 14 slot Cooling fan mounting screw 2 M3 screw On opposite side Wind blows in the arrow direction d MR RB5E MR RB9P MR RB9F MR RB6B 4 MR RB60 4 MR RB6K 4 Unit mm Terminal block G3 G4 P C Terminal screw M5 Tightening torque 2 0 N m 17 70 lb in Mounting screw Screw size M8 Tightening torque 13 2 N m 116 83 lb in Mass Regenerative option kg Ib MR RB5E 10 22 0 MR RB9P 11 24 3 MR RB9F 11 24 3 MR ...

Page 305: ...00 0 9 10 5 5 39 GRZG400 0 6 16 8 2 46 GRZG400 5 0 M8 13 2 116 83 0 8 1 76 GRZG400 2 5 10 5 5 39 1 6 Approx 47 9 5 40 411 385 10 Approx C Approx A Approx 2 4 40 Approx 330 Approx K GRZG400 2 0 f MR RB1H 4 Terminal 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 2 N m 28 32 lb in Regenerative option Mass kg lb MR RB1H 4 1 1 2 4...

Page 306: ...o higher than 100 Do not cause cables and combustibles to make contact with the casing The brake unit is the integration of the regenerative control and resistor and is connected to the bus across P N of the servo amplifier As compared to the MR RB regenerative option the brake unit can return larger power Hence use this brake unit when the MR RB cannot provide sufficient regenerative capability W...

Page 307: ...ays connect P1 P2 For 11k to 22kW connect P P1 Factory wired When using the power factor improving DC reactor refer to section 12 13 The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible The cables longer than 5m should be twisted If twisted the cables must not be longer than 10m The cable size should be equal to or larger...

Page 308: ...ports are provided in both side faces and top face The bottom face is open Brake Unit A AA B BA C D E EE K F Approx Mass kg Ib FR BU 15K 100 60 240 225 128 6 18 5 6 48 5 7 5 2 4 5 291 FR BU 30K 160 90 240 225 128 6 33 5 6 78 5 7 5 3 2 7 055 FR BU 55K 265 145 240 225 128 58 6 6 7 5 5 8 12 79 FR BU H15K FR BU H30K 160 90 240 225 128 6 33 5 6 78 5 7 5 3 2 7 055 FR BU H55K 265 145 240 225 128 58 6 6 7...

Page 309: ... 2 40 204 33 70 154 3 FR BR H15K 170 100 450 432 410 220 6 35 6 1 6 20 15 66 139 FR BR H30K 340 270 600 582 560 220 10 35 10 2 20 30 33 069 FR BR H55K 480 410 700 670 620 450 12 35 12 3 2 40 204 33 70 154 3 12 4 Power regeneration converter When using the power regeneration converter set 01 in parameter No PA02 1 Selection The converters can continuously return 75 of the nominal regenerative power...

Page 310: ... CN1 Note 5 Note 6 Power supply Note 1 When not using the phase detection terminals fit the 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 amplifier of 5kW and 7kW always remove the lead of built in regenerative resistor connected to P terminal and C terminal 3 For sink input output interface Refer to section 3 8 3 for source input o...

Page 311: ... 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 fol...

Page 312: ...400VAC 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 200VAC class with 750W to 22kW and that of 400VAC class with 11kW to 22kW The following shows the restrictions on using the FR CV H a Up to six servo amplifiers can be connected to one FR CV H b FR CV H capacity...

Page 313: ...mum 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 FR CVL 11 K FR CV 15K AT FR CVL 15K FR CV 22K AT FR CVL 22K FR CV 30K AT FR CVL 30K FR CV 37K FR CVL 37K FR CV 55K FR CVL 55K FR CV H22K AT FR CVL H22K FR CV H30K AT FR ...

Page 314: ...rvo amplifier 24VDC power supply Note 3 Note 1 Thermal relay Note 1 Configure a sequence that will shut off main circuit power at an emergency stop or at FR CV or servo amplifier alarm occurrence 2 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the serv...

Page 315: ... P1 3 phase 380 to 480VAC Stepdown transformer Servo amplifier Note 3 Note 1 P L N L 24VDC power supply EMG DOCOM ALM DOCOM DICOM Note 1 Configure a sequence that will shut off main circuit power at an emergency stop or at FR CV H or servo amplifier alarm occurrence 2 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates 3...

Page 316: ...ble 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 mm2 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 317: ...kW since 2 0kW 2 0kW FR CV 55K Servo amplifier 15kW Servo amplifier 7kW Servo amplifier 3 5kW Servo amplifier 2kW 2 2 2 2 Note Note Note Note Note When using the servo amplifier of 7kW or less make sure to disconnect the wiring of built in regeneration resistor 3 5kW or less P D 5k 7kW P C 2 400VAC class R2 L1 S2 L2 T2 L3 R L11 S L21 T MC1 P L N L P N 22mm2 P N P N P N 14mm2 5 5mm2 2mm2 14mm2 5 5m...

Page 318: ...s include high frequency components and may provide electromagnetic wave interference to communication equipment such as AM radios used near them In this case interference can be reduced by installing the radio noise filter FR BIF H or line noise filter FR BSF01 FR BLF c The overall wiring length for connection of the DC power supply between the FR CV H and servo amplifiers should be 5m or less an...

Page 319: ...etic 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 Regenerativ...

Page 320: ...wer 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 dynamic b...

Page 321: ...to 22kW be sure to connect P P1 Factory wired When using the power factor DC reactor refer to section 12 10 2 For 400VAC class a step down transformer is required 3 Assign the dynamic brake interlock DB in the parameters No PD13 to PD18 4 For the specification of power supply refer to section 1 3 5 The power supply voltage of the inside magnet contactor for 400V class dynamic brake DBU 11K 4 and D...

Page 322: ...brake operation delay time Electro magnetic brake interlock MBR Base circuit ON OFF Servo motor speed Trouble ALM 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 shorta...

Page 323: ...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 324: ...50 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 325: ... cable clamp fitting AERSBAN ESET For the use of the cable clamp fitting refer to section 12 17 2 c 2 Terminal labels Use the following junction terminal block labels This label is supplied with the junction terminal block cable MR J2M CN1TBL P15R LG LAR LBR LZR PG SON PC RES DI_ COM ZSP TLC TLA OP NP CR LSP LOP DO_ COM RD VC LA LB LZ PP OPC LOP TL INP INP LG LG NG EMG LSN ALM SD DI_ COM LG DO_ CO...

Page 326: ... 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Position P15R LG LA LAR LB LBR LZ LZR PP PG OPC SON PC TL RES DICOM DICOM INP ZSP INP TLC TLA LG LG OP LG NP CR EMG LSP LSN LOP DOCOM DOCOM ALM RD P15R LG LA LAR LB LBR LZ LZR SON ST1 ST2 RES DICOM DICOM SA ZSP SA TLC TLA LG LG OP LG SP1 EMG LSP LSN LOP DOCOM DOCOM ALM RD P...

Page 327: ...e English version of Windows R 98 Windows R Me Windows R 2000 Professional Windows R XP Professional and Windows R XP Home Edition operates Processor Pentium R 133MHz or more Windows R 98 Windows R 2000 Professional Pentium R 150MHz or more Windows R Me Pentium R 300MHz or more Windows R XP Professional Windows R XP Home Edition Memory 24MB or more Windows R 98 32MB or more Windows R Me Windows R ...

Page 328: ...3 For use of RS 422 to make multidrop connection To RS 232C connector Servo amplifier CN3 RS 422 232C converter FA T RS40VS Mitsubishi Electric Engineering Personal computer Servo amplifier CN3 Servo amplifier CN3 Note 1 Note 2 Note 2 Note 2 Note 3 Note 1 Refer to section 13 1 for cable wiring 2 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 3 The final axis must be ...

Page 329: ...f the servo amplifier The amplifier diagnosis function of MR Configurator can be used when this cable is used Cable Model Application MR J3ACHECK Amplifier diagnosis cable for MR Configurator Connection between the servo amplifier and servo motor is shown in the figure below CN5 CN6 CN1 CN2 MR J3ACHECK USB cable MR J3USBCBL3M Option Servo amplifier 1 2 3 To USB connector Personal computer Cable Mo...

Page 330: ...ant 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 Jul 2007 1 Purpose of use for MR J3BAT This battery is used to construct an absolute position detection system Refer to section 14 3 for the fitting method etc 2 Year and month when MR J3BAT is manufactu...

Page 331: ...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 332: ...vo 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 333: ...cable 2 Control power supply lead Note C P Brake unit or Return converter N 4 Regenerative option lead Regenerative option 8 Brake unit lead or Return converter Cooling fan BU BV BW 6 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 wiring di...

Page 334: ...WG10 k MR J3 60A4 MR J3 100A4 2 AWG14 1 25 AWG16 1 25 AWG16 2 AWG14 MR J3 200A4 2 AWG14 MR J3 350A4 2 AWG14 g 2 AWG14 g MR J3 500A4 Note 2 MR J3 700A4 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 11KA4 Note 2 8 AWG8 l 8 AWG8 l 3 5 AWG12 j MR J3 15KA4 Note 2 14 AWG6 c 1 25 AWG16 g 22 AWG4 d 5 5 AWG10 j 2 AWG14 1 25 AWG16 MR J3 22KA4 Note 2 14 AWG6 m 2...

Page 335: ... 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 336: ... 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 ETFE SVP 70 0 08 Equivalent to AW...

Page 337: ... frame 30A 30A frame 30A K5 70 S N20 MR J3 500A 50A frame 50A 50A frame 40A K5 125 S N35 MR J3 700A 100A frame 75A 50A frame 50A K5 150 S N50 MR J3 11KA 100A frame 100A 100A frame 75A K5 200 S N65 MR J3 15KA 225A frame 125A 100A frame 100A K5 250 S N95 MR J3 22KA 225A frame 175A 225A frame 150A K5 350 250 S N125 MR J3 60A4 30A frame 5A 30A frame 5A K5 10 MR J3 100A4 30A frame 10A 30A frame 10A K5 ...

Page 338: ...ng a wire 2 When using DC reactor disconnect the wiring across P1 P2 3 When over 11kW P2 becomes P respectively Dimensions mm Servo Amplifier Power Factor Improving DC Reactor Outline drawing A B C D E F L G H Mounting Screw Size Mass kg lb Used Power Supply mm2 MR J3 10A 20A FR BEL 0 4K 110 50 94 1 6 95 6 12 M3 5 25 M5 0 5 1 10 MR J3 40A FR BEL 0 75K 120 53 102 1 6 105 6 12 M4 25 M5 0 7 1 54 MR J...

Page 339: ...plifiers 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 Servo amplifier MR J3 A 4 R S T X Y Z L1 L2 L3 MC 1 phase 200v to 230VAC NFB FR BAL Servo amplif...

Page 340: ...0K 290 240 301 219 190 5 25 M8 M8 43 94 80 MR J3 60A4 FR BAL H1 5K 160 145 140 87 70 0 2 5 7 5 M4 M3 5 5 3 11 68 MR J3 100A4 FR BAL H2 2K 160 145 140 91 75 0 2 5 7 5 M4 M3 5 5 9 13 01 MR J3 200A4 FR BAL H3 7K 220 200 190 90 70 0 2 5 10 M5 M3 5 8 5 18 74 MR J3 350A4 FR BAL H7 5K 220 200 192 120 100 5 10 M5 M4 14 30 87 MR J3 500A4 FR BAL H11K 280 255 226 130 100 5 12 5 M6 M5 18 5 40 79 MR J3 700A4 M...

Page 341: ...ervo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction 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 s...

Page 342: ... 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 343: ...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 be...

Page 344: ...stalled 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 ...

Page 345: ... 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 Unit mm 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 346: ...e number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L2 Example 1 Number of turns 4 Power supply NFB L1 L2 L3 Servo amplifier Line noise filter MC MC FR BLF MR J3 350A or mo...

Page 347: ...ed with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV L 1 General models BV C1 NFB NV L 3 M Servo amplifier Noise filter NV Ig1 Ign Iga Ig2 Igm Cable Cable Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 12 1 Ig2 Leakage current on the electric channel from the output terminals of the ser...

Page 348: ... J3 10A to MR J3 350A MR J3 10A1 to MR J3 40A1 15 MR J3 500A 4 30 MR J3 700A 4 50 MR J3 11KA 4 to MR J3 22KA 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 40A 2mm2 5m 2mm2 5m Servo motor HF KP43 Use a leakage current breaker generally available Find the terms of Equation 12 2 ...

Page 349: ... MR J3 60A4 to MR J3 100A4 TF3005C TX MR J3 200A4 MR J3 700A4 TF3020C TX 6 13 23 MR J3 11KA4 TF3030C TX 7 5 16 54 MR J3 15KA4 TF3040C TX MR J3 22KA4 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 350: ...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 351: ...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 352: ... 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 353: ...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 354: ...able DSV CABV Diatrend RS 422 232C communication converter FA T RS40VS Mitsubishi Electric Engineering CN3 10m or less 2 Multidrop connection a Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus To RS 232C connector Servo amplifier RS 422 232C converter Personal computer Servo amplifier Servo amplifier Note 1 Note 1 CN3 CN3 CN3 Note 1 Note 2...

Page 355: ...NC Note 4 5 Note 2 Note 1 7 Axis n servo amplifier CN3 connector RJ45 connector RS 422 output unit Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector Note 3 30m or less GND P5D NC RDN 150 RDP Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 2 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side se...

Page 356: ...nds a reply in response to the instruction servo amplifier is called a slave station When fetching data successively the master station repeatedly commands the slave station to send data Item Description Baud rate 9600 19200 38400 57600 115200 asynchronous system Transfer code Start bit 1 bit Data bit 8 bits Parity bit 1 bit even Stop bit 1 bit Transfer protocol Character system half duplex commun...

Page 357: ...nication speed of the sending end master station Parameter No PC21 Communication baud rate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps 2 RS 422 communication response delay time Set the time from when the servo amplifier slave station receives communication data to when it sends back data Set 0 to send back data in less than 800 s or 1 to send back data in 800 s or more RS422 commu...

Page 358: ...ch must provide the return data 1 Transmission of data from the controller to the servo S O H S T X E T X S T X E T X Data No Data Check sum 10 frames data Station number Error code Check sum 6 frames Positive response Error code A Negative response Error code other than A Servo side Slave station Controller side Master station Command Station number 2 Transmission of data request from the control...

Page 359: ...Q a q 0 0 1 0 2 STX DC2 2 B R b r 0 0 1 1 3 ETX DC3 3 C S c s 0 1 0 0 4 4 D T d t 0 1 0 1 5 5 E U e u 0 1 1 0 6 6 F V f v 0 1 1 1 7 7 G W g w 1 0 0 0 8 8 H X h x 1 0 0 1 9 9 I Y i y 1 0 1 0 10 J Z j z 1 0 1 1 11 K k 1 1 0 0 12 L l 1 1 0 1 13 M m 1 1 1 0 14 N n 1 1 1 1 15 O o DEL 3 Station numbers You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to speci...

Page 360: ... error occurred in the transmitted data C c Checksum error Checksum error occurred in the transmitted data D d Character error Character not existing in the specifications was transmitted E e Command error Command not existing in the specifications was transmitted F f Data No error Data No not existing in the specifications was transmitted Negative response 13 3 4 Checksum The check sum is a ASCII...

Page 361: ...in communication between the master and slave stations the error code in the response data from the slave station is a negative response code B to F b to f In this case the master station retransmits the message which was sent at the occurrence of the fault Retry operation A communication error occurs if the above operation is repeated and results in the error three or more consecutive times Messa...

Page 362: ... the servo amplifier of station 0 Data item Value Description Station number 0 Servo amplifier station 0 Command 33 Read command Data No 10 Alarm history last alarm Checksum 30H 33H 33H 02H 31H 30H 03H FCH 1 0 STX ETX 3 3 Yes No Yes No No No Yes Yes Yes No 0 3 3 1 0 0 Axis No Command Data No Data Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data...

Page 363: ... 7 Regenerative load ratio 0 8 Effective load ratio 0 9 Peak load ratio 0 A Instantaneous torque 0 B Within one revolution position 0 C ABS counter 0 D Load inertia moment ratio 0 E Status display name and unit Bus voltage 16 8 0 Cumulative feedback pulse 8 1 Servo motor speed 8 2 Droop pulse 8 3 Cumulative command pulse 8 4 Command pulse frequency 8 5 Analog speed command voltage Analog speed lim...

Page 364: ...of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value hexadecimal corresponds to the parameter number 8 0 8 0 1 to F F Abbreviations of param...

Page 365: ...st 1 3 third alarm in past 1 4 fourth alarm in past 1 5 Alarm number in alarm history fifth alarm in past 4 2 0 most recent alarm 2 1 first alarm in past 2 2 second alarm in past 2 3 third alarm in past 2 4 fourth alarm in past 3 3 2 5 Alarm occurrence time in alarm history fifth alarm in past 8 5 Current alarm Command 0 2 Command Data No Description Frame Length 0 2 0 0 Current alarm number 4 ...

Page 366: ... command pulse 8 4 Command pulse frequency 8 5 Analog speed command voltage Analog speed limit voltage 8 6 Analog torque command voltage Analog torque limit voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Within one revolution position 8 C ABS counter 8 D Load inertia moment ratio 3 5 8 E Status display data value and processing informa...

Page 367: ...0003 I O setting parameter No PD 0000 to 0003 4 3 External I O signal Command 9 2 Command Data No Description Setting Range Frame Length 9 2 6 0 Communication input device signal Refer to section 13 5 5 8 4 Alarm history Command 8 2 Command Data No Description Setting Range Frame Length 8 2 2 0 Alarm history erasure 1EA5 4 5 Current alarm Command 8 2 Command Data No Description Setting Range Frame...

Page 368: ...mode JOG operation positioning operation 0000 to 7FFF 4 1 1 Writes the acceleration deceleration time constant in the test operation mode JOG operation positioning operation 00000000 to 7FFFFFFF 8 2 0 Sets the moving distance in the test operation mode JOG operation positioning operation 00000000 to 7FFFFFFF 8 2 1 Selects the positioning direction of test operation positioning operation 0 Forward ...

Page 369: ...rom hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 Data 32 bit length hexadecimal representation Data conversion is required as indicated in the d...

Page 370: ...is transferred in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit By way of example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second digit the decimal point pos...

Page 371: ... back the status display data requested 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Decimal point position 0 No decimal point 1 Lower first digit usually not used 2 Lower second digit 3 Lower third digit 4 Lower fourth digit 5 Lower fifth digit 6 Lower sixth digit 3 St...

Page 372: ...up a Transmission Send command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Reply The slave station sends back the preset parameter group 0 0 0 Parameter group 0 Basic setting parameter No PA 1 Gain filter parameter No PB 2 Extension setting parameter No PC 3 I O setting parameter No PD 3 Reading the symbol Read the parameter name Specify the parameter group in advance refer to 1 of this section ...

Page 373: ...ABC hexadecimal display format When the display type is 0 hexadecimal and the decimal point position is other than 0 the display type is a special hexadecimal display format and F of the data value is handled as a blank Data 01FFF053 means 053 special hexadecimal display format 000000 is transferred when the parameter that was read is the one inaccessible for write reference in the parameter write...

Page 374: ...to the parameter number When the data to be written is handled as decimal the decimal point position must be specified If it is not specified data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Write the data after making sure that it is within the upper lower limit value range Read the parameter data to be written confirm the decimal point positi...

Page 375: ...8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 2 External input pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No 4 0 Command Data No 1 2 4 0 b Reply The ON OFF statuses of the input pins are sent back b31 b0 0 OFF 1 ON b1 Comman...

Page 376: ...tion 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 4 External output pin status read Read the ON OFF statuses of the external output pins a Transmission Transmit command 1 2 and data No C 0 Command Data No 1 2 C 0 b Reply The slave station sends back the ON OFF statuses of the output pins...

Page 377: ...1 13 5 5 Input device ON OFF POINT The ON OFF states of all devices in the servo amplifier are the states of the data received last Hence when there is a device which must be kept ON send data which turns that device ON every time Each input device can be switched on off However when the device to be switched off exists in the external input signal also switch off that input signal Send command 9 ...

Page 378: ...a No Data 9 0 1 0 1EA5 2 Disabling enabling the output devices DO Transmit the following communication commands a Disable Command Data No Data 9 0 0 3 1EA5 b Enable Command Data No Data 9 0 1 3 1EA5 13 5 7 Input devices ON OFF test operation Each input devices can be turned on off for test operation when the device to be switched off exists in the external input signal also switch off that input s...

Page 379: ...st operation mode Send the command 8 B data No 0 0 to select the test operation mode Command Data No Transmission Data Test Operation Mode Selection 0001 JOG operation 0002 Positioning operation 0003 Motorless operation 8 B 0 0 0004 DO forced output Note Note Refer to section 13 5 9 for DO forced output 2 Confirmation of test operation mode Read the test operation mode set for the slave station an...

Page 380: ...0 0 Data 00000001 SON turned ON Command 8 B Data No 0 0 Data 0000 Test operation mode cancel Stop Stop End Command A 0 Data No 1 1 Data Write the acceleration deceleration time constant ms in hexadecimal When LSP LSN was turned OFF by external input signal Acceleration deceleration time constant setting Command A 0 Data No 1 0 Data Write the speed r min in hexadecimal Servo motor speed setting Sta...

Page 381: ...ing Command A 0 Data No 1 0 Data Write the speed r min in hexadecimal Servo motor speed setting Start Select the positioning operation in the test operation mode Set the operation pattern Turn ON Servo on SON to make the servo amplifier ready Command A 0 Data No 2 0 Data 0000 forward rotation direction 0001 reverse rotation Rotation direction selection Command A 0 Data No 2 0 Data Write the moveme...

Page 382: ...be turned on off independently of the servo status Using command 9 0 disable the output signals in advance 1 Choosing DO forced output in test operation mode Transmit command 8 B data No 0 0 data 0004 to choose DO forced output 0 0 Selection of test operation mode 4 DO forced output output signal forced output 0 4 2 External output signal ON OFF Transmit the following communication commands Comman...

Page 383: ...L _ no alarm 2 Alarm occurrence time read Read the occurrence time of alarm which occurred in the past The alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Send command 3 3 and data No 2 0 to 2 5 Refer to section 13 4 1 b Reply The alarm occurrence time is transferred in decimal Hexa...

Page 384: ...n Send command 3 5 and any of data No 8 0 to 8 E corresponding to the status display item to be read Refer to section 13 4 1 b Reply The slave station sends back the requested status display data at alarm occurrence 0 0 Data 32 bits long represented in hexadecimal Data conversion into display type is required Display type 0 Conversion into decimal required 1 Used unchanged in hexadecimal Decimal p...

Page 385: ...ted into decimal For example data 000186A0 is 100000 pulse in the motor end pulse unit 2 Command unit absolute position Read the absolute position in the command unit a Transmission Send command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Reply The slave station sends back the requested command pulses Absolute value is sent back in hexadecimal in the command unit Must be converted into decimal F...

Page 386: ...sition return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy LSO 1XO MR J3BAT CPU General purpose programmable controller Servo amplifier Pulse train command Changing the current position data Positioning module I O module Current position data Input Output Home position data EEPROM memory Backed up in the case of power failure Current p...

Page 387: ...t 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 Positioning module I O module QD75 QX40 41 42 QY40 41 42 50 A1SD75 AX40 41 42 AY40 41 42 FX 1PG FX 1GM FX10GM FX2 32MT Servo motor QD75 etc Programmable controller Servo amplifier CN1 CN2 Bat...

Page 388: ...tricity 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 battery is changed with the control power OFF the absolute position data is lost 1 For MR ...

Page 389: ...n forward rotation Stroke end in reverse rotation External torque control Electromagnetic brake output Near zero point signal Stop signal Power supply 24V Ready Zero point signal Clear Command pulses for differential line driver type Dog Stop Emergency stop Servo on ABS transmission mode ABS request ABS transmission data bit 0 ABS transmission data bit 1 ABS transmission data ready Torque limit 10...

Page 390: ...dicates the lower bit of the ABS data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal D01 turns on DO 1 ABS transmission data bit 1 ABSB1 23 Indicates the upper bit of the ABS data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal ZSP turns on DO 1 ABS transmission data r...

Page 391: ...data ready contact turns on c The servo configuration software ABS data display window refer to section 14 11 and programmable controller side ABS data registers show the same value at the home position address of 0 If any warning such as ABS time out warning AL E5 or programmable controller side transfer error occurs refer to section 14 9 or chapter 9 and take corrective action 5 Home position se...

Page 392: ... OFF ABS transmission data ready ON ABS transfer mode OFF TLC ABS transmission data ready OFF DI0 allocation change Transmission data set Transmission data set DI0 allocation change Watch dog timer Reading 2 bits Shift and addition Watch dog timer Reading 2 bits Shift and addition Setting the current position Sum check Every time the SON is turned ON the ABS transfer mode signal is turned ON to se...

Page 393: ...n latched when the ABS transfer mode ABSM switches from OFF to ON At the same time this data is set as a position command value inside the servo amplifier Unless the ABS transfer mode ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 95 ms 1 2 3 Power supply Servo on SON 4 ABS transfer mode ABSM ABS request AB...

Page 394: ...n while a servo warning is occurring 3 If the ABS transfer mode ABSM is turned OFF during the ABS transfer mode the ABS transfer mode is interrupted and the time out error AL E5 occurs 4 The functions of output signals such as ABST ABSB0 and ABSB1 change depending on the ON OFF state of the ABS transfer mode ABSM Note that if the ABS transfer mode ABSM is turned ON for a purpose other than ABS dat...

Page 395: ... turns ON the ABS transmission data ready ABST to notify the programmable controller that the servo is ready for data transmission 3 After acknowledging that the ready to send ABST has been turned ON the programmable controller turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ABS transmission data ready ABST in the OFF state 5 A...

Page 396: ...t with the check sum code sent from the servo The method of calculating the check sum is shown Every time the programmable controller receives 2 bits of ABS data it adds the data to obtain the sum of the received data The check sum is 6 bit data Example ABS data 10 FFFFFFF6H 10b 01b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b 11b b 11 101101b 10 FFFF FFF6 1111 1111 1111 0110 Appendix Decimal H...

Page 397: ... 5s after the ABS transmission data ready ABST is turned ON this is regarded as a transmission error and the ABS time out warning AL E5 is output OFF ON OFF ON OFF ON 5s ABS transfer mode ABS request ABS transmission data ready AL E5 warning Signal is not turned ON No Yes 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turne...

Page 398: ...check sum error occurs the programmable controller should retry transmission of the ABS data Using the ladder check program turn OFF the ABS transfer mode ABSM and servo on SON once Turn them ON again after an OFF time of longer than 20 ms If the ABS data transmission fails to end normally even after retry regard this situation as an ABS check sum error and execute error processing The start comma...

Page 399: ... transfer mode ABSM cannot be accepted In the reset state the ABS transfer mode ABSM can be input OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON Servo on SON Reset RES ABS transfer mode ABSM ABS request ABSR ABS transmission data ready ABST Transmission ABS data Base circuit Alarm output ALM Ready RD Occurrence of alarm During transfer of ABS ABS data Operation enabled OFF ON ...

Page 400: ...cy stop as shown below the servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the servo amplifier sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rotated by external forc...

Page 401: ... stop state In this case the base circuit and the ready RD are turned ON after the emergency stop state is reset OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON Servo on SON Emergency stop EMG ABS transfer mode ABSM ABS request ABSR ABS transmission data ready ABST Send ABS data Base circuit Ready RD During transfer of ABS ABS data Operation enabled ...

Page 402: ...into the non volatile memory as the home position ABS data The home position setting CR should be turned on after it has been confirmed that the in position INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000...

Page 403: ...sition setting CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data When the servo on set home position setting CR to ON after confirming that the in position INP is ON If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return corre...

Page 404: ...parameter No PA04 is used as the ABS data bit 1 Hence make up an external sequence which will cause the electromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock MBR OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 5 ms Tb 95 ms 5 ms Tb Power supply Servo on SON ABS transfer mode ABSM ABS request ABSR ABS transmission data ready ABST ...

Page 405: ...absolute position data of the servo amplifier and the programmable controller a difference will occur between the position data of the servo amplifier and that of the programmable controller To prevent this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform jog operation or the like to clear the stroke end After that switch...

Page 406: ...g ABS transmission data bit 1 Zero speed ABS transmission data ready Torque limit control Alarm Servo ready JOG JOG Alarm reset Servo on Position start Position stop Home position return start 1PG error reset Emergency stop 49 Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Note 3 Note 2 Servo alarm ABS communication error ABS check sum error Pulse train for forward...

Page 407: ...et ABS transmission data bit 0 Completion of positioning ABS transmission data bit 1 Zero speed ABS transmission data ready Torque limit control Alarm Servo ready Emergency stop Note 2 Electromagnetic brake output Note 3 Servo alarm ABS communication error ABS check sum error Servo on ABS transfer mode ABS request Alarm reset Note 1 Pulse train for forward rotation Pulse train for reverse rotation...

Page 408: ...ion return zero point signal count N 2 pulses Initial value 10 14 13 Home position address HP 0 15 Acceleration deceleration time Ta 200ms Initial value 100 16 Not usable 18 17 Target address I P I 0 20 19 Operation speed I V I 100000 Initial value 10 22 21 Target address II P II 0 24 23 Operation speed II V II 10 25 Operation command H0000 3 Instructions When the servo on pushbutton switch and th...

Page 409: ...mission retry count in check sum discrepancy M4 Spare D24 Home position address Lower 16 bits M5 Servo on request D25 Home position address Upper 16 bits M6 Retry flag D106 D107 1PG present position address Lower 16 bits 1PG present position address Upper 16 bits M10 M11 M12 M13 ABS data 2 bit receiving buffer M20 M51 ABS data 32 bit buffer M52 M57 Check sum 6 bit buffer M58 M59 For checksum compa...

Page 410: ...me position address to 0 Setting 1PG pulse command unit 1PG max speed 100 kpps 1PG Jog speed 10 kpps 1PG home position return speed 50 kpps 1PG creep speed 1 kpps 1PG home position return zero point count twice 1PG home position address setting 1PG acceleration deceleration time 200ms 1PG operation speed 100kpps Position move account 1 300000 pulses Position move account 2 250000 pulses Position m...

Page 411: ...ring retry counter Resetting ready to send ABS data Resetting servo on request Resetting ABS transfer mode Resetting ABS request Resetting retry flag Resetting communication counter Servo on PB Retry Servo on request Servo on PB Continued from preceding page To be continued Servo on and retry control M1 M6 ABS transmission start Retry M0 Y11 Error flag ABS communication error ABS check error Reset...

Page 412: ...l data reception counter Error flag output Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area Clearing ABS receiver data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm detection alarm reset control ABS transfer...

Page 413: ... 2 bits Right shift 2 bits of ABS data Check sum addition Updating ABS data reception counter Updating all data reception counter Resetting ABS request Resetting ABS transfer mode Masking check sum 6 bits Comparison of check sum ABS data check sum error Retry command Setting retry wait timer 100ms Storing check sum value in the case of check sum error Retry flag ON Resetting servo on request ABS t...

Page 414: ...dress ABS data 1PG Setting ABS data ready Clearing check sum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Ready to send response 1s timer ABS communication error Counting retry frequency Setting servo on request Continued from preceding page To be continued Check sum match ABS communi cation error...

Page 415: ...l Start command pulse 1PG JOG command 1PG JOG command 1PG home position return start Setting motion distance 1PG start Index processing 1PG stop command 1PG error reset Continued from preceding page To be continued Normally OFF Servo ready Position start PB ABS data ready Servo ready Home position return PB Position start command pulse Position stop PB Error flag 1PG error reset Note Program examp...

Page 416: ...tion before starting home position return Do not turn ON the clear CR Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift Y1 X0 X14 M70 M71 T210 M70 PLS M71 D24 K500 DMOVP K1 D24 K13 K0 DTOP K1 D24 K26 K0 DTOP T210 M71 SET K10 M71 RST Y5 Clear CR ON timer request Clear CR 100ms ON timer Setting data set type home position return reques...

Page 417: ...ter the servo on SON is turned on the servo motor must be at a stop Y1 X0 M Y1 Completion of servo positioning ABS transfer mode Positioning completion ABS transfer mode g Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y1 X1 M Y1 Servo zero speed ABS transfer mode Ze...

Page 418: ...OM 24 24G FG LG Servo amplifier CN1 JOG JOG Alarm reset Emergency stop Servo on Home position return Operation mode I Operation mode II Position start Position stop ABSB0 ABS transmission data bit 1 zero speed ABS transmission data ready Torque limiting Trouble Upper limit Lower limit ABSB1 ABST I II OFF OFF OFF ON ON OFF ON ON JOG Note 3 Operation mode Operating status Home position return Positi...

Page 419: ...r clear CR Therefore do not connect the clear CR of the MR J3 A to the A1SD75 but connect it to the output module of the programmable controller 3 This circuit is provided for your reference 4 The electromagnetic brake output should be controlled via a relay connected to the programmable controller output 5 Use the differential line driver system for pulse input Do not use the open collector syste...

Page 420: ...peration mode I Y3A ABS checksum error X29 Operation mode II D register M contact D0 ABS data transmission counter M5 ABS data transmission start D1 Checksum transmission counter M6 Sum check completion D2 Checksum addition register M7 Sum check mismatch D3 ABS data Lower 16 bits M8 ABS data ready D4 ABS data Upper 16 bits M9 Transmission data read enabled D5 ABS data 2 bit receiving buffer M10 Ch...

Page 421: ...per pulse 0 1 to 1 to 10 to 100 0 0000 1 to 0 0001 to 0 001 to 0 01 to 0 00001 to 0 0001 to 0 001 to 0 01 to Unit of travel m PLS inch PLS degree PLS PLS D P K D3 D3 Constant K for conversion into unit of travel 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 1 to 10 to 100 to 1000 None Reference For 1 m PLS set constant K to 10 For 5 m PLS set constant K to 50 The additional program is not required...

Page 422: ...ocessing instruction Current position change flag Resetting ready Resetting servo on request Resetting ABS transmission counter at servo OFF Resetting checksum transmission counter at servo OFF Servo on output ABS interface start Setting retry flag Resetting retry counter Alarm reset output Error flag output Resetting ready Resetting servo on request Servo alarm To be continued Continued from prec...

Page 423: ...ing checksum transmission counter ABS transfer mode Saving ABS 32 bit data Clearing register 1 Reading x axis rotation direction parameter Masking rotation direction parameter Masking ABS data sign PLS processing command Reversing polarity of upper 16 bits Decrementing upper 16 bits by 1 Reversing polarity of lower 16 bits Lower 16 bits 0 D4 1 D4 ABS transfer mode initial setting ABS transfer mode...

Page 424: ...rror Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Counting the number of checksum data Completion of reading checksum 2 bits Reading 4 bits Masking 2 bits Adding 2 bits Right rotation of A0 2 bits Adding checksum Counting the number of ABS data Completion of reading ABS 2 bits data Right rotation of A0 10 bits Masking sum check Sum check OK Sum check NG Sum check memory ...

Page 425: ...ng No 9003 data for Positioning start Switching start signal off on completion of positioning Continued from preceding page To be continued ABS 2 bits completion Checksum 2 bits completion ABS transfer mode Ready to send ABS data ABS 2 bits request ABS request Ready to send ABS data 10ms delay timer Checksum OK Note 1 Checksum OK Change flag Positioning start Start com pletion BUSY Error detection...

Page 426: ...uest response 1s timer ABS data send ready response 1s timer ABS communication error ABS transfer retry start pulse Setting retry flag Retry counter Retry waiting timer 100ms Resetting retry flag Saving received shift data ABS communi cation error Servo on PB Continued from preceding page ABS transfer mode ABS transfer mode ABS request ABS transfer mode Ready to send ABS data ABS transfer NG ABS r...

Page 427: ...position return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the clear CR Y35 after completion of home position return Add the following program K1 D12 K817 H0000 FROM M22 D12 K0016 WAND Y35 D12 K16 M22 Reading 1 axis home position return completion signal Masking home position return completion Home position return p...

Page 428: ... in data register 1 Changing X axis home position address Note 3 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off PC RUN Home position return mode ABS transfer mode Positioning completion Home position return start PB Clear signal ON timer request Data set type home position return request Clear signal 100m...

Page 429: ...er the servo on SON is turned on the servo motor must be at a stop Y31 X20 M Y31 Servo positioning completion ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M Y31 Servo zero speed ABS transfer mode ...

Page 430: ... K1 FROMP H0000 K155 D8 K1 DFROP H0000 K0072 D9 K1 DFROP H0000 K222 D9 K1 DTOP H0000 K1154 D3 K1 DTOP H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 TO H0000 K1200 K9003 K1 b Data set type home position return Arrange the data set type home position return programs given in section 14 8 2 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y a...

Page 431: ...G 5 6 7 12 13 CLEAR 14 Power supply Alarm reset Emergency stop Servo on Home position return Operation mode I Operation mode II Position start Position stop COMMON COMMON COMMON COMMON Note 2 Note 1 Proximity signal Note 5 Servo ready Positioning completion Servo alarm ABS communication error ABS checksum error Electromagnetic brake output Note 4 Servo on ABS transfer mode ABS request Alarm reset ...

Page 432: ...eviation counter clearing signal cable For the data set type home position return connect a cable to the output module of the programmable logic controller 3 This circuit is provided for your reference 4 The electromagnetic brake output should be controlled via a relay connected to the programmable controller output 5 Use the differential line driver system for pulse input Do not use the open coll...

Page 433: ...1 zero speed Y31 ABS transfer mode X22 ABS transmission data ready Torque limiting Y32 ABS request X23 Servo alarm Y33 Alarm reset X24 Alarm reset X34 Note 2 Electromagnetic brake output X25 Servo emergency stop Y35 Note 1 Clear X26 Servo on Y38 Servo alarm X27 Home position return start Y39 ABS communication error X28 Operation mode I Y3A ABS checksum error X29 Operation mode II D register M cont...

Page 434: ...Set 3 times Error reset completion flag Servo on request Preparation completion reset Servo on request reset Absolute value restoration start Retry flag set Retry counter reset Alarm reset output Error flag output Preparation completion reset Servo on request reset Servo alarm Initial setting Servo on control Servo alarm detection alarm reset control ...

Page 435: ...ata reception ABS communication error Sum check error detection Retry flag set Retry counter Retry wait timer Error detection retry control Absolute value restoration start flag Preparation completion Absolute value restoration data reception Absolute value restoration data reception Special absolute value restoration instruction execution ABS checksum error Retry flag reset Absolute value restora...

Page 436: ...dy M10 is off M10 When M10 ready to send ABS data switches on the X axis start program is executed by the X axis start command X axis start program Positioning mode X axis start command Ready to send ABS data Note e Dog type home position return Refer to the home position return program in the QD75 User s Manual ...

Page 437: ...sition return request Resetting data set type home position return request Switch clear CR on Setting X axis home position address 500 in data register 1 Changing X axis home position address 1 Changing X axis current value 1 Writing positioning data No 9003 Starting positioning Switching BUSY signal off to switch start signal off Note 2 Note 1 Clear Note 1 If the data of the home position address...

Page 438: ...l seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X20 M Y31 Servo positioning completion ABS transfer mode Positioning completion ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on SON is turned on the servo motor must be at a stop Y31 X21 M Y31 Servo zero speed ABS t...

Page 439: ...m and write the Y axis program Program configuration Z ABRST1 U0 D100 M100 Z ABRST2 U0 D100 M100 b Data set type home position return Arrange the data set type home position return programs given in section 14 8 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T ...

Page 440: ...to send signal X32 is not turned OFF within 1s after the ABS data request signal Y42 is turned ON 3 The ready to send signal X32 remains OFF for longer than 1s 5 Power supply to the servo amplifier is OFF Turn on the power to the servo amplifier 1 Wiring for the ABS data signal ABS bit 0 PF bit 1 ZSP is disconnected or connected to the SG terminal Correct the wiring 2 PC ladder program wrong Corre...

Page 441: ...t OFF ON OFF ON OFF ON 1s ABS transfer mode ABS request ABS transmission data ready ABS communication error The signal does not come ON NO YES b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the servo...

Page 442: ...the servo amplifier due to an ABS request OFF time time out OFF ON OFF ON OFF ON 1s ABS transfer mode ABS request ABS transmission data ready ABS communication error The signal does not go OFF NO YES 14 9 2 Error resetting conditions Always remove the cause of the error before resetting the error Output coil Name A1SD75 1PG Servo status Resetting condition ABS communication error Y39 Y11 Ready RD ...

Page 443: ... 0 2 and data No 9 1 2 Reply The absolute position data in the command pulse unit is returned in hexadecimal Data 32 bit length hexadecimal representation 14 10 2 Absolute position data transfer protocol 1 Data transfer procedure Every time the servo on SON turns on at power on or like the controller must read the current position data in the servo amplifier Not performing this operation will caus...

Page 444: ... transmission Absolute position data receive Current position Pulse train command Current position change During this period get absolute position data Servo on SON Ready RD 1 95ms after the servo on SON has turned on the base circuit turns on 2 After the base circuit has turned on the ready RD turns on 3 After the ready RD turned on and the controller acquired the absolute position data give comm...

Page 445: ...e alarm get the absolute position data again from the servo amplifier in accordance with the procedure in a of this section ON 95ms OFF ON OFF ON OFF ON OFF ON OFF ABS data 5ms Base circuit Absolute position data command transmission Absolute position data receive Current position Pulse train command During this period get absolute position data Current position change Servo on SON Reset RES Troub...

Page 446: ...FF ON 5ms ABS data During this period get absolute position data Current position change Power supply Base circuit Pulse train command Current position Absolute position data receive Absolute position data command transmission Servo on SON Emergency stop EMG Ready RD 2 When a emergency stop is activated during servo on 95ms ON OFF ON OFF ON OFF ON OFF 5ms ABS data Pulse train command Current posit...

Page 447: ...rvo configuration software 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 448: ...nufacturer setting PA10 INP Control mode regenerative option selection P PB13 NH1 Machine resonance suppression filter 1 P S PA11 TLP Forward torque limit P S T PB14 NHQ1 Notch form selection 1 P PA12 TLN Reverse torque limit P S T PB15 NH2 Machine resonance suppression filter 2 P PB16 NHQ2 Notch form selection 2 P PA13 PLSS Selection of servo motor stop pattern at LSP LSN signal off P PB17 Automa...

Page 449: ...urer setting PC15 MOD2 Analog monitor output 2 P S T PD10 DI8 Input signal device selection 8 CN1 pin 43 P S T PC16 MBR Electromagnetic brake sequence output P S T PC17 ZSP Zero speed P S T PD11 DI9 Input signal device selection 9 CN1 pin 44 P S T PC18 BPS Alarm history clear P S T PC19 ENRS Encoder output pulses selection P S T PD12 DI10 Input signal device selection 10 CN1 pin 45 P S T PC20 SNO ...

Page 450: ...5R 2 VC 27 26 3 LG 4 LA 29 28 LG 5 LAR 6 LB 31 30 LG 7 LBR 8 LZ 33 OP 32 9 LZR 10 35 34 LG 11 12 37 36 13 14 39 38 15 16 41 40 17 18 43 42 EMG 19 20 DICOM 45 44 21 DICOM 22 47 DOCOM 46 DOCOM 23 24 49 48 ALM 25 50 CN1 Speed control mode TLA 1 P15R 2 TLA 27 26 3 LG 4 LA 29 28 LG 5 LAR 6 LB 31 30 LG 7 LBR 8 LZ 33 OP 32 9 LZR 10 35 34 LG 11 12 37 36 13 14 39 38 15 16 41 40 17 18 43 42 EMG 19 20 DICOM ...

Page 451: ...d Position control Droop pulse Present position calculation ABS counter Within one revolution position low high Load inertia moment ratio Auto tuning section Cumulative feedback pulse Cumulative command pulses CMX CDV Differ ential Command pulse frequency Electronic gear Bus voltage PP NP Speed feedback Within one revolution ABS counter Command pulse Servo motor Absolute position detection encoder...

Page 452: ...Cable clump 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 Bac...

Page 453: ...7 2 Added Section 1 8 2 Added Section 2 1 2 Part of the paragraph is changed Section 3 2 2 Analog torque limit 10V is changed to 8V Section 3 3 1 Paragraph is added Servo amplifiers MR J3 60A 100A 200A 350A are added Section 3 3 3 2 4 Added Section 3 4 1 Error in the CN2 connector signal allotment is corrected Section 3 5 1 b Description of speed reached is examined Alarm code AL 47 is added Secti...

Page 454: ...Section 12 2 1 c MR RB30 and MR RB50 are added Section 12 2 5 MR RB30 and MR 0RB50 are added Section 12 4 2 The free space of the hard disk is changed to 30MB Section 12 4 2 c Added Section 12 6 1 Servo amplifiers MR J3 60A 100A 200A 350A are added Section 12 6 2 Cable is added Section 12 7 Servo amplifiers MR J3 60A 100A 200A 350A are added Section 12 8 Servo amplifiers MR J3 60A 100A 200A 350A a...

Page 455: ...ontent is examined Section 3 6 5 4 a Note is added Section 3 7 3 Sentence is examined Section 3 8 1 Part of connection diagram is modified Section 3 8 2 4 b 2 Part of drawing is modified Section 3 8 2 6 Drawing is examined Section 3 10 2 2 b Connector signal allotment CE05 2A32 17PD B is added Section 3 11 1 Sentence is examined Section 4 1 2 1 c Examined Section 5 1 1 PA16 Initial value is modifi...

Page 456: ...nd connector sets diagram is examined 2 Servo amplifier power supply connector is added 3 Power supply connector set is added Section 12 1 2 1 a Encoder connector Crimping tool are added Section 12 1 2 2 a Note is added Section 12 2 1 MR RB31 and MR RB51 are added Section 12 2 3 Parameter No PA02 setting 01 08 09 are added Section 12 2 4 POINT is added Content is examined Section 12 2 5 MR RB31 an...

Page 457: ...roke end is examined Section 3 5 1 a Functions Applications column of devices is modified Section 3 5 1 b Dynamic interlock is added Zero speed detection graph is modified Variable gain selection is modified Section 3 6 5 b Table is modified Section 3 8 1 Differential line driver is modified to 35mA Section 3 8 1 4 b 2 Explanation is added Section 3 9 Content is examined Section 3 10 2 2 Content i...

Page 458: ...ed Section 11 3 Graph is added Section 12 1 1 Motor drawing is added Connector set is added Change of connector set model Section 12 1 2 1 a For CN2 connector Model name is changed For CN2 connector Added Section 12 1 2 2 a c For CN2 connector Model name is changed For CN2 connector Added Section 12 1 2 4 a c For CN2 connector Model name is changed For CN2 connector Added Section12 1 2 5 a For CN2...

Page 459: ...12 19 Outline drawings are added Section 12 19 1 Part of table is added Section 13 1 2 a Note 2 is added Section 13 1 2 b Note 7 is added to cable connection diagram Section 13 4 Part of POINT is modified Section 13 4 1 2 Data No 0 1 is modified Section 13 4 1 6 Part of table is deleted Section 13 4 2 2 Data No 0 1 is modified Section 13 5 3 5 POINT is added Section 13 5 9 3 Added Section 14 3 1 P...

Page 460: ...Fax 372 0 6 51 81 49 FINLAND Beijer Electronics OY Peltoie 37 FIN 28400 Ulvila Phone 358 0 207 463 540 Fax 358 0 207 463 541 GREECE UTECO 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 HUNGARY MELTRADE Kft Fertő utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 LATVIA Beijer Electronics SIA Ritausmas iela 23 LV 1058 Riga Phone 371 0 784 2280 Fax 371 0...

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